JP3735716B2 - Tracking control system for linked self-propelled vehicles - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled work vehicle (parent machine) such as a leaf vegetable harvesting machine or the like, in a case where a self-propelled vehicle (child machine) such as a harvesting vehicle or a group of child machines performs work simultaneously. The present invention relates to an apparatus and a method (system) for measuring the relative position and the relative traveling direction of the slave unit and controlling the travel and steering mechanism of the slave unit to automatically follow the master unit.
[0002]
[Prior art]
Conventionally, the child machine uses a non-self-propelled towing vehicle, and the child machine is towed according to the traction force of the parent machine by a traction rod that functions only to transmit the traction force. In this case, there are cases where the master unit slips on soft ground due to the drag resistance of the slave unit, and sometimes it becomes impossible to run, and the slave unit needs to be pulled by the master unit even in the case of harvesting, etc. It was an impediment to improving efficiency.
[0003]
In recent years, an example of research to detect the relative positional relationship between the base unit and the slave unit and to automatically follow the slave unit, which is a self-propelled vehicle, to maintain the appropriate positional relationship (for the development of next-generation agricultural machinery) Basic Technology Development, Biologically Specified Industrial Technology Research Promotion Organization, P59-73, 2001.3) (Unmanned Follow-up Research (3rd Report), Journal of Agricultural Machinery Society, Vol. 63, No. 4, P80-84, 2001 7), etc., but it is necessary to equip the controller and actuator for controlling the slave unit as well as the detection device, and there is a concern that the slave unit will be expensive. In order to reduce the cost of the slave unit, the master unit and the travel clutch mechanism of the slave unit, which is a self-propelled vehicle, are connected with a wire, and if the relative distance between the master unit and the slave unit is increased, the slave unit travel clutch is engaged. Genzure if mechanism to be cut also proposed (Bio-oriented technology research Promotion Agency and agricultural mechanization Institute, FY2000 business report, P134-135,2001.2) has been, acceleration control in this example, braking Since the steering control is not performed, the range of use is limited.
[0004]
[Problems to be solved by the invention]
Start / stop control, acceleration control , braking, and steering control with a simple and low-cost mechanism using a slave unit that has a self-propelled function to avoid slipping the base unit on soft ground and sometimes preventing it from traveling. Therefore, automatic tracking technology that can be applied in a wide range is required.
[0005]
[Means for Solving the Problems]
The present invention has taken the following technical means in order to solve the above-mentioned problems. That is, the base unit side end portion is rotatably connected to the base unit vehicle M, the slave unit S is expanded and contracted only within the predetermined range Lt, and the horizontal plane is limited to the predetermined range αt. A follow-up control rod B is provided so that it can rotate upward. The amount of expansion / contraction L, that is, the change in the relative position of the main unit M and the sub unit S is regarded as the relative speed information of the main unit M and the sub unit S that are self-running at a predetermined speed, and similarly the rotation angle α is regarded as the relative traveling direction information. By means of a motion transmission mechanism such as a wire or a link, the expansion / contraction amount L or the rotation angle α is set to a speed control means such as a travel clutch, a speed change mechanism, a throttle, etc., or a steering mechanism, a steering clutch. This is transmitted to the steering control means such as and operated.
[0006]
The control according to the change in the relative position of the parent machine M and the child machine S that are self-propelled at a predetermined speed, that is, the relative speed is when the expansion / contraction amount L of the follow-up control rod B with respect to the child machine S is within the free brake operation range L1. the brake system is activated, or the left and right steering clutch lever is operated simultaneously performs on / off operation of the running clutch when the expansion and contraction amount L of the follow-up control rod B has entered the running clutch control range L2, follow When the expansion / contraction amount L of the control rod B enters the acceleration control range L3, the throttle or the speed change mechanism is operated to be accelerated. Thus, start / stop control, acceleration control , and braking control are performed with a simple and low-cost mechanism. The control according to the relative traveling direction is not performed when the rotation amount α of the follow-up control rod B with respect to the child device S is in the play range αi, but in the steering control range αl or αr. At this time, steering control means such as a steering mechanism and a steering clutch are operated to make a turn.
[0007]
In addition, the relative speed information of the master unit M and the slave unit S , that is, the expansion / contraction amount L, and the relative traveling direction information, that is, the rotation angle α is converted into an electrical signal by a converter such as a potentiometer, and a controller such as a computer or a sequencer. entered, after calculating the control value, to change the running state or the steering state, to drive the clutch, transmission mechanism, acceleration control means, such as a throttle or steering mechanism, the steering control means, such as a steering clutch actuator There is also a method of performing the control.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be specifically described with reference to the accompanying drawings.
