JPH02113809A - Direction control method of mobile agricultural working machine - Google Patents
Direction control method of mobile agricultural working machineInfo
- Publication number
- JPH02113809A JPH02113809A JP26647088A JP26647088A JPH02113809A JP H02113809 A JPH02113809 A JP H02113809A JP 26647088 A JP26647088 A JP 26647088A JP 26647088 A JP26647088 A JP 26647088A JP H02113809 A JPH02113809 A JP H02113809A
- Authority
- JP
- Japan
- Prior art keywords
- deviation angle
- vehicle body
- traveling direction
- angle
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、移動農作業機の方向制御方式に関するもの
で、車体の進行方位を検出する方位センサの方位検出結
果にもとずいて直進制御を行う際に利用できる。[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.
従来の技術、および発明が解決しようとする課開
車体の進行方位を検出して直進制御を行う方位センサを
設けた移動農作業機において、この車体の進行方向が基
準進行方位からずれたずれ角(θ)を方位センサが検出
したとき、このずれ角(0)と同じ修正角で車体の進行
方向を修正すると基l曽進行方位は同じでも車体の進行
方向が横ずれする。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.
又、車体の修正角をこのずれ角(0)の2倍の角(20
)として進行方向を修正しても、このずれ角(0)を検
出して進行した時間又は距離にもとずいて、修正走行す
る時間を決めないと進行方向が横ずれする。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).
そこでこの発明は、基準進行方位に対して車体の進行方
向の横ずれを少くして直進制御をしようとするものであ
る。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.
課題を解決するための手段
この発明は、車体(1)の進行方位を検出して直進制御
を行う方位センサ(2)を設けた移動農作業機において
、該車体(1)の進行方向が基準進行方位からずれたず
れ角(0)を方位センサ(2)が検出すると。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.
時間進行方向を修正した後再度該ずれ角(θ)だけこの
修正方向とは反対側へ修正するように制御することを特
徴とする方向制御方式の構成とする。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.
発明の作用
方位センサ(2)によって、車体(1)が進行する基準
進行方位を設定する。車体(1)を進行すると、方位セ
ンサ(2)によって進行方向と基準進行方位とのずれ角
(θ)が検出される。このずれ角(0〕を方位センサ(
2)が検出すると、一定時間後に、このずれ角(θ)の
2倍の角度(20)で同し一定時間進行方向を修正する
。その後該ずれ角(θ)だけこの修正方向とは反対側へ
修正するように制御され、車体(1)は直進制御される
。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.
発明の効果
このように、方位センサ(2)によって車体(1)の進
行方向が基i1’!進行方位に対してずれたずれ角(0
)を検出すると、一定時間後にこのずれ角(θ)この修
正方向とは反対側へ修正されるから、車体(1ンの進行
方向に対する左右方向の横ずれが少く。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.
直進制御を行うことができる。Can perform straight-line control.
実施例
なお1図例において、左右走行装置(3)を有する車体
filに、この車体(1〕の進行方位を検出する方位セ
ンサ(2〕を設けている。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).
この方位センサ(21は地磁気を基準として車体(1)
私:レカjbン基準進行一方位に対する該車体(11の
進行方向とのずれ角(θ)が検出される構成としている
。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.
マイクロコンピュータ(5)はcPU、メモリを有して
いる。CPUには、方位センサ(2)から信号処理回路
(6)、A/D変換回路(7)を介して車体(1)の進
データを記憶する。このメモリは、予め設定された基準
進行方位に対する車体fl)の進行方向のずれ角を方位
センサf2iの中立範囲として記憶する。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.
CPUは、方位センサ(2)からA/D変換回路(7)
を介して与えられる検出信号にもとずいて、駆動回路(
8)を介して方向修正左出力(イ)、又は方向修正右出
力(ロ)の信号を出力する。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.
CP Uは、メモリに記憶されている基Q!進行方位の
データを呼び出して、方位センサt2]からΔ/[〕変
換回路(7)を介して与えられる検出情報と比較演算し
、この結果にもとすいて、車体(1)の進行方向が、基
i1j進行方位に対してずれたずれ角(0)が方位セン
サ(2)の中立範囲より大きいと認識したときは、方向
修正出力が出される。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.
