JP3243648B2 - Travel control system for mobile agricultural machines - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel control system for a mobile agricultural machine which performs a farming operation by running a mobile body such as a combine or a tractor.

[0002]

2. Description of the Related Art Conventionally, Japanese Unexamined Patent Publication No.
And JP-A-2-112562 and JP-A-59-112562.
212787 and JP-A-63-142500
As shown in the gazette, the mobile station mounted on the mobile body is communicated to the management station.
There is a technology for controlling the traveling of a plurality of mobile objects by connecting the mobile devices .

[0003]

SUMMARY OF THE INVENTION The above-mentioned prior arts have various
Only the moving body performs the same work, sharing the role and performing the same work
Harvesting and threshing are not performed by multiple mobile
Tractor that transports grain (paddy)
When performing harvesting work using
Each bureau's management station is required, and
Such as receiving a grain from a tractor
Preparation work could not be performed easily, saving labor and harvesting.
There is a problem that the work control function cannot be easily improved .

[0004]

Means for Solving the Problems] However, the present invention provides transmission and reception
A mobile station equipped with a transceiver and a speed sensor and a direction sensor
As well as a transceiver, a vehicle speed sensor and
A mobile station equipped with a direction sensor is installed on the tractor, and
Combine and tractor communicate with each other by transceiver
Control system for mobile farming machine that controls parallel running work
The grain tank paddy amount detection sensor and the cutting path detection sensor
Installed in the combine mobile station,
Control of control of steering and steering members and control of paddy discharge members
Stations and mobile stations, and parallel vehicles with combine
Sensor between the tractor transport tank and combine
Discharge position sensor that detects the relative position of the paddy discharge unit, and transport
A tank paddy amount detection sensor is installed at the mobile station of the tractor,
Transfer of tractor running control and steering member control to the management station
It is performed by the mobile station, and the detection result of the cutting path detection sensor is
The combine is moved along the culm row in the field based on the fruits.
And continuous threshing and threshing work
Tractors are arranged in the combine based on the detection result of the output sensor.
Run and coordinate the harvesting and threshing with the grain transport
It can be easily done and the direction of the combine in the field headland
Easy conversion and tractor grain removal
It is possible to reduce the labor of harvesting work and improve the control function of harvesting work.
The above can be easily achieved.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view of performing a cooperative harvesting operation using a combine and a tractor, FIG. 2 is a block diagram of a host computer, FIG. 3 is a block diagram of a combine controller, and FIG. 4 is a block diagram of a tractor controller.
As shown in the figure, equip the combine (3) which is a moving body with a Glen tank (1) and a paddy discharge auger (2),
The combine (3) is moved along the uncut culm row (5) in the field (4), the culm is continuously cut and threshed, the grains are stored in the Glen tank (1), and the transport tank is stored. A tractor (7), which is a moving body for pulling (6), runs in parallel with the combine (3), and the grains of the Glen tank (1) are carried into a transport tank (6) by a paddy discharge auger (2). When the transport tank (6) is filled with grains, the tractor (7) is moved to the tank (6) replacement position, and the tractor (7) with the tank (6) emptied is combined (3).
Again, and the grain is received from the combine (3) to the tank (6).

Further, as shown in FIG. 2, a host computer (8) is provided at a predetermined place (fixed position) on the ground, and a position detecting device for detecting the positions of the combine (3) and the tractor (7). A short-range radar (9),
Selection of a multiplex communication transmitter (10) and a receiver (11), which are communication devices for mutually communicating data to the combine (3) and the tractor (7), and selection of a model and a control pattern (work content). A keyboard (12) for inputting work conditions, etc .; a database (13) in which information necessary for traveling of the combine (3) and the tractor (7) can be written or read; A monitor (14) and an alarm (15) for notifying an abnormality when the paddy discharge auger (2) of the combine (3) comes out of the loading position of the transport tank (6) of the tractor (7); (8).

