JP3639854B2 - Traveling control device and traveling method for automatic traveling type agricultural vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling control device for an automatic traveling agricultural vehicle, in which a guiding cable is laid in a farm field, and various operations are performed by automatically traveling while detecting a magnetic field generated by passing a current through the guiding cable. It relates to the running method.
[0002]
[Prior art]
When an agricultural vehicle automatically travels with a guide cable, conventionally, a method has been adopted in which the vehicle is traveled with the center of the vehicle in the width direction aligned with the position of the guide cable. Further, the magnetic field detector for detecting the magnetic field generated from the induction cable is attached only to the front (front side) of the vehicle.
[0003]
[Problems to be solved by the invention]
In the method of aligning the center of the vehicle in the width direction with the position of the guide cable as described above, when the same laying guide cable is used, the vehicle always travels on the same route, and automatic travel of work with different work widths is performed. Could not do. Further, since the magnetic field detector is attached only in front of the vehicle, there is a problem that the error in the travel route becomes relatively large.
[0004]
The present invention was made for the purpose of solving the above-mentioned problems. Agricultural vehicles such as tractors, rice transplanters, management machines, and combiners are automatically driven only by the same guide cable laid on the field, Various operations with different work widths from leveling to harvesting can be performed with labor saving and high accuracy.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the present invention
A. In agricultural vehicles such as tractors, rice transplanters, managers, and combines that automatically run while detecting the magnetic field generated by laying a guide cable in the field and passing a current through the guide cable,
The pair of magnetic field detectors mounted on the agricultural vehicle can be offset to the left and right from the center position in the width direction of the vehicle body, and the offset position is set to a preset position or offset by a set amount, and from the set position to the left and right It is characterized in that the movement to can be finely adjusted.
[0006]
B. A plurality of the magnetic field detectors are arranged at appropriate intervals in the left-right direction, and they can be switched for use.
[0007]
C. The present invention is characterized in that a travel assist device that displays a deviation between the left and right center of the magnetic field detector and the position of the guide cable is provided.
[0008]
D. The magnetic field detector is attached to the front and rear positions of the vehicle body.
[0009]
E. In an agricultural vehicle that automatically travels along the guide cable while detecting a magnetic field generated from the guide cable laid on the farm field by a pair of magnetic field detectors equipped on the agricultural vehicle,
Among various work such as plowing, groundbreaking, basic fertilizer application, rice planting, sowing, weed control, top dressing, pest control, harvesting, laying guide cables on the field along the work path that performs the widest work width,
The actual work width of the above various work is set to 1/1, 1/2, 1/3, 1/4 or a value smaller than 1 of the laying interval of the induction cable,
The magnetic field detector can be offset to the left and right from the center position in the width direction of the vehicle body, and the offset position can be set in advance or offset by a set amount, and the movement from the set position to the left and right can be finely adjusted. In addition, the present invention is characterized in that the above-described various field work can be automatically driven only by the same laying induction cable.
[0010]
[Action]
With the above-described configuration and means, the traveling control apparatus and traveling method for an automatic traveling agricultural vehicle of the present invention operate as follows.
[0011]
(1). The mounting position of the magnetic field detector in the agricultural vehicle is changed according to the work width of various work, and in the maximum width work (1/1), in the center of the body, 1/2, 1/3, 1/4 of the maximum width, In the work with a width smaller than 1, the work is offset to a predetermined position by each work width, and a plurality of magnetic field detectors are switched and used.
[0012]
(2). And for work with the maximum work width (for example, basic fertilizer application, sowing, weed control, top fertilization, pest control, etc.), all in-field work (straight and swivel) is carried out along the same guide cable. This is done by automatically driving the vehicle.
[0013]
(3). Also, for work with a width of 1/2, 1/3, 1/4, etc. of the work with the maximum width (for example, tillage, cutting, rice planting, harvesting, etc.), straight running is automatically performed along the same guide cable. The turning is performed by the driver's steering operation. In work with a narrow work width, the magnetic field detector is automatically run not only directly above the induction cable but also in an offset state.
[0014]
(4). Also, in work with a narrow work width, when the driver turns by the steering wheel operation and enters the next stroke, due to the deviation between the left and right center of the magnetic field detector displayed on the travel assist device and the position of the guide cable, Positioning is easy.