[0009]
In FIG. 1, symbol M is a vehicle such as an agricultural product harvesting machine having a self-propelled function (master unit), and S is a vehicle such as an agricultural product transporter having a self-propelled function and can be moved independently (slave unit). The master unit M and the slave unit S are connected to each other via a tracking control rod B so that the slave unit S performs automatic follow-up running while maintaining a certain positional relationship with the master unit M. In addition, when unloading the harvest received from the main unit M, the sub unit S releases the connection with the main unit M by the follow-up control rod B, and travels independently by the self-propelled function to unload the harvest. To do.
[0010]
As shown in FIGS. 2 to 4, the follow-up control rod B is attached to the front portion of the child device S with a child device mounting portion 1 having a rectangular shape in plan view. And the rear part of the housing 3 is supported through the detection part 3-1, so that it can rotate left and right. The housing 3 extends in the front-rear direction, and a base unit connecting part 4 is attached to the tip of the case 3 so as to be able to move back and forth with screws. The base unit connecting part 4 is attached to a hitch part (not shown) provided at the rear part of the base unit M. It is connected via a connecting pin so as to be rotatable left and right and detachable.
[0011]
A slit 5 having a predetermined length is formed in the housing 3 at the position where the housing 3 is supported by the pin 2 in the front-rear direction, and the front-rear direction from the base unit connecting portion 4 side, that is, the base unit M side. When the force acts on the housing 3, the housing 3 can move and extend along the pin 2 within the length range of the slit 5. The detector 3-1 is positioned by the pin 2 together with the housing 3 and can be rotated left and right. However, the detector 3-1 does not have a slit and therefore does not move or expand.
[0012]
Here, the range in which the housing 3 moves and expands / contracts within the length range of the slit 5 is the predetermined range Lt shown in FIG. 2 (the brake operation range L1, the travel clutch control range L2, the acceleration control range L3 of the slave unit S). The relative position of the slave unit S with respect to the master unit M is detected by the expansion / contraction amount L (+ L, -L). As shown in FIG. 4, a main clutch wire 8 and a throttle wire 9 are attached to the bottom surface side of the housing 3 through locking pins 7 and 7 fitted in the pin holes 6 and 6. The detection unit 3-1 is provided with a main clutch wire 8 and a fixing unit 10 for the throttle wire 9. Although not shown, a brake wire, a traveling clutch wire, an acceleration control wire, etc. are connected to the housing 3 and controlled in the above-mentioned control range, or controlled using parameters according to the expansion / contraction amount L of the housing 3. The value may be determined to control the actuator for driving the speed control means such as the clutch, the speed change mechanism, and the throttle of the slave unit S, or the steering control means such as the steering mechanism and the steering clutch.
[0013]
The fixing portion 14 of the detection unit 3-1 is provided with a locking pin 11 in the vertical direction, and the locking pin 11 has a right steering clutch wire 12 and a left side in the horizontal direction, as shown in FIGS. The tip of the steering clutch wire 13 is locked. Then, the housing 3 is rotated in the left-right direction around the pin 2 and within a predetermined rotation range αt including the left and right steering control ranges αl and αr and the play range αi with respect to the child device S. And a function of detecting the relative traveling direction of the slave unit S with respect to the master unit M based on the rotation angle α that is the amount of rotation. Further, the control value of the rotation angle α, which is the relative traveling direction information, is determined using parameters, and speed control means such as a clutch of the slave unit S, a speed change mechanism, and a throttle, or a steering mechanism, a steering clutch, and the like are operated. The actuator that drives the direction control means may be controlled.
[0014]
The relative position of the slave unit S with respect to the master unit M detected by the above-mentioned means, or the relative traveling direction of the slave unit S with respect to the master unit M, the expansion / contraction amount L of the follow-up control rod B, or the rotation angle α is represented by a wire or link. It may be transmitted directly to a speed control means such as a travel clutch, a speed change mechanism, a throttle, or a steering control means such as a steering mechanism or a steering clutch via a motion transmission mechanism such as a steering mechanism or a steering clutch. It is.