CPUは、このずれ角(0)がJ&準進行方位にttシ
て左右何れの方向にあるかを判断し、車体(1)の進行
方向を左修正するときはCPUから駆動回路(8)を介
して方向修正左出力(イ)が出され、右修正するときは
駆動回路(9)を介して方向修正右出力(ロ)が出され
て、このずれ角(0)の2倍の角度(2θ)で車体(1
)の進行方向が左右方向へ修正されるように制御する構
成としている。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.
車体(1)の進行方向を設定方向へ向けて、進行方向の
方位を方位センサ(2)により検出してCPUが読み込
むと、該車体(1)の基準進行方位(P)が記憶される
。車体(1)を走行すると方位センサ(2)による出力
電圧をCPUが読み込み、進行方向が算出される。該車
体(1)の進行方向が基準進行方位(I))からずれる
と、そのずれ角(θ)がCPUにより求められる。ずれ
角(0)が設定された中立範囲を越えて大きくなると、
このずれ角(O)から方向修正出力のON時間が設定さ
れる。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).
CPUにおいて、この修正出力のON時間は、1回目が
ずれ角(0)の2倍(20)の間、2回目がずれ角(θ
)の間に設定される。このずれ角(0)が右方向か左方
向かを判定する。車体(1)のずれ角(0)を検出して
一定時間(T1)経過すると(A)、この(A)点にお
いて1回目の修正角(20)による進行方向の修正が行
われる。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).
定時間(T1)を経過すると車体(1)は(B)点の付
近にあり、再度2回目のずれ角(θ)だけこの修正方向
とは反対の方向へ修正するように制御される。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.
即ち、車体(1)のずれ角(θ)は基準進行方位(P)
に対して右方向へずれているから、1回目は、CPUか
ら駆動回路(8)を介して方向修正人出力(イ)が出さ
れ、車体(1)をA点においてずれ角(θ)の2倍の角
度(2θ)左旋回させる。すると車体(1)は、基$進
行方位(P)に対してずれ角(θ)だけ左方向へずれて
走行し、一定時間(T1)走行すると交点(B)の位置
に達する。そこで2回目は、CPUから駆動回路(8)
を介して方向修正制御力(ロ)が出されて車体(1)を
ずれ角(θ)だけ右旋回させ、基準進行方位(P)方向
に戻して直進制御が行われる。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.
第1図のように、方向検出の行程は、所定時間(T)又
は所定距離の間を1回の方向修正制御として、車体(1
)のずれ角を検出した後一定時間(Tl)後に1回目の
方向修正、同じこの一定時間(TL)後に2回目の方向
修正を行い、又、同じ一定時間(T1)後に次のずれ角
を検出する行程としている。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.
図は、この発明の一実施例を示すもので、第1図は直進
制御の説明図、第2図は制御ブロック図、第3図はその
フローチャートである。
図中、符号(1)は車体、(2)は方位センサ、(5)
はマイクロコンピュータを示す。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)
ンサ(2)を設けた移動農作業機において、該車体(1
)の進行方向が基準進行方位からずれたずれ角(θ)を
方位センサ(2)が検出すると、このずれ角(θ)の2
倍の角度(2θ)で所定出力時間進行方向を修正した後
再度該ずれ角(θ)だけこの修正方向とは反対側へ修正
するように制御することを特徴とする方向制御方式。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.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26647088A JPH02113809A (en) | 1988-10-21 | 1988-10-21 | Direction control method of mobile agricultural working machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP26647088A JPH02113809A (en) | 1988-10-21 | 1988-10-21 | Direction control method of mobile agricultural working machine |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH02113809A true JPH02113809A (en) | 1990-04-26 |
Family
ID=17431376
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP26647088A Pending JPH02113809A (en) | 1988-10-21 | 1988-10-21 | Direction control method of mobile agricultural working machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH02113809A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012157334A (en) * | 2011-02-02 | 2012-08-23 | Yanmar Co Ltd | Rice transplanter |
-
1988
- 1988-10-21 JP JP26647088A patent/JPH02113809A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012157334A (en) * | 2011-02-02 | 2012-08-23 | Yanmar Co Ltd | Rice transplanter |
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