[0007] A positioning system using a spread spectrum communication system is provided with the radar (9) and the transceiver (1).
0) and (11) and a host computer (8). The system detects the positions of the combine (3) and the tractor (7), and performs individual recognition of the combine (3) and the tractor (7). In addition, one system performs communication with the combine (3) and the tractor (7), detects the position of the combine (3) and the tractor (7), and performs multiplex communication of the transceivers (10) and (11). Data is transmitted and received at the same time, the combine (3) and the tractor (7) are simultaneously controlled in parallel, and a group of a plurality of mobiles such as the combine (3) and the tractor (7) can be managed.

Further, as shown in FIG. 3, a combine controller (16), which is a control device constituted by a microcomputer, is mounted on the combine (3), and information is transmitted to the host computer (8). (17) and a transmitter (18), which are communication devices that communicate with each other, a Glentank paddy sensor (19) for detecting the amount of paddy in the Glentank (1), and an uncut grain culm to be taken into the cutting unit. A cutting sensor (2) that detects a streak and runs a combine (3) along the streak to perform steering control during a cutting operation.
0) and an ultrasonic sensor (21), and a magnetic azimuth sensor that is a azimuth detecting device that performs steering control together with the ultrasonic sensor (21) during a cross-cutting operation in which a combine is run perpendicularly to a row of uncut kernels. (22) a vibration gyro (23) for performing a turning operation of the combine (3) such as a change of direction at a headland, a vehicle speed sensor (24) as a speed detecting device for detecting a traveling speed, and a combine (3). The cutting section height sensor (25) for detecting the cutting section ground height, the accelerator pulse motor (26) and the engine rotation sensor (27) for adjusting the engine rotation of the combine (3), and the combine (3) counterclockwise An electromagnetic valve (28) for the left side clutch to be turned, an electromagnetic valve (29) for the right side clutch to turn the combine (3) to the right, and a combine (3)
And a traveling speed change potentiometer (31) and a traveling speed changing potentiometer (31) for switching the traveling speed by changing the speed change lever position, and a paddy discharging auger clutch electromagnetic for turning on and off a rice discharging auger (2) of the combine (3). A valve (32) and an electromagnetic valve (33) for raising and lowering a cutting unit for raising and lowering a cutting unit of the combine (3) are provided.

[0009] The steering control at the time of the cutting operation by the cutting sensor (20) and the ultrasonic sensor (21), and the steering at the time of the side cutting operation by the ultrasonic sensor (21) and the magnetic direction sensor (22). The combine (3) is caused to travel autonomously by the control, and when a traveling direction correction command is issued from the host computer (8) during the autonomous traveling of the combine (3), the traveling direction is corrected by the magnetic azimuth sensor (22).
When the combine (3) reaches the headland of the field (4) and detects that there is no more culm to be cut, it sends information to the host computer (8), and the host computer (8)
When a turn command is issued from the host computer, a turning operation is performed based on the detection angle of the vibrating gyroscope (23) and the detection distance of the vehicle speed sensor (24) to change the direction of the combine (3). ), The speed of the combine (3) is switched to adjust the traveling speed by the instruction from the host computer (8), and the paddy discharge auger (3) is turned on / off by the instruction from the host computer (8). Notify the full of 1),
Upon completion of the harvesting operation, the combine (3) is moved to a predetermined position by autonomous traveling of the magnetic direction sensor (22), and an emergency stop instruction from the host computer (8) or communication with the host computer (8) is disabled. The engine of the combine (3) is stopped when it becomes.