[0015]
In the acceleration control including the stop state of the slave unit S with respect to the master unit M by the above means, when the expansion / contraction range Lt of the follow-up control rod B for the slave unit S is within the free brake operation range L1, the brake system is activated, or When the left and right steering clutch levers are operated simultaneously and the expansion / contraction range of the tracking control rod B enters the traveling clutch control range L2, the traveling clutch is engaged / disengaged, and the expansion / contraction range of the tracking control rod B is the acceleration control range. When entering L3, the throttle or the speed change mechanism is operated to accelerate.
[0016]
【The invention's effect】
As described above, according to the follow-up control system for a coupled self-propelled vehicle of the present invention, the following functions and effects can be achieved by having the means and configuration of claims 1 to 5. When a work vehicle (master unit) and a self-propelled vehicle (slave unit) or a slave unit group work simultaneously, the relative position and relative traveling direction of the master unit and the slave unit are measured, By means of a device (system) that automatically follows the base unit by controlling the steering mechanism, it is possible to perform start / stop control, acceleration control , braking, and steering control with a simple and low-cost mechanism.
[Brief description of the drawings]
FIG. 1 is a schematic plan view of a state in which a self-propelled vehicle S is connected to a self- propelled vehicle M via a tracking control rod .
FIG. 2 is a plan view of a tracking control rod according to the present invention.
FIG. 3 is a side view of the same.
FIG. 4 is a bottom view of the same.
5 is a view as seen from the direction of arrow A in FIG. 4;
[Explanation of symbols]
M self-propelled vehicle (master unit)
B following control 桿 S self-propelled vehicle (slave)
L Stretching amount (+ L, -L)
L1 Brake operation range of the slave unit L2 Traveling clutch control range L3 Acceleration control range Lt Predetermined range α Rotation angle αl, αr Steering control range of left and right αi Play range αt Predetermined rotation range 1 Slave unit attachment part 2 Pin 3 Housing 3-1 Detection unit 4 Master unit connection unit 5 Slit 6 Pin hole 7, 11 Locking pin 8 Main clutch wire 9 Throttle wire 10, 14 Fixed unit 12 Right steering clutch wire 13 Left steering clutch wire

Claims (5)

A preceding self-propelled vehicle M, and a self-propelled vehicle S that is connected to the self-propelled vehicle M via a tracking control rod B and performs automatic follow-up traveling on the self-propelled vehicle M;
The follow-up control rod B is attached to the self-propelled vehicle S so as to be extendable and contractable within a predetermined range Lt, and detects the relative position of the self-propelled vehicle S with respect to the self-propelled vehicle M based on the expansion / contraction amount L. ,
The expansion amount L, the brake operating range L1 within a predetermined range Lt, running clutch control range L2, when entering the acceleration control range L3, controlled in accordance with the running condition of the automotive vehicle S in the respective ranges ,
In the brake operation range L1, the following control system for a connected self-propelled vehicle, wherein the brake system is operated or the left and right steering clutch levers are simultaneously operated . The follow-up control rod B is attached to the self-propelled vehicle S so as to be rotatable within a predetermined rotation range αt, and the self-propelled vehicle with respect to the self-propelled vehicle M is determined by a rotation angle α that is the amount of rotation. Detect the relative direction of travel of S,
When the rotation angle α enters the left and right steering control ranges αl and αr within the rotation range αt, the steering state of the self-propelled vehicle S is controlled according to the ranges. The tracking control system for a coupled self-propelled vehicle according to claim 1.   A control value is determined using a parameter related to one or both of the expansion / contraction amount L and the rotation angle α, and an actuator that changes a traveling state or a steering state of the self-propelled vehicle S is controlled. Item 3. A tracking control system for a coupled self-propelled vehicle according to item 2. One or both of the expansion / contraction amount L and the rotation angle α is directly controlled by a speed control means such as a travel clutch, a speed change mechanism, a throttle, etc. via a motion transmission mechanism such as a wire or a link connected to the tracking control rod B. 3. The follow-up control system for connected self-propelled vehicles according to claim 2, wherein the control is transmitted to steering control means such as a steering mechanism and a steering clutch to operate the steering control means. Expansion amount L of the follow-up control rod B is subjected to On / Off operation of the running clutch when entering the said running clutch control range L2, stretching amount L of the follow-up control rod B is entered into the acceleration control range L3 5. The follow-up control system for a coupled self-propelled vehicle according to claim 4, wherein the follow-up control system is operated so as to accelerate the throttle or the speed change mechanism when the vehicle travels.

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