JPH02273004A - Trolley type automatic running gear of working travelling car - Google Patents

Abstract

PURPOSE:To detect the gap of a travelling car from a trolley with a good accuracy to cause said travelling car to travel automatically by providing a guide member moving while following said trolley and by providing an arm- oscillating means, a guide member oscillating angle detection means, a gap correction control means, etc. CONSTITUTION:An unmanned travel actuating part 3 fitted internally with an unmanned travel control mechanism is built in the driver's seat 2 of the travelling car body 1 of a passenger type agricultural tractor. Said unmanned travel actuating part 3 is constituted to perform necessary operations on the basis of a control signal outputted from a control part. The travelling machine body 1 makes a guide roller 22 roll along a trolley 23 erected beforehand in the field and detects the state of a gap of said guide roller 22 from said trolley so as to be automatically controlled in travel and to enable performing an unmanned travel following said trolley 23. Thus, a working travel requiring a high degree of control such as travel in a house is made possible even in unmanned manner.

Description

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

[Prior art and problems to be solved by the invention] Generally,
In this type of work vehicle, 1. For example, if this is an agricultural tractor, 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 become louder, resulting in a significantly worsened work environment. You may be forced to work in a department. Unmanned work is preferable for such work, and it is proposed that an overhead wire be installed in advance at the location where the work will be carried out, and that the vehicle be run automatically using the overhead wire as a reference. However, in this case, the deviations of the traveling vehicle from the overhead wire include ``deviation in the r direction,'' in which the traveling direction deviates to the left and right with respect to the overhead wire, and ``positional deviation,'' in which the traveling position deviates from the left and right with respect to the overhead wire. Therefore, there is a need to detect these deviations with high accuracy and with a simple structure to perform accurate automatic operation, but the reality is that no such device has been known so far.

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing an overhead wire type automatic operation device for a work vehicle that can eliminate these drawbacks. In a work vehicle equipped with an automatic operation actuator for automatic operation, an overhead wire is installed in advance at the tip of a swinging arm that is swingable about a vertical axis with respect to the vehicle. The guide member is further provided to be swingable around a vertical axis so as to move in accordance with the movement of the guide member, arm swing angle detection means for detecting the swing angle of the swing arm with respect to the traveling vehicle, and a swing arm of the guide member. and a guide member swing angle detection means for detecting the swing angle relative to the guide member, and is connected to these detection means, and calculates the deviation of the traveling vehicle with respect to the overhead wire based on the input detected values of both swing angles, and performs the automatic operation. The present invention is characterized in that it is configured by providing a deviation correction control means for outputting a steering control command to correct the deviation to the actuator for use.

With this configuration, the present invention enables automatic operation by accurately detecting the deviation of the traveling vehicle with respect to the overhead wire, although the configuration is simple.

[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 (corresponding to the automatic operation actuator of the present invention), an actuator 7 that controls the clutch pedal 6, and a working machine 41.
Various actuators are provided, such as an actuator 9 that controls the lever 8 for 18, the left and right brake pedals 10L, actuators IIL and IIR that control the IOR, and an actuator 13 that controls the throttle lever 12. Unmanned running operation section 3
The control unit 14 (incorporating the deviation correction control means of the present invention as described later) is configured to perform necessary operations based on a control signal output from a control unit 14 (incorporating the deviation correction control means of the present invention as described later). ing. Incidentally, in the embodiment, the auxiliary frame 15 provided at the front of the fuselage frame 1a
and a near compressor 16. driven by the front PTO shaft 1b. An air tank 17 for storing compressed air is mounted, and the compressed air generated here is used to operate an actuator by switching a valve or the like.

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 around an axis. Arm bracket 1 installed at the upper end of
The base end of a swinging arm 20 is pivotally supported on the shaft 9a via a support shaft 19b so as to be able to swing vertically. A cylindrical shaft 21 is integrally provided, and a guide roller 22 is further provided on this cylindrical shaft 21.
A roller bracket 22a is rotatably supported around a vertical axis. And the swinging arm 20 is the ammunition 2
The support pole 19 is always urged upward by the support pole 19 and the support mast 18, and the swing arm 2o is always urged upward by the support pole 19 and the support mast 18. Further, the guide roller 22 is elastically supported by a bullet 22b toward a reference position in which its axis is orthogonal to the body center axis X in the left-right horizontal direction. The guide roller 22 is connected to an overhead wire 2 installed in advance at a work site such as a house.
The swinging arm 3 is configured so that it comes into contact with the projectile 20a in an elastic manner from below and rolls thereon by the urging force of the projectile 20a, and when the traveling direction of the traveling aircraft 1 deviates from the direction of the overhead wire 23 The guide roller 22 is always 1!112 by swinging in the left and right directions using the 2° support pole 19 as a fulcrum and swinging in the left and right directions using the cylindrical shaft 21 of the guide roller 22 itself as a fulcrum.
3, the configuration is such that the normal transfer posture is maintained.