Further, as shown in FIG. 4, a tractor controller (34), which is a control device composed of a microcomputer, is mounted on the tractor (7), and information is transmitted to the host computer (8). (35) and transmitter (36), which are communication devices for communicating with each other
Front, rear, left and right ultrasonic sensors (37), (38), (39), (40) for detecting the front, rear, left, and right gaps, and a tractor (7)
The magnetic direction sensor (41) which is a direction detecting device for detecting the course of the vehicle, the vehicle speed sensor (42) which is a speed detecting device for detecting the traveling speed, and the position of the paddy discharging auger (2) with respect to the transport tank (6) are as follows. Three points: a paddy discharge auger position sensor (43) that detects that it is appropriate, a transport tank paddy sensor (44) that detects the amount of paddy in the transport tank (6), and a tractor (7) that is equipped with a tiller and the like. A work equipment lifting / lowering electromagnetic valve (45) for raising / lowering a link lift arm;
An electromagnetic valve (46) for a PTO clutch for turning on and off a PTO shaft of a tractor (7), an electric cylinder (47) for a traveling clutch for turning on and off the traveling clutch of the tractor (7), a potentiometer (48) for the traveling clutch, and a tractor (7) an accelerator pulse motor (49) and an engine rotation sensor (50) for adjusting the engine rotation, and a left brake electric cylinder (51) and a left brake potentiometer (left brake used for turning and braking the tractor (7)) 52), a right brake electric cylinder (53) and a right brake potentiometer (54) used for right turning and braking of the tractor (7), and a traveling speed is switched by changing a shift lever position of the tractor (7). A pulse motor (55) for traveling speed and a potentiometer (5 for traveling speed)
6), a steering electromagnetic valve (57) for changing the traveling direction of the tractor (7), and a steering angle sensor (58).

Then, each of the ultrasonic sensors (37) to (4)
0), the traveling direction is detected by the magnetic azimuth sensor (41) while detecting the relative position to the combine (3), and the traveling speed is adjusted by the vehicle speed sensor (42) to make the tractor (7) autonomously travel. When the host computer (8) receives a command to correct the running direction during autonomous running of the tractor (7), the running direction is corrected by the magnetic azimuth sensor (41), and when the vehicle approaches the combine (3) by a predetermined amount or more. The tractor (7) is stopped to prevent collision, and the turning operation is performed based on the detection angle of the magnetic azimuth sensor (41) and the detection distance of the vehicle speed sensor (42) according to a turning command from the host computer (8). To turn the tractor (7) and to notify the host computer (8) when the transport tank (6) is full of kernels, The tractor (7) is moved from the tank (6) exchange position to the combine (3) position by the instruction of (1), and the tractor (7) is moved to a predetermined position by the autonomous traveling of the magnetic azimuth sensor (41) when the harvesting operation is completed. The engine of the tractor (7) is configured to be moved and to stop the engine of the tractor (7) when an emergency stop instruction from the host computer (8) or communication with the host computer (8) becomes impossible.

As is clear from the above, the transceiver (1)
8) (17) and vehicle speed sensor (24) and direction sensor
A combine controller which is a mobile station having (22).
(16) on the combine (3)
(36) (35), vehicle speed sensor (42) and
Control for a tractor, which is a mobile station having a sensor (41)
The tractor (7) is provided with an
Strike computer (8) and transceivers (10) (11)
Therefore, they communicate with each other and combine (3) and tractor
(7) Travel control system for mobile agricultural machines that controls parallel running work
In Glenta, which is a sensor for detecting the amount of paddy in the Glen tank
It is a paddy rice sensor (19) and a cutting path detection sensor.
The cutting sensor (20) is connected to the mobile station (1) of the combine (3).
6), the traveling control and steering unit of the combine (3)
Control of electromagnetic valves (28) and (29) and discharge of paddy
The control of the electromagnetic valve (32) as a member is performed by the host computer.
And the controller (16)
In addition, a super sensor that detects between vehicles running in parallel with the combine (3)
Transportation of sonic sensors (39) (40) and tractor (7)
Relative position of paddy discharge part of tank (6) and combine (3)
Paddy discharge auger position sensor which is a discharge position sensor to be detected
(43) and a transport tank which is a transport tank paddy amount detection sensor.
The paddy rice sensor (44) is controlled by the tractor (7).
(34) to control the travel and operation of the tractor (7).
Control of the electromagnetic valve (57),
This is performed by the computer (8) and the controller (16).
Then, based on the detection result of the cutting sensor (20), the converter
In (3) is moved along the culm row of the field to continuously
Ultrasonic sensor (39)
The combine (3) is tracked based on the detection result of (40).
(7) running in parallel, mowing threshing work and grain transport work
The field pillow of the combine (3)
Change of direction on the ground and unloading of grain from the tractor (7)
Perform harvesting, save labor and control harvesting
Improve functions.

