JPH02113809A - Direction control method of mobile agricultural working machine - Google Patents

Abstract

PURPOSE:To decrease side deviation in moving direction of car body to a standard moving direction and control the car body to go on straight by correcting moving direction with an angle of twice of the deviation angle of the car body and then correcting just with the deviation angle to reverse side of the first correcting direction. CONSTITUTION:A direction sensor 2 detecting moving direction of a car body 1 is installed on the car body 1 having left-and right-moving device 3. After a fixed time T1 from detecting a deviation angle theta of the car body 1, correction of moving direction is performed at an angle of 2theta for a fixed time T2, then controlled so as to correct with a deviation angle theta in reverse direction to the above correcting direction.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a direction control method for a mobile agricultural machine, in which straight-line control is performed based on the direction detection result of a direction sensor that detects the direction of movement of the vehicle body. available for use.

In a mobile agricultural machine equipped with a direction sensor that detects the traveling direction of a section-opening vehicle body and performs straight-line control, which is the problem to be solved by the prior art and the present invention, the deviation angle ( When the orientation sensor detects θ), if the traveling direction of the vehicle body is corrected by the same correction angle as this deviation angle (0), the traveling direction of the vehicle body will deviate laterally even though the basic traveling direction is the same.

Also, set the correction angle of the car body to an angle (20
) Even if the traveling direction is corrected, the traveling direction will shift laterally unless the time for correcting travel is determined based on the time or distance traveled by detecting this deviation angle (0).

Therefore, the present invention attempts to perform straight-line control by reducing the lateral deviation of the vehicle body in the traveling direction with respect to the reference traveling direction.

Means for Solving the Problems The present invention provides a mobile agricultural machine equipped with a direction sensor (2) that detects the direction of movement of a vehicle body (1) and performs straight-line control. When the azimuth sensor (2) detects a deviation angle (0) that deviates from the azimuth.

This is a direction control method characterized in that after the time progress direction is corrected, control is performed to correct it again by the deviation angle (θ) in the opposite direction to the correction direction.

A reference traveling direction in which the vehicle body (1) moves is set by the working direction sensor (2) of the invention. When the vehicle body (1) travels, the azimuth sensor (2) detects the deviation angle (θ) between the traveling direction and the reference traveling azimuth. This deviation angle (0) is calculated by the direction sensor (
When 2) is detected, after a certain period of time, the traveling direction is corrected by an angle (20) twice this deviation angle (θ) for the same certain period of time. Thereafter, control is performed to correct the deviation angle (θ) in the opposite direction to the correction direction, and the vehicle body (1) is controlled to move straight.

Effects of the Invention In this way, the traveling direction of the vehicle body (1) is determined by the direction sensor (2) based on i1'! The deviation angle (0
) is detected, the deviation angle (θ) is corrected in the opposite direction to the correction direction after a certain period of time, so that the lateral deviation in the left-right direction with respect to the traveling direction of the vehicle body (1) is reduced.

Can perform straight-line control.

Embodiment In the example shown in FIG. 1, a vehicle body fil having a left-right travel device (3) is provided with a direction sensor (2) for detecting the traveling direction of the vehicle body (1).

This direction sensor (21 is the vehicle body (1) based on the earth's magnetic field)
I: The configuration is such that the deviation angle (θ) between the traveling direction of the vehicle body (11) and the reference traveling direction of the vehicle is detected.

The microcomputer (5) has a cPU and memory. The CPU stores advance data of the vehicle body (1) from the orientation sensor (2) via the signal processing circuit (6) and A/D conversion circuit (7). This memory stores the deviation angle of the traveling direction of the vehicle body fl) with respect to a preset reference traveling direction as the neutral range of the direction sensor f2i.

The CPU operates from the direction sensor (2) to the A/D conversion circuit (7).
Based on the detection signal given via the drive circuit (
8) outputs a direction correction left output (a) or direction correction right output (b) signal.

The CPU uses the group Q! stored in memory. The traveling direction data is called and compared with the detection information provided from the direction sensor t2 through the Δ/[] conversion circuit (7), and based on this result, the traveling direction of the vehicle body (1) is determined. , i1j When it is recognized that the deviation angle (0) with respect to the traveling direction is larger than the neutral range of the direction sensor (2), a direction correction output is output.

The CPU determines whether this deviation angle (0) is in the left or right direction based on the J&sub direction of travel, and when correcting the direction of travel of the vehicle body (1) to the left, the CPU sends the drive circuit (8). A direction correction left output (a) is outputted through the drive circuit (9), and when correcting to the right, a direction correction right output (b) is outputted through the drive circuit (9), and an angle (a) twice this deviation angle (0) is output. 2θ) and the car body (1
) is controlled so that the traveling direction of the vehicle is corrected in the horizontal direction.

When the traveling direction of the vehicle body (1) is directed toward the set direction and the orientation of the traveling direction is detected by the orientation sensor (2) and read by the CPU, the reference traveling orientation (P) of the vehicle body (1) is stored. When the vehicle body (1) is traveling, the CPU reads the output voltage from the orientation sensor (2) and calculates the traveling direction. When the traveling direction of the vehicle body (1) deviates from the reference traveling direction (I), the deviation angle (θ) is determined by the CPU. When the deviation angle (0) increases beyond the set neutral range,
The ON time of the direction correction output is set from this deviation angle (O).

In the CPU, the ON time of this correction output is twice (20) of the deviation angle (0) the first time, and twice (20) the deviation angle (θ) the second time.
) is set between It is determined whether this deviation angle (0) is to the right or to the left. When the deviation angle (0) of the vehicle body (1) is detected and a certain period of time (T1) has elapsed (A), the traveling direction is corrected by the first correction angle (20) at this point (A).

When the fixed time (T1) has elapsed, the vehicle body (1) is in the vicinity of point (B), and the vehicle body (1) is controlled to be corrected again by the second deviation angle (θ) in the opposite direction to this correction direction.

In other words, the deviation angle (θ) of the vehicle body (1) is the standard traveling direction (P)
Since the deviation is to the right with respect to Rotate to the left by twice the angle (2θ). Then, the vehicle body (1) travels with a deviation angle (θ) to the left with respect to the basic traveling direction (P), and after traveling for a certain period of time (T1), it reaches the position of the intersection (B). Therefore, the second time, from the CPU to the drive circuit (8)
A direction correction control force (b) is applied through the vehicle body (1) to turn the vehicle body (1) to the right by a deviation angle (θ), and return it to the reference heading (P) direction to perform straight-ahead control.

As shown in FIG.
) After detecting the deviation angle, the first direction correction is made after a certain period of time (Tl), the second direction correction is made after the same certain period of time (TL), and the next deviation angle is made after the same certain period of time (T1). This is a process of detection.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is an explanatory diagram of straight-ahead control, FIG. 2 is a control block diagram, and FIG. 3 is a flowchart thereof. In the figure, code (1) is the vehicle body, (2) is the direction sensor, and (5)
indicates a microcomputer.

Claims (1)

[Claims] In a mobile agricultural machine equipped with an orientation sensor (2) that detects the traveling direction of the vehicle body (1) and controls straight movement, the vehicle body (1)
) When the direction sensor (2) detects a deviation angle (θ) in which the traveling direction of
A direction control method characterized in that after correcting the traveling direction by a double angle (2θ) for a predetermined output time, control is performed so as to correct it again by the deviation angle (θ) in the opposite direction to the corrected direction.