On the other hand, the control section 14 is set to receive signals from the following sensors. In other words, the control section 14
includes an engine rotation speed detection sensor 24 that detects the rotation speed of the engine E, an aircraft tilt angle detection sensor 25 that detects the horizontal tilt angle γ of the traveling aircraft with respect to a horizontal plane, and a steering sensor that detects the steering angle of the steering wheel 4. Reference position of angle detection sensor 26 and support pole 19! ! deviation angle from P,
In other words, the arm deviation angle detection sensor ( (corresponding to the arm swing angle detection means of the present invention) 27, an arm vertical swing angle detection sensor 28 for detecting the vertical swing angle of the swing arm 20. A roller deviation angle detection sensor (this invention (corresponds to the guide member swing angle detection means) 29
, detection signals from sensors such as a roller rotation speed detection sensor 30 that detects the rotation speed of the guide roller 22 are input.

The control unit 14 performs calculations based on these input detection signals and outputs necessary control signals to each of the actuators to perform various controls such as steering control. , will be explained using the flowchart shown in FIG. In other words, this is based on the state in which one 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 structure is such that it detects how the vehicle has shifted and controls the operation to eliminate the shift.

As shown in FIG. 3, the position of the support pole 19 serving as a reference is at the position of the overhead wire 23, but the orientation of the aircraft body 1 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 position of the aircraft is shifted to the left and right with respect to the overhead wire 23, which is a "positional deviation", and as shown in Figure 5, these overlap in a complex manner. With the shift.

Furthermore, there is a "tilt deviation" in which the aircraft is tilted with respect to the horizontal plane. These deviations are detected by the aforementioned arm deviation angle detection sensor 27, roller deviation angle detection sensor 29, and body tilt angle detection sensor 25 as corresponding detection values α, β, and γ, respectively, and are inputted to the control unit 14. However, the control unit 14 uses these input detection values α, β,
A necessary maneuvering control command is output based on γ, and the aircraft accurately travels at a predetermined position along the overhead wire 23.

That is, in this device, the detection results from each detection sensor 25, 27, and 29 are input to the control unit 14, and the control unit 14 determines the deviation angle detection values α, β based on the tilt angle detection value γ. Correct. Now, as shown in FIG. 8, when the right running wheel rides on a ridge or the like and the aircraft body is tilted by an angle γ in the left-right direction, this is detected by the aircraft body inclination angle detection sensor 25. Due to this inclination, the swing arm 2
0 swings relative to the fuselage center X, while the guide roller 22 also swings relative to the swing arm 20.
Due to these swings, detection values α and β are detected. Here, considering the relationship between the detected value Y and the detected values α and β, the tip position R1 of the support pole 19, that is, the swing arm 20
If the height from the ground of the base end position is L, and if it is assumed that the aircraft is tilted by an angle γ, then the deviation amount Z of the tip position R is calculated as "Z = L - 8 in γ". Ru. This amount of deviation Z is approximately equal to the amount of deviation from the body center X at the tip position Q of the swing arm 20.

Therefore, if the length of the swinging arm 20 is M, the deviation amount 2 is calculated as rZ=M-sinβ'', which results in L-sinγ=M-sinβ sinβ= (L/M) 5inY, from which the aircraft moves. Calculate the correction angle β (hereinafter, the correction angle calculated in this way will be expressed as "θ") when the angle γ is tilted, and apply this correction angle θ to the actually detected detection values α and β. Corrected detection value A,
B is calculated, and travel control is performed based on this calculation.

Next, the operation control will be explained. In this control, it is first determined whether the corrected detection value B of the roller deviation angle 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 corrected detection value A of the arm shift angle detection sensor 27 is further corrected.
It is determined whether or not the position is shifted to the right with respect to the body center X. If it is determined that the position is shifted to the right, the magnitudes of the corrected detection values A and H are further compared and examined.