This embodiment is configured as described above, and FIG.
As shown in the flowchart, the ground control of the host computer (8) is performed. The work area coordinates of the work machine to be initialized and the work procedure of the work machine to be initialized are input. The i-th command (one of the work processes) is transmitted to a work machine such as (3) and the tractor (7), and the position of the work machine is determined by input / output of the radar (9) and the transceivers (10) and (11). Detecting and receiving and inputting the operating state of the work machine to judge whether or not the command is executed properly, and when the execution is inappropriate, send a correction command. When the operation is completed, the next work instruction is sequentially transmitted, and all the work is completed.

As shown in the flowchart of FIG.
Combine (3) of combine controller (16)
The host computer (8) is controlled.
, The cutting operation control at the time of the cutting operation instruction, the turning control at the time of the turning instruction, the paddy discharging auger (2) clutch control at the time of the padding discharging instruction, and the stop instruction. When each of the above controls is performed, the engine speed, the shift position, the traveling speed / the traveling distance, and the magnetic azimuth sensor (22) are controlled. Combine detection direction etc. (3)
The operating state is detected, the operating state is transmitted to the host computer (8), and control is performed to return to a predetermined position upon completion of the work, and the combine (3) is returned to the predetermined position by autonomous traveling.

As shown in the flowchart of FIG.
The tractor controller (34) is controlled by the tractor (7). The tractor controller (34) receives a command from the host computer (8).
5) The tilling work control for operating (46) is performed, the turning control is performed when the turning command is issued, the stop control is performed when the stop command is issued, and the running control is performed when the running command is issued. Every time the control is performed, the engine speed, the shift position, the traveling speed and the traveling distance, the magnetic direction sensor (41)
Detecting the operating state of the tractor (7), such as the detected direction, transmitting the operating state to the host computer (8), performing control to return to a predetermined position upon completion of work, and moving the tractor (7) autonomously to a predetermined position. Return to position.

As is apparent from the above description, the combine (3) and the tractor (7) perform cooperative harvesting. The harvesting and threshing of the combine (3) and the transport tank of the tractor (7) running in parallel. (6) The grain is discharged, and when the combine (3) is turned around by detecting the end of the grain culm row, the discharge of the grain is stopped, and the tractor (7) is turned off after the combine (3) turns. The discharge of the kernels is resumed when they are aligned in a predetermined position, and when the transport tank (6) is full, it is replaced with an empty tank, and the grain tank (1) of the combine (3) is full. The harvesting operation is stopped until the tank (1) is empty, and when the combine (3) is turned, the tractor (7) is put on standby at a place other than the turning place, and the transfer tank (6) is replaced with the transfer position (6). Combine (3) The tractor (7) is controlled by the host computer (8) to perform autonomous traveling, and the combiner (3) and the tractor (7) are basically controlled by a macro command of the host computer (8). The details of control are performed by the controllers (16) and (34).