[0015]
(5). Since the magnetic field detectors are attached to the front and rear positions of the vehicle body, the error in the travel route of the vehicle does not increase.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be specifically described below with reference to the accompanying drawings.
[0017]
4 to 8, reference numeral 1 denotes an agricultural field. An induction cable 2 is laid (embedded) in the agricultural field 1, and a current is supplied from the transmitter 3 to the induction cable 2 to generate a magnetic field. While detecting this magnetic field, the agricultural vehicle 4 equipped with the work machine 5 such as a tractor, a rice transplanter, a management machine, and a combine automatically runs. The guide cable 2 is provided on the farm 1 along a work path that performs a work having the widest work width among various works such as tillage preparation, plowing, basic fertilizer application, rice planting, sowing, weed control, top fertilization, pest control, and harvesting. Is laid.
[0018]
The induction cable 2 is laid during field maintenance or underdrainage.
[0019]
Even when the guide cable 2 in the field is pulled due to ground subsidence or the like, play is provided at an appropriate interval so as not to be disconnected.
[0020]
The agricultural vehicle 4 is provided with a pair of left and right magnetic field detectors 6 and 6 that are coils for detecting a magnetic field from the induction cable 2. In addition, reflectors a to h and a to l for confirming (recognizing) the position of the agricultural vehicle 4 are provided on the outer periphery of the farm field 1. Then, the agricultural vehicle 4 and the work machine 5 perform work by traveling along the guide cable 2 in the order of a number ({circle around (1)}) in the agricultural field 1.
[0021]
The magnetic field detector provided in the agricultural vehicle 4 is configured as shown in FIGS.
[0022]
FIG. 1A shows a magnetic field detector 6, 6 mounted on the front portion of the agricultural vehicle 4 at the center in the width direction of the vehicle body via a support portion (rail) 7 in the same manner as conventionally known. . 1 (b) and 1 (c), the magnetic field detectors 6 and 6 are provided so as to be able to be offset to the left and right from the center position in the width direction of the vehicle body along the support portion 7, and the offset position is set to a preset position, Alternatively, the set amount is offset, and the detection position fine adjustment device 13 moves from the set position to the left and right.
[0023]
In FIG. 1 (d), the magnetic field detectors 6 and 6 are provided on the front portion of the agricultural vehicle 4 so as to be offset to the left and right, and the magnetic field detectors 6a and 6a are provided on the rear portion of the agricultural vehicle 4 so as to be offset to the left and right. Is. In FIG. 1 (e), two pairs of magnetic field detectors 6b, 6b are arranged at an appropriate interval in the left-right direction at the front of the agricultural vehicle 4, and one or two of them is a detector switching device. It is used by switching according to 6c.
[0024]
An example of a configuration in which the magnetic field detectors 6 and 6 are provided so as to be offset to the left and right is shown in FIG. A pair of pulleys 9 are attached to the left and right ends of a support portion (rail) 7 extending in the left-right direction from the vehicle body, an endless wire 10 is wound between the pulleys 9 and 9, and the endless wire 10 is rotated forward and backward by a motor 11. I have to. Magnetic field detectors 6 and 6 are attached to the endless wire 10 via an attachment base 6d, and engagement protrusions 6e formed on the attachment base 6d are selectively engaged with a plurality of engagement recesses 8 formed on the support portion 7. They are positioned together.
[0025]
The support portion 7 is supported by a guide 12 attached to the vehicle body, and a hinge portion is supported by a detection position fine adjustment device (lateral movement cylinder) 13 attached to the vehicle body so as to be laterally movable. 13 moves in the left-right direction. Further, the support portion 7 is supported by a hinge 14 so as to be turnable in the left-right direction at a position supported by the lateral movement cylinder 13, and is made to turn left and right manually by an electric cylinder, a hydraulic cylinder, or manually. Yes.
[0026]
For example, the working width is 7.2 m, 3.6 m, 2,. When performing each work of 4m and 1.8m, it is necessary to change the offset amount to 5 steps of 0m, 0.9m, 1.8m, 2.4m and 2.7m. By providing the engaging recess 8a, it is possible to accurately position the offset amount. When it is desired to adapt to a working width other than the above, the lateral movement cylinder 13 may be expanded and contracted and the support portion 7 may be laterally moved for adjustment.