If it is determined that the corrected detection value A is large, it is determined that the aircraft's "deviation in the r direction" with respect to the overhead wire 23 is to the right and the "positional deviation" is to the left; If it is determined that B is large, and if it is determined that the corrected detection value A of the arm deviation angle detection sensor 27 is not a right deviation, the aircraft will be “direction deviation” with respect to the overhead wire 23.
If it is determined that the corrected detection values A and B are equal, the aircraft is neutral because there is no deviation in direction with respect to the overhead wire 23. However, it is determined that the "position shift" is to the left, and based on these determination results, the control unit 14 outputs the necessary control commands to the steering actuator 5 to move the steering wheel 4 toward the aircraft body. Controls the operation in the direction of steering to the right. Similar judgment control is performed by the roller deviation angle detection sensor 29.
The correction is performed when it is determined that the detected value B has deviated to the right, and when it has been determined that it has not deviated to the left or right, and the maneuvering control is performed so that the aircraft center The configuration is such that

In the embodiment, so-called feedback control is performed by detecting the operating angle of the steering wheel 4, so that more precise steering control can be performed.

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 frame fi23, but in this case, the guide rollers 22 always move the frame 1iA23 in a predetermined posture.

And in this one, the fuselage center X of the swing arm 20
The deviation angle B of the guide roller 22 and the swinging arm 20 of the guide roller 22
The "direction shift" and "position shift" of one aircraft with respect to the overhead wire 23 can be calculated from the shift angle A with respect to
Based on this, a necessary control command is output to the steering actuator 5, and the steering wheel 4 is automatically operated.

As described above, in the present invention, the deviation of the aircraft body from the overhead wire 23 can be easily calculated by detecting the deviation of the swinging arm 20 from the aircraft center X, and detecting the deviation of the guide roller 22 from the swinging arm 20. Therefore, it is possible to simplify the structure and perform high-precision automatic operation control, making it possible to perform highly controlled work movement such as movement inside a greenhouse even without an operator. .

Moreover, when detecting the "positional deviation" and "direction deviation" of the aircraft with respect to the overhead wire 23, this system corrects deviations caused by the aircraft's left-right tilt, resulting in more accurate automatic pilot control. This means that work on rough terrain can be carried out without any problems.

In addition, in the above embodiment, as a correction for the aircraft tilt, the deviation amount 2 is approximately processed and corrected as being equal, but if the aircraft actually tilts from side to side (including cases where it tilts back and forth), the rocking The arm 20 swings in the vertical direction, which causes the position of the guide roller 22 to shift back and forth with respect to point P. Based on this, the detected value β is further corrected in order to perform more accurate maneuver control. Just do it.

[Operations and Effects] In summary, since the present invention is configured as described above, the "positional deviation" and "directional deviation" of the traveling vehicle with respect to the overhead wire are determined by the arm swing angle detection means and the guide member swing. The calculation is based on the two-point swing angle detection by the swing angle detection means, and therefore, based on this, a necessary control command is output to the steering actuator to perform automatic steering. In addition, this shift detection can be done by detecting the swing angle at the two points mentioned above, so the structure can be simplified and high-precision detection can be achieved, allowing precise automatic operation control to be performed inside the house. This makes it possible to carry out tasks that require highly controlled operation, such as when driving in a car, even when the vehicle is unmanned.

[Brief explanation of drawings]

The drawings show an embodiment of the overhead line type automatic operation 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 diagram showing the tractor running in its normal position. Fig. 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. A plan view showing the state. Figure 6 is a block circuit diagram of the control mechanism, Figure 7 is a flowchart of operation control, Figure 8 is a rear view of the aircraft when it is tilted left and right, and Figure 9 is when the swing arm swings up and down. FIG. In the figure, 1 is a traveling aircraft, 18 is a support mast, 19 is a support pole, 20 is a swing arm, 20a is a bomb, 21 is a cylinder shaft,
22 is a guide roller, 23 is an overhead wire, 27 is an arm deviation angle detection sensor, and 29 is a roller deviation angle detection sensor. Mitsubishi Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] In a work vehicle equipped with an actuator for automatic operation, the tip of a swinging arm that is swingable around a vertical axis with respect to the vehicle follows an overhead wire that has been installed in advance. arm swing angle detection means for detecting the swing angle of the swing arm with respect to the traveling vehicle;
A guide member swing angle detection means for detecting the swing angle of the guide member with respect to the swing arm is provided, and the guide member swing angle detection means is connected to these detection means and detects the deviation of the traveling vehicle with respect to the overhead wire based on the input detected values of both swing angles. 1. An overhead wire type automatic operation system for a working vehicle, characterized in that it is configured to include a deviation correction control means for calculating the deviation and outputting a steering control command to the automatic operation actuator to correct the deviation.