JPH02272609A - Trolley traveling device for working traveling vehicle - Google Patents

Abstract

PURPOSE:To allow a guide member to surely follow up a stringing and to rotate on the stringing by fixing the guide member to be freely rocked in the horizontal direction to the tip part of an oscillation arm to be optionally oscillated in the horizontal and vertical directions and allowing the guide member to elastically contact with the stringing. CONSTITUTION:A supporting pole 19 is fixed to the upper end part of a supporting mast 18 planted on the center of the right and left of the front part of a machine frame 1a so as to be optionally rotated around an axis and the base end part of the rocking arm 20 is fixed to an arm bracket 19a on the upper end of the pole 19 through a supporting shaft 19b so as to be optionally oscillated in the vertical direction. A cylinder shaft 21 is fixed unitedly with the tip (rear end) of the arm 20 and a roll bracket 22a around which the guide roll (guide member) 22 is pivoted is supported by the shaft 21 so as to be optionally rotated around the vertical axis. The arm 20 is always excited upward by an elastic machine 20a and the guide roll 22 is elastically abutted upon the stringing 23 so as to be rotated on the stringing 23. Consequently, the follow-up property of the guide member to the stringing can be extremely improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to an overhead wire type traveling device for a work vehicle such as an agricultural tractor.

[Prior art and problems to be solved by the invention] Generally,
In this type of work vehicle, for example, if this is an agricultural vehicle, it is likely to be filled with exhaust gas and dirt due to insufficient ventilation, such as when working inside a greenhouse, and the noise will also become louder, creating a significant work environment. You may be forced to work in areas that are in poor condition. Unmanned work is preferable for such work, and it has been proposed that an overhead wire be installed in advance in the area where the work will be carried out, and that the vehicle be run unmanned by moving a guide member while being guided by the overhead wire. Ru. However, such vehicles often travel on rough terrain, and in this case the aircraft makes complex movements such as rolling, pitching, and even yawing, making it difficult to make the guide members follow the overhead wires, which makes it difficult to maintain accuracy. There is a problem that it is virtually impossible to perform high-speed unmanned driving.

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing an overhead line type traveling device for a working vehicle that can eliminate these drawbacks. In order to provide the vehicle with a guide member that moves while being guided by an overhead wire that has been installed in advance in the area where the work is to be carried out, the support member on the vehicle side is provided with a guide member that is swingable in the left and right directions about the vertical axis and is movable along the horizontal axis. A swinging arm is provided that can freely swing in the vertical direction about the vertical axis, and the guide member is provided at the tip of the swinging arm so as to be swingable in the left and right directions about the vertical axis. This is characterized in that the guide member is biased in a direction in which the guide member comes into contact with the overhead wire in an elastic manner via a bullet.

With this configuration, the present invention enables the guide member to reliably follow the overhead wire and roll.

[Example] Next, an example of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of a riding-type agricultural tractor, and an unmanned traveling operation unit 3 in which a control mechanism for unmanned traveling is installed is assembled as an assembly to a driver seat portion 2 of the traveling body 1. . In other words, the unmanned running operation unit 3 includes an actuator 5 that controls the steering wheel 4, an actuator 7 that controls the clutch pedal 6, an actuator 9 that controls the lifting lever 8 of the working machine, and left and right brake pedals IOL and IOR. Various actuators are provided, such as actuators 11L and IIR for controlling the throttle lever 12, and an actuator 13 for controlling the throttle lever 12.
It is configured to perform necessary operations based on control signals output from a control section 14 configured using a microcomputer. Incidentally, in the embodiment, the front part P is attached to the auxiliary frame 15 provided at the front part of the aircraft frame 1a.
A near compressor 16 driven by the TO shaft 1b and an air tank 17 for storing compressed air are mounted, and the compressed air generated here is used to operate the actuator.

Reference numeral 18 denotes a support mast erected at the left and right center of the front part of the aircraft frame 1a, and a support pole 19 is attached to the upper end of the support mast 18 so as to be rotatable about an axis. Arm bracket 1 installed on the upper end of
The base end of a swinging arm 20 is supported on the shaft 9a via a support shaft 19b so as to be able to swing up and down. A cylindrical shaft 21 is integrally provided, and a roller bracket 22a on which a guide roller (corresponding to the guide member of the present invention) 22 is pivotally supported is further supported on the cylindrical shaft 21 so as to be rotatable around a vertical axis. There is. The swing arm 20 is always urged upward by the ammunition 20a, and the support pole 19 is pushed upward by the ammunition 19c interposed between the support pole 19 and the support mast 18. 20 is the center axis of the aircraft
The guide roller 22 is held resiliently toward a reference position at -M, and furthermore, the guide roller 22 is resiliently supported by a bullet 22b toward a reference position in which its axis is perpendicular to the machine body center axis X in the left-right horizontal direction. The guide rollers 22 are configured to press against an overhead wire 23 installed in advance at a work site such as a house from below by the biasing force of the ammunition machine 20a, and roll thereon. The direction of travel is the overhead wire 23
If the swing arm 20 deviates from the direction shown in FIG.
The guide roller 22 is always maintained in a normal transfer posture with respect to the overhead wire 23 by swinging in the left-right direction about its own cylindrical shaft 21 as a fulcrum.