[0027]
FIG. 3 shows a travel assist device that displays the deviation between the left and right centers of the magnetic field detectors 6 and 6 (vehicle 4) and the position of the guide cable 2. In this apparatus, each of the magnetic field detectors 6 and 6 is provided with a signal shaper 15, compared with a signal comparator 16, controlled by a control device 17, and displayed on a display device 18. . The display device 18 displays a deviation between the left and right centers of the magnetic field detectors 6 and 6 and the position of the guide cable 2, and the driver can correct the deviation by seeing the deviation.
[0028]
4 to 8, the actual work width of various works (work machine 5) is 1/1, 1/2, 1/3, 1/4 or smaller than the laying interval of the guide cable 2. The magnetic field detectors 6, 6a, 6b can be offset to the left and right from the center position in the width direction of the vehicle body, and the offset position is set to a preset position or offset by a set amount, and from the set position to the left and right. By making the movement of the two finely adjustable , only the same laying guide cable 2 can be used to automatically perform various operations in the field.
[0029]
The field 1 shown in FIGS. 4 to 8 is a paddy field 30 m from the center of one ridge to the center of the next ridge. FIG. 4 shows the work width in the management work such as weed control, top dressing, pest control. This is a case where the corners are swirled at 7.2 m. In this case, the magnetic field detectors 6 and 6 are attached without being offset. Moreover, the start and stop of the spreading | diffusion of the working machine 5 are the electromagnetic valves attached to the working machine 5 by receiving the light emitted from the photoelectric sensor 19 and reflected by the reflectors a to h by the light receiving part of the photoelectric sensor 19. (When spraying liquid) or turning on / off the motor (when spraying granular materials). For example, in the process (1), the spraying is started at the position of the reflecting plate c or h, and the spraying is stopped at the position of the reflecting plate d or g. Further, for example, in the turning section (5), the spraying from the boom on the turning center side is stopped at the position g, and the spraying stop from the boom is released at the position f.
[0030]
FIG. 5 shows a case in which spraying is performed up to four corners with a working width of 7.2 m in management work such as weed control, top fertilization, and pest control, sowing, and basic fertilizer application (application) work. In addition to starting and stopping the spraying of the work machine 5 in the same manner as described above, after stopping the vehicle 4 at the positions of the reflectors b, d, f, and h, the steering is fixed and the vehicle 5 is moved backward. At the positions of the reflectors i, j, k, and l, the backward movement is stopped, and then spraying is started and advanced. For example, after starting scattering at the position k in the process (4), the photoelectric sensor 19 receives light at the position f. In this case, it is incorporated in advance in the program so as to continue the scattering.
[0031]
FIG. 6 shows a case where the working width is 1.8 m in the cultivation work, the rice planting (six-row planting) work, and the like. FIG. 7 shows a case of working with a working width of 2.4 m in rice transplanting (eight-row planting) work or the like. FIG. 8 shows a case where the working width is 1.8 m in the harvesting (six-row cutting) work. 6 to 8, the magnetic field detectors 6 and 6 are often offset, and automatic traveling is performed along the guide cable 2 only in the straight portion. In the turning section, the driver turns by operating the steering wheel while looking at the display device 18.
[0032]
FIG. 9A shows a case where the work width of the work machine 5 is equal to the embedding interval of the guide cable 2. FIG. 9B shows a case where the work width of the work machine 5 is ½ of the guide cable 2. FIGS. 10A and 10B show a case where the work width of the work machine 5 and the burying interval of the guide cable 2 are not an integral multiple.
[0033]
【The invention's effect】
As described above, according to the traveling method and traveling control device of the automatic traveling agricultural vehicle of the present invention, the following effects can be obtained.
[0034]
(1). Since it is possible to automatically run various operations using only the same guide cable, the cost can be reduced.
(2). Agricultural vehicles can travel straight ahead without being driven by the driver, so that fatigue during long working hours can be reduced.
(3). In the work where the work marker is wide and the center marker cannot be used, the work can be performed without setting up a pole or the like as a substitute for the marker, thereby saving labor.
[0035]
(4). In rice planting and sowing operations, seedlings can be planted or seeded straight, improving work accuracy and facilitating subsequent operations such as weed control, top dressing, pest control and harvesting. .
