JPH01215208A - Controller for travel of mobile agricultural machine - Google Patents

Abstract

PURPOSE:To obtain the title device capable of sensing a position for changing the direction of a mobile agricultural machine at a butt by a cyclometer when the butt is sensed by a beam sensor of the mobile agricultural machine without requiring installation of indicators in a field, etc. CONSTITUTION:A beam sensor 33 and a cyclometer 35 are provided in a mobile agricultural machine capable of changing the travel direction of a machine body at a stopped position. When a butt is sensed by the beam sensor 33, the position for changing the direction of the mobile agricultural machine is sensed by the cyclometer 35. Thereby, agricultural operation can be carried out on almost the whole surface of a field and the butt in an automated state to accurately perform control of the travel route.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a mobile agricultural machine, particularly a mobile agricultural machine suitable for unmanned intermediate management work such as fertilization, pest control, weeding, and trench cutting. In particular, the present invention relates to a travel control device for the mobile agricultural machine.

(b) Prior art The present applicant first proposed a vehicle frame that is supported by a plurality of wheels that can turn at least 90 degrees, that can be located at least at the front and rear of the vehicle, and that allows the wheels to rise. proposed an unmanned mobile agricultural machine equipped with a stick that can be driven up and down to touch the ground, and configured so that the running direction of the machine can be changed at the stopped position.

→ Problems to be Solved by the Invention According to the mobile agricultural machine described above, although it is possible to change the direction of the unmanned mobile agricultural machine in a narrow headland corresponding to the body length of the mobile agricultural machine, it is difficult to move straight through the field or headland. When agricultural machinery stops at a predetermined position on the headland and changes direction, the stopping position, that is, the turning position, is artificially supported, for example, by wireless means at the edge of the field, or by using a plurality of lasers placed at appropriate positions in the field. , the determination was made by receiving a signal from an indexing device that emits ultrasonic waves or the like with a receiver installed on the mobile agricultural machine, but the former method requires human labor and makes it difficult to move the unmanned mobile agricultural machine to the desired stopping position. @lζ
There is a risk that the device may not be able to stop.Although the latter method allows the device to stop accurately at the stop position, there is a risk that the device will be damaged and the cost will increase.

Means for solving J w1 wild goose The present invention is based on the above-mentioned l! For example, as shown in FIGS. 1 and 2, a plurality of wheels (2a, 2
The fuselage frame (5) supported by the aircraft frame (5) is equipped with a stick (11) that can be moved at least forward and backward of the aircraft and that can drive the wheels up and down to raise and touch the ground; A mobile agricultural machine (1) configured so that the running direction of the machine body can be changed at a stop position, a beam sensor (33) and an odometer (35) are installed in the moving layer m(1), and the beam The present invention is characterized in that the sensor (33) detects the headland and the odometer (35) detects the turning position of the mobile agricultural machine (1) on the headland.

(e) Function Based on the above-mentioned configuration, when performing intermediate management work such as fertilization, the mobile agricultural machine (1) works between the rows of rice plants etc. planted in the field, moving from one headland to the other. It runs straight toward the ground while detecting rows of rice plants with the beam sensor (33). When the mobile agricultural machine (1) approaches the other headland, the beam sensor (33) detects the other headland, and from that point on, the distance traveled is measured by the odometer (35). When the measured value by the odometer (35) reaches a predetermined value, the straight-line traveling of the mobile agricultural machine (1) is stopped and the fertilizing part (16) is raised.

Then, at the above-mentioned stop position, use the stick (, 11) to move the wheels (2a, 2b).

3m, 3b) by 90 degrees, the mobile agricultural machine (
1) The running direction is changed to a direction perpendicular to the above running direction. The mobile agricultural machine (1) whose direction has been changed as described above is
Next, while descending the fertilizing part (16) and applying fertilizer, the vehicle travels along the other headland while measuring the travel distance, and when the measured value reaches a predetermined value, travel is stopped again, and The fertilizing part (16) is raised. Then, at the above-mentioned stop position, use the stick (11) again to move the wheels (2a,
2b, 3a, 3b) are further rotated, for example, by 90 degrees, and the traveling direction of the mobile agricultural machine (1) is changed to a direction opposite to the original traveling direction. Next, the mobile agricultural machine (1) moves to the fertilizer application section (16
) while measuring the distance traveled while the fertilizing section (
16) and then drive straight toward one headland while applying fertilizer. And beam sensor (33)
When one headland is detected this time, the same traveling control as described above is performed, but this time, at each stop position, the wheels are rotated by, for example, 90 degrees in the opposite direction from the previous one. As a result, the direction of travel is changed. In this way, the mobile agricultural machine travels in a zigzag pattern through one headland, the farmland, and the other headland, thereby performing fertilization over substantially the entire surface of the field and the headland.