On the other hand, the control section 14 is set to receive signals from the following sensors. In other words, the control section 14
The engine rotation speed detection sensor 24 detects the rotation speed of the engine E, and the aircraft tilt detection sensor 25 detects the tilt state of the traveling aircraft. The steering angle detection sensor 26 detects the steering angle of the steering wheel 4, and the deviation angle of the support pole 19 from the reference position P, that is, the deviation angle α of the swing arm 20 in the left-right direction with respect to the center axis X (the deviation angle α is , set as the deviation angle at the rear of the aircraft based on point P)
An arm deviation angle detection sensor 27 that detects the swing arm 2
The arm vertical swing angle detection sensor 28 detects the vertical swing angle of 0, and the horizontal deviation angle β of the guide roller 22 with respect to the swing arm 20 (each deviation β is calculated based on the point Q on the rear side of the aircraft) Detection signals are input from sensors such as a roller misalignment color detection sensor 29 that detects the deviation angle (set for convenience) and a roller rotation speed detection sensor 30 that detects the rotation speed of the guide roller 22.

The control unit 14 performs calculations based on these input detection signals and outputs necessary control signals to each of the actuators to perform control such as steering control. Let us now consider an example of steering control.

This will be explained using the flowchart shown in FIG. In other words, this is based on the state in which the aircraft is traveling at a predetermined position relative to the overhead wire 23 (that is, the state in which the aircraft center X and the overhead wire 23 are aligned, as shown in Figure 2),
The system is configured to detect how the aircraft has deviated and control the aircraft to correct the deviation.

In other words, as shown in FIG. 3, the position P of the support ball 19 serving as a reference is at the position of the overhead wire 23, but the orientation of the center X of the aircraft is deviated from the overhead wire 23. As shown in Figure 4, the orientation of the aircraft is parallel to the overhead wire 23, but the aircraft position is shifted to the left and right with respect to the overhead wire 23 (positional deviation), and these are compounded as shown in Figure 5. There are overlapping deviations (furthermore, there are deviations in which the aircraft is tilted in the longitudinal and horizontal directions, but these can be corrected by correcting the detection values α and β, which will be described later, based on the detection results of the aircraft inclination detection sensor 25, for example. It would be fine if they were made to correspond, but in this embodiment, we will not mention that point.) Then, the arm deviation color detection sensor 27 and the roller deviation color detection sensor 29 described above detect the corresponding detection values α and β, respectively, and input them to the control unit 14. value α
, β, the necessary maneuvering control commands are output, and the aircraft accurately travels at a predetermined position along the overhead wire 23.

That is, in this device, it is determined whether the detected value β of the roller deviation color detection sensor 29 is deviated in the left or right direction with respect to the swing arm 20. If it is determined that the arm has shifted to the left, the arm shift color detection sensor 27
It is determined whether or not the detected value α is shifted to the right with respect to the aircraft center .

If the detected value α is determined to be large, it is determined that the "direction deviation" of the aircraft is to the right with respect to the overhead wire 23, and that the "positional deviation j is to the left," while the angle β is large. If it is determined that
If it is determined that the detected value α of 7 is not a right shift,
It is determined that both the "direction deviation" and the "positional deviation" of the aircraft are to the left with respect to the overhead wire 23, and furthermore, if it is determined that the detected values α and β are equal, the 9 aircraft moves toward the overhead wire 23. On the other hand, there is no "direction deviation" and the state is neutral, but the "position deviation" is determined to be to the left, and based on these judgment results, the control unit 14 controls the operation actuator 5 as necessary. A control command is output to control the operation of the steering wheel 4 in the direction of steering the aircraft to the right. Similar judgment control is performed when it is determined that the detection value β of the roller deviation color detection sensor 29 has shifted to the right, and when it has been determined that there has been no shift to the left or right. The structure is such that the operation is controlled so that the line 23 coincides with the overhead wire 23.

In the embodiment of the present invention configured as described above, the traveling body 1 causes the guide roller 22 to roll on the overhead wire 23 installed in advance in the field, and detects the deviation of the guide roller 22 from the overhead wire 23. The operation is automatically controlled and unmanned running follows the overhead wire 23, but in this case, the guide roller 22 always rolls on the overhead wire 23 in a predetermined posture.