(5). In plowing and ground cutting work, it is possible to minimize the overlap width of work, and therefore work efficiency can be improved.
(6). Work efficiency can be improved because materials such as fertilizer, seedlings, and agricultural chemicals can be replenished during straight-ahead work.
[0036]
(7). Since the driver can perform the agrochemical spraying work without getting on the driver, the exposure of the agricultural chemical to the driver can be eliminated.
(8). In the harvesting work, the conventional technology can detect the crop line and run straight ahead automatically. can do.
[Brief description of the drawings]
FIGS. 1A to 1E are explanatory views of a mounting state and a use state of a magnetic field detector with respect to an agricultural vehicle.
FIG. 2 is a front view of an example of a state in which a magnetic field detector is attached to an agricultural vehicle.
FIG. 3 is a block diagram of an apparatus for displaying a deviation between a vehicle and a laying cable.
FIG. 4 is an explanatory diagram of weed control, additional fertilization, and pest control work in a field (four-corner swirling spraying = actual work width 7.2 m).
FIG. 5 is an explanatory diagram of basic fertilizer application, sowing, weed control, top dressing, pest control work (four corner spraying = actual work width 7.2 m).
FIG. 6 is an explanatory diagram of plowing / rice transplanting (6 items) work (actual work width of 1.8 m).
FIG. 7 is an explanatory diagram of rice transplanting (article 8) work (actual work width 2.4 m).
FIG. 8 is an explanatory diagram at the time of harvesting (six stripping) work (actual work width of 1.8 m).
FIG. 9 is an explanatory diagram of a state where the magnetic field detector is not offset with respect to the agricultural vehicle (a) and an offset state (b).
FIGS. 10A and 10B are work explanatory views in a state where the magnetic field detector is offset with respect to the agricultural vehicle. FIGS.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Farm 2 Guide cable 3 Transmitter 4 Farm vehicle 5 Working machine 6, 6a, 6b Magnetic field detector 6c Detector switching device 6d Mounting base 6e Engagement protrusion 7 Support part (rail)
8 Engaging recess 9 Pulley 10 Endless wire 11 Motor 12 Guide 13 Detection position fine adjustment device (lateral movement cylinder)
14 Hinge 15 Signal shaper 16 Signal comparator 17 Control device 18 Display device 19 Photoelectric sensors a to h, a to l Reflector

Claims (5)

In agricultural vehicles such as tractors, rice transplanters, managers, and combines that automatically run while detecting the magnetic field generated by laying a guide cable in the field and passing a current through the guide cable,
The pair of magnetic field detectors mounted on the agricultural vehicle can be offset to the left and right from the center position in the width direction of the vehicle body, and the offset position is set to a preset position or offset by a set amount, and from the set position to the left and right A traveling control device for an automatic traveling agricultural vehicle characterized in that the movement to the vehicle can be finely adjusted. 2. The traveling control device for an automatic traveling agricultural vehicle according to claim 1, wherein a plurality of the magnetic field detectors are arranged at appropriate intervals in the left-right direction and can be used by switching them. The traveling control device for an automatic traveling agricultural vehicle according to claim 1 or 2, further comprising a traveling assist device that displays a deviation between a left and right center of the magnetic field detector and a position of the guide cable. 4. The traveling control device for an automatic traveling agricultural vehicle according to claim 1, wherein the magnetic field detector is attached to a front and rear position of a vehicle body. In an agricultural vehicle that automatically travels along the guide cable while detecting a magnetic field generated from the guide cable laid on the farm field by a pair of magnetic field detectors equipped on the agricultural vehicle,
Among various work such as plowing, groundbreaking, basic fertilizer application, rice planting, sowing, weed control, top dressing, pest control, harvesting, laying guide cables on the field along the work path that performs the widest work width,
The actual work width of the above various work is set to 1/1, 1/2, 1/3, 1/4 or a value smaller than 1 of the laying interval of the induction cable,
The magnetic field detector can be offset to the left and right from the center position in the width direction of the vehicle body, and the offset position can be set in advance or offset by a set amount, and the movement from the set position to the left and right can be finely adjusted. And the traveling method of the automatic traveling type agricultural vehicle characterized in that the automatic traveling of the above-mentioned various farm work is made possible only by the same laying induction cable.

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