Note that the symbols in parentheses do not limit the configuration in any way.

(F) Embodiments Below, embodiments of the present invention will be described with reference to the drawings.

As shown in FIGS. 1 and 2, the management device 1 has wheels 2.
It has a rectangular body frame 5 supported by wheels 3'a, 2b and wheels 3'a, 3b, and a pivot shaft 6 installed in the center of the body frame 5 has a horizontal rotation axis. A moving eyepiece 5ζ rotating frame 7 is provided. Furthermore,
Links 9 and 10 are attached to one end of the frame 7 so as to be able to swing vertically. The tips of the lOs are attached adjacent to one end of the stick 11, and one end of a hydraulic actuator 13 installed on the rotating frame 7 is connected to a bracket 12 provided near the rotating base of the link 9. .

Further, a fertilizing section 16 is attached to the other end of the rotating frame 7 via a parallel link 15, and the rotating frame 7
A hydraulic actuator 17 attached to the other end is connected to the parallel link 15 via a bracket 19. on the other hand,
A fertilizer tank 20° 20 is installed in the center of the rotating frame 7 so as to sandwich the frame 7, and the fertilizer tank 20° 20 sends fertilizer to the fertilizer application section 16 via a hose 21. The fertilizer is supplied to the rice field from the fertilization nozzle 22 located below the fertilization section 16. Further, below the body frame 5, an engine 23, a transmission 25, a solenoid valve 26, a hydraulic pump 27, a control section 29, and a battery 30 are arranged, respectively. The rotation of the engine 23 is decelerated by a transmission 25 and transmitted to the wheels 2a, 2b via a bevel case 31, 31 arranged on the body frame 5 made of a transmission pipe.

The signal is transmitted to the wheels 3a and 3b. And these wheels 2a
, 2b, and wheels 3m and 3b are each rotated up to 270 degrees by a steering hydraulic actuator, and can be stopped at any rotation angle by detecting the rotation with a steering angle detection sensor. It is composed of

For example, arm members 32 a and 32 b are rotatably supported in the intermediate portion of the stick 11, and a light emitting element 33 a and a light receiving element 33 b are mounted at the tips of the arm members 32 a and 32 b.
A beam sensor 33 consisting of a beam sensor 33 consisting of The rice families of the rows are always present, and the light emitted from the light emitting element 33a is blocked by these rice families so that it does not reach the light receiving element 33b. As shown in Figure (a), the output shaft of the transmission 25 or the axle 2a.

The rotation sensors 35tζ are arranged in relation to the axles 2b, 3a, and 3b, and the travel distance of the management machine 1 is measured by the rotation sensors 35tζ. And the beam sensor 3
3 and the rotation sensor 35 are connected to the control unit 29 described above, and a microcomputer or the like built in the control unit 29 controls the running of the management machine 10 as described later.