In other words, the guide roller 22 is provided at the tip of the swinging arm 20, which is provided on the body side so as to be swingable left and right and swingable up and down.
0 is always held upward by the ammunition 20a. Therefore, even if the guide roller 22 has a "positional shift" and "direction shift 1" with respect to the overhead wire 23, the swinging arm 20 can swing around the vertical axis relative to the body of the swinging arm 20, and the swinging arm 20 of the guide roller 22 can This means that the guide roller 22 is displaced about two points as fulcrums, namely, the swinging movement about the vertical axis, and the ability of the guide roller 22 to follow the overhead wire 23 is greatly improved.

Moreover, since the swinging arm 20 is always urged upward by the bomber 20a, even if the field is uneven and the machine body changes vertically, the guide roller 22 receives the urging force of the first bomber 20a and the overhead line 23, so that there is no problem of the guide roller 22 inadvertently coming off from the overhead wire 23, and this and the ability of the guide roller 22 to follow the transfer posture with respect to the overhead wire 23 are improved. In combination with improvement, even if the steering control is performed by detecting the deviation of the guide roller 22 with respect to the swing arm 20,
This means that highly accurate and reliable maneuvering control can be achieved, and unmanned driving operations can be carried out reliably.

Furthermore, this vehicle is provided with a roller rotation speed detection sensor 30 that detects the rotation speed of the guide roller 22, and by detecting the rotation speed of this sensor 30, the actual running speed and distance can be determined. In other words, in the past, running speed was determined by the rotational speed of the wheels, but if there are irregularities such as in a field or wheel slippage, the running speed and distance are calculated by including these factors. However, in this example, the error is too large and precision work such as precision sowing, precision fertilization, precision transplantation, and precision pest control is impossible. The guide roller 22 has a structure that allows it to roll reliably as the guide roller 22 moves, and therefore, by detecting the rotational speed of the guide roller 22, highly accurate running speed detection and running speed detection are possible, making precision work possible. Become.

In this case, in order to further reduce the slip ratio of the guide roller 22 with respect to the overhead wire 23, the guide roller 22 and the overhead wire 23 may be made of a material with high frictional resistance such as rubber or synthetic resin, or the overhead wire 23 may have irregularities. In addition to providing a locking hole or a locking hole, the guide roller 22 may be formed with a concavo-convex portion that engages with the locking hole, or by laying a chain on the overhead wire and using the guide roller as a sprocket to mesh with the chain. You can also.

This allows for much more precise work.

Note that the guide member of the present invention is not limited to rollers, but may be a groove-shaped member or the like as long as it moves while being guided by the overhead wire. Needless to say, it is not possible to detect the traveling speed based on the detection.

[Operations and Effects] In short, the present invention is configured as described above, and although the guide member is moved by being guided by an overhead wire installed in advance, the guide member does not move the swing arm relative to the aircraft body. The guide member can be freely displaced about two points as fulcrums: the swinging movement about the vertical axis and the swinging movement of the guide member about the vertical axis relative to the swinging arm, and therefore the ability of the guide member to follow the overhead wire is greatly improved. Moreover, the swinging arm is always biased by the ammunition in the direction in which the guide member comes into contact with the overhead wire, so even if the machine body changes vertically due to unevenness in the field, the guide member will not be able to press against the overhead wire. There is no problem of the guide member inadvertently coming off from the overhead wire due to contact.

As a result, even when controlling the aircraft by detecting changes in the deviation of the guide member from the center of the aircraft, it is possible to perform highly accurate and reliable operation control, and unmanned traveling operations can be performed reliably. Become.

[Brief explanation of drawings]

The drawings show an embodiment of the overhead wire type traveling device for a work vehicle according to the present invention, in which FIG. 1 is an overall side view of an agricultural tractor, and FIG. 2 is a state in which it is traveling in its normal position. 3 is a plan view showing a running state where there is a deviation in direction, Fig. 4 is a plan view showing a running state where there is a positional deviation, and Fig. 5 is a plan view showing a running state where there is a deviation in direction and position. FIG. 6 is a block circuit diagram of the control mechanism, and FIG. 7 is a flowchart of operation control. In the figure, 1 is a traveling body, 18 is a support mast, 19 is a support ball, 20 is a swing arm, 20a is a bomb, 21 is a cylinder shaft, 22 is a guide roller, and 23 is an overhead wire. Patent applicant Mitsubishi Agricultural Machinery Co., Ltd. Figure 6

Claims (1)

[Claims] In order to install a guide member on a traveling vehicle that moves while being guided by an overhead wire installed in advance in the area where work is to be carried out, a guide member is attached to the supporting portion of the traveling vehicle that is swingable in the left and right directions around a vertical axis and has a horizontal axis. A swinging arm is provided that can freely swing in the vertical direction around the center, and the guide member is provided at the tip of the swinging arm so that it can swing in the left and right directions around the vertical axis. 1. An overhead line traveling device for a working vehicle, characterized in that a guide member is biased in a direction in which a guide member comes into contact with an overhead wire in an elastic manner.