[0017]

As is apparent from the above embodiments, the present invention relates to a transceiver (18) (17) and a vehicle speed sensor (24).
And a mobile station (16) having a heading sensor (22).
Vine (3) and transceiver (36) (3
5) and the vehicle speed sensor (42) and the direction sensor (41)
The mobile station (34) provided in the tractor (7),
(8) and the transceiver (10) (11)
Work control of combine (3) and tractor (7)
Control system for mobile agricultural machinery
Ku paddy amount detection sensor (19) and cutting path detection sensor
(20) is provided in the mobile station (16) of the combine (3),
Travel control and steering member (28) for combine (3)
(29) Control and control of paddy discharge member (32)
Station (8) and mobile station (16).
Parallel running distance detection sensor (39) (40) with in (3)
And combine with the transport tank (6) of the tractor (7)
Discharge position sensor that detects the relative position of the paddy discharge unit in (3)
(43) and the transport tank paddy amount detection sensor (44)
The tractor (7) is provided at the mobile station (34) of the tractor (7).
Control of the vehicle and control of the steering member (57) by the management station
(8) and the mobile station (16) to perform
Combine based on the detection result of the detection sensor (20)
(3) is moved along the culm row of the field to continuously cut
While performing the threshing operation, the parallel running detection sensor (3
9) Based on the detection result of (40), the combine (3)
Rakuta (7) runs in parallel, cutting and threshing work and grain transport
Work can be done easily by linking
Turning action and tiger on the headland
Kuta (7) can easily carry out grain removal operation, etc.
Can save labor and improve harvesting control functions
And the like can be easily achieved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a cooperative operation between a combine and a tractor.

FIG. 2 is a block diagram of a host computer.

FIG. 3 is a block diagram of a combine controller.

FIG. 4 is a block diagram of a tractor controller.

FIG. 5 is a flowchart of FIG. 2;

FIG. 6 is a flowchart of FIG. 3;

FIG. 7 is a flowchart of FIG. 4;

[Description of Signs] (3) Combine (6) Transport Tank (7) Tractor (8) Host Computer (Management Station) (10) Transmitter (11) Receiver (16) Combine Controller ( Mobile Station ) (17) Receiver (18) Transmitter (19) Glen tank pad sensor (grain tank pad detection
Detection sensor) (20) Article mowing sensor (Reaper path detection sensor) (22) (41) a magnetic direction sensor (24) (42) a vehicle speed sensor (28) (29) Electromagnetic valves (steering member) (32) Electromagnetic valves (Rice discharging member) (34) Tractor controller ( mobile station ) (35) Receiver (36) Transmitter (39) (40) Ultrasonic sensor (parallel running vehicle detection sensor )
Xi) (41) a magnetic direction sensor (42) a vehicle speed sensor (43) rice discharge auger position sensor (discharge position sensor) (44) carrying the tank paddy sensor (transportation tank paddy amount detection cell
Capacitors) (57) Electromagnetic valves (steering member)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-110606 (JP, A) JP-A-2-112562 (JP, A) JP-A-59-212787 (JP, A) JP-A-63- 142500 (JP, A) JP-A-63-59813 (JP, A) JP-A-2-219506 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1 / 00-1 / 02

Claims (1)

(57) [Claims] 1. A transceiver (18) (17) and a vehicle speed sensor.
Mobile station (1) provided with a directional sensor (24) and an orientation sensor (22).
6) is provided in the combine (3) and the transceiver (3)
6) (35) and vehicle speed sensor (42) and direction sensor
A mobile station (34) having (41) is installed in the tractor (7).
The management station (8) and the transceivers (10) (11)
Communicate to combine (3) and tractor (7)
In the traveling control system of the mobile agricultural machine that controls the traveling work,
Glen tank paddy amount detection sensor (19) and harvesting course detection
Outgoing sensor (20) to the mobile station (16) of the combine (3)
, The traveling control of the combine (3) and the steering member
(28) (29) control and paddy discharge member (32) control
When the management station (8) and the mobile station (16) perform the operations,
In addition, the parallel running distance detection sensor (39) with the combine (3)
(40) and the transport tank (6) of the tractor (7)
Discharge position to detect relative position of paddy discharge part of Vine (3)
Sensor (43) and transport tank paddy amount detection sensor (44)
At the mobile station (34) of the tractor (7),
The traveling control and the steering member (57) of (7) are controlled by the pipe.
A travel control system for a mobile agricultural machine, wherein the travel control is performed by a management station (8) and a mobile station (16) .