Since the present embodiment has the above-described configuration, for example, when fertilizing rice plants planted in a field, the management device 1 applies fertilizer to the rows of rice plants as shown in FIG. 2(a). placed,
In addition, in the field, there is a management machine 10, the center of the machine body, i.e., the pivot shaft 6.
The work is started with the location of the vehicle located at point A in FIG. 3, which is close to one of the headlands. Then, the management machine 1 descends through the fertilizer application section 16, and then starts traveling, and the management machine 1 moves down the fertilizer application section 16.
While applying fertilizer between the eight rice rows from the four nozzles 22 and detecting the presence of the rice rows with the beam sensor 33, the vehicle travels straight toward point B (Step No. )
. Then, when the center of the body of the management machine 1 approaches point B, the beam sensor 33 detects the other headland, and the detection signal resets the distance counter in the I) li11 sister part 29, and the rotation sensor 35 When the measured value SA becomes equal to the set value S, that is, when the management machine 1 reaches the center point C of the body of the management machine 1, the running of the management machine 1 is stopped, and the fertilization section 1
6 is raised and then using the stick 11 the wheel 2m
, 2b, 3m, and 3b are rotated 90 degrees counterclockwise, and the running direction of the management machine 1 is changed to a direction perpendicular to the previous running direction (stroke wind ■). After the direction has been changed as described above, the distance counter of the management machine 1 is reset again, the fertilizing unit 16 is lowered, and the management machine 1 starts traveling again along the other headland toward point D, and the rotation sensor 35 becomes equal to the set value 82, that is, when the center of the machine i reaches the point D, traveling is stopped and the fertilizing part 16 is raised, and then the stick 11 is used to move the wheels 2 m , 2b, 3a, and 3b are further rotated 90 degrees counterclockwise, and the running direction of the management machine 1 is changed to a direction opposite to the original running direction (stroke wind ■). Next, management machine 1
At the same time as the distance counter is reset, travel is started toward point E with the fertilizing section 16 still raised, and when the measured value S by the rotation sensor 35 becomes equal to the set value S, that is, the management machine When the center of the aircraft 1 reaches point E and the fertilizing part 16 at the rear of the aircraft leaves the other headland, the fertilizing part 16 is lowered (stroke wind ■), and from then on, it approaches one headland while performing fertilization work. Drive straight towards point F (stroke ■'). Then, when the center of the body of the management machine 1 approaches point F, the beam sensor 33 detects one of the headlands, and the same control as the above-mentioned process control is performed, and at the point G, the wheels 2a, 2b, 3a, and 3b are now rotated 90 degrees clockwise, and the running direction of the management machine 1 is changed to a direction perpendicular to the previous running direction (stroke Na
■′). After that, the same control as in the above-mentioned stroke control is performed, and the wheels 2a, 2b, 3a, and 3b are further rotated 90 degrees clockwise at point H, so that the running direction of the management machine 1 is the same as the original running direction. The direction is changed (Iku Arashi ■'). Furthermore, after that, the control machine 1 is controlled in the same manner as the above-mentioned process island ■ (process island ■'), and is placed at the same position 1 as point A at the beginning of the work.
From this point, the control returns to the same control as in step No. 2. In this way, the management machine 1 repeats the process cycle of the above-mentioned process N6■→■→■→■→■′→■′→■′→■′ in one headland, the farm field, and the other headland, and the management machine 1 moves in a zigzag pattern. By running the vehicle, fertilization work is carried out automatically and completely unmanned over almost the entire surface of the field and headland.

In addition, in the description of the travel control operation above, the beam sensor 3
Although the headland detection operation according to No. 3 has been briefly explained, the headland is detected in detail as described below.

The beam sensor 33 is made up of a light emitting element 33m and a light receiving element 33b, as described above (see Fig. 1.
As shown in a), a plurality of rows of rice, for example, two rows, are placed between the light emitting element 33a and the light receiving element 33b, thereby preventing false detection due to missing plants as much as possible. headlands are now reliably detected, and
As shown in FIG. 1 (al), the presence of the rice plant is reliably detected by detecting the upper part of the rice plant from the middle of its height.Then, the beam incident on the light receiving element 33b An on-delay of time t0 is applied to the sensor signal of
When the beam sensor 33 detects the rows of rice plants, the light receiving element 33b detects the light leaking from the small gap between the rice plants, for example, as shown in FIG. P, P in Figure 5(c).

Even if it is detected, the light receiving time is t. If the length is too short, those detection signals are ignored. Then, the beam sensor 33 reaches the headland, and as shown by point P in FIGS. 3 and 5 (al), the light from the light emitting element 33a' reaches the light receiving element 33b, and at time t.

If the light reception state continues even after the elapse of time, the ON timer is activated at the same time as the ON delay signal rises as shown in FIG. The time is a predetermined time t.

If it is longer, it is assumed that a headland has been detected, and the row flag is set, and as described above, the rotation sensor 35 or the like starts measuring the distance between the rows to detect the distance between the rows. When the management device 1 travels the distance S±α between the rows of rice plants in the headland, if the on-delay signal is turned on again through the beam sensor 33 at point P', the light is received at the previous point P. When the element 33b rises, it is determined that the headland has been reached, and the row flag is reset. In the above case, if the on-delay signal does not turn on even after the maximum distance between rows S + a,
The row flag is reset without headland determination and returns to the initial state. Next, if the light entering the light-receiving element 33b is momentarily blocked by some kind of shielding object, as shown at point P in FIG. As shown, the ON time of the on-delay signal becomes shorter than time 1. Accordingly, the OFF timer is started, and the OFF time measured by the OFF timer is
If the next on-delay signal rises within time t, it is assumed that the headland has been detected as described above, and measurement of the distance between the rows is started, and the same detection operation as described above is performed. Therefore, even if a signal such as the received light signal P6 in Figure 5 (C) is received due to the lodging of rice plants before reaching the headland, it will not be determined that it is a headland based on that alone. ing.

Further, in the above embodiment, in order to measure the traveling distance of the management machine 1, the rotation sensor 35 is connected to the transmitter 25.
Output shaft or axle 2 ap 2 be3a-, 3b
Although an example has been described in which the rotation sensor 35' is arranged in relation to the axle of the wheel, as shown in FIG. May be placed. In this case, as a rotating wheel, a wheel 36 with a small number of lug pieces 36a as shown in FIG. For example, as the management machine 1 travels, the tip of the lug piece 36a stabs into the field and rotates the wheel 36 reliably, and the lug piece 3
Since the gap between the lug piece 6a and the adjacent lug piece 36a is large, it is difficult for the gap to become clogged with mud, etc., and the slip phenomenon of the wheel 36 caused by the clogged mud is avoided, and the distance traveled can be more accurately measured. It will be done. In addition, as mentioned above, the rotation sensor 3 is attached to the rotation wheel 36 of the fertilization section 16.
If 5' is provided, the process order ■ as explained earlier.

Since it is not possible to measure the travel distance at point (1)', the measurement during that time must be performed by the rotation sensor 35 arranged as described above or other means.

Note that the means for measuring the traveling distance by providing a rotation sensor 35' on the rotary wheel 36 as shown in FIG. It is also possible to apply the present invention to machines, etc. in the same way.

Furthermore, in the above-described embodiment, for example, at point D in FIG.
b, 3a, and 3b are further rotated 90 degrees counterclockwise to change direction. However, if the wheels 2a, 2b, 3m, and 3b are configured to be able to rotate in the opposite direction, the wheels will change direction at the above point. 2a, 2b, 3m, 3b may be rotated 90 degrees clockwise and then run toward point E. In that case, the wheels 2m, 2b, 3a, 3b only need to turn at least 90 degrees for steering.

Furthermore, in FIG. 3, normal S, = S2.

(g) As described in detail, according to the present invention, a beam sensor (33) and an odometer are attached to a mobile agricultural machine (1) configured to be able to change the traveling direction of the machine body at a stop position. (35
), the headland is detected by the beam sensor (33), and the direction change position of the mobile agricultural machine (1) is detected by the odometer (35). Not only can the unmanned mobile agricultural machine (1) run in a completely automated state for all agricultural work such as intermediate management work, but also the travel route can be controlled extremely accurately. Further, there is no need to provide a special indicator device in the field or the like, and the device can be manufactured at extremely low cost.

[Brief explanation of the drawing]

Figure 1 shows (a) III scene and (b) a side view of a mobile agricultural machine to which the present invention is applied, and (b) a side view of the headland, Figure 2 is a plan view thereof, and Figure 3 is a travel route diagram of the mobile agricultural machine, 4th floor.
I! J is a flowchart of traveling Il#, FIG. 5 is a beam sensor signal time chart, FIG. 6 is a flowchart of headland determination, and FIG. 7 is a perspective view showing a rotating wheel to which a rotation sensor can be applied. 1... Mobile agricultural machinery (management machine), 2m, 2b, 3m
, 3b...car! , 5... Airframe frame , 1
1...Stick, 33...Beam sensor
, 35... Odometer (rotation sensor).

Claims (1)

[Scope of Claims] 1. A stick that can be located at least at the front and rear of the aircraft body and that can drive the wheels up and down to raise and touch the ground, on the aircraft frame supported by a plurality of wheels that can change direction at least 90 degrees. A mobile agricultural machine configured to be able to change the running direction of the machine body at a stop position, the mobile agricultural machine is equipped with a beam sensor and an odometer, the beam sensor detects a headland, and the above-mentioned 1. A travel control device for a mobile agricultural machine, characterized in that it is configured to detect a direction change position of the mobile agricultural machine in a headland using an odometer.