JPH04326103A - Automatic straight advance controller for mobile machine - Google Patents

Abstract

PURPOSE:To improve the accuracy of the automatic straight advance of a agricultural mobile machine at low cost. CONSTITUTION:The quantity X of lateral deviation of a mobile machine body 7 to specific travel direction line which is operated according to the detection signals of a gyro 11 and an acceleration sensor 15, the movement deviation angle detected value alpha obtained from an azimuth sensor 12, and the steering angle detected value beta of a potentiometer 13 are divided into at least three even-numbered zones. When the lateral deviation quantity zone signal, movement deviation angle detected value zone signal, and steering angle detected value zone signal are inputted to a control circuit 17, a control circuit 17 outputs a steering signal for operating an actuator 10b in a direction judged by arithmetic according to said three zone signals if the machine body deviates from the specific travel direction line, thereby preventing the mobile machine body 7 from deviating from the specific travel direction line.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile working machine, and is particularly suitable for use in a rice transplanter, and more specifically relates to an automatic straight-travel control device for a mobile working machine.

0002

2. Description of the Related Art Conventionally, proposals have been made for rice transplanters to detect already planted seedlings and for tractors to detect plowing tracks and automatically follow the planted seedlings and plow tracks.

[0003] Also, unlike the above, a proposal has been made to prepare a special index and automatically follow the index using that index as a reference.

0004

[Problem to be solved by the invention] However, although it is convenient to detect planted seedlings and plowing tracks and automatically follow them along them, it is easy to grasp the positional relationship with the previous process. The deviation in the stroke is not corrected to a small extent, but on the contrary, the deviation is gradually enlarged, so the deviation becomes extremely large after several strokes, and the work trajectory becomes meandering. .

[0005] Furthermore, in order to prepare a special index and automatically follow the index using this index as a reference, for example, a beam is projected from a predetermined position in the direction of work progress of the machine.
The amount of deviation is detected and tracked by receiving light on the aircraft side, and the amount of deviation does not increase, but the special indicator itself is a large-scale device that requires a large amount of expense and preparation. The disadvantage is that you are forced to waste effort.

SUMMARY OF THE INVENTION Therefore, the present invention solves the above-mentioned problems, and provides an automatic straight-travel control device for a mobile working machine that can improve accuracy while eliminating the unnecessary labor and expense of preparing and installing special equipment. The purpose is to

[0007]

[Means for Solving the Problems] The present invention has been made in view of the above-mentioned circumstances.
A mobile work machine (1) whose traveling direction is controlled by a mobile working machine (1), comprising: a moving deflection angular velocity detecting means (11) for detecting a moving deflection angular velocity of the traveling machine body (7) with respect to the traveling direction; ), a traveling acceleration detecting means (15) for detecting the traveling acceleration of the traveling body (7), a direction detecting means (12) for detecting the direction of the traveling body (7), and a steering angle (β) of the traveling body.
a steering angle detecting means (13) for detecting the steering angle detecting means (13);
0), the moving deviation speed detecting means (11) and the traveling acceleration detecting means (1
5), the amount of lateral deviation (X) of the traveling aircraft (7) with respect to the predetermined traveling direction line (19), and the detected movement deviation angle (X) obtained from the azimuth detection means (12). α) and the steering angle detection value (β) from the steering angle detection means (13) are divided into at least three odd-numbered zones, and the divided lateral deviation amount zone signal and the movement deviation angle Based on the detected value zone signal and the steering angle detected value zone signal, the traveling aircraft (7) is moved along the predetermined traveling direction line (19).
The present invention is characterized by comprising a control means (17) for outputting a steering signal to the actuator (10b) so that the actuator (10b) does not deviate from the actuator (10b).

[0008] Furthermore, the lateral deviation amount (X), the movement deviation angle detection value (α), and the steering angle detection value (β) are numerically coded in correspondence with each of the divided zones. It is characterized by becoming.

[0009]

[Operation] The amount of lateral deviation (X) of the aircraft (7) with respect to the predetermined traveling direction line (19) calculated based on the signals from the movement deviation angular velocity detection means (11) and the traveling acceleration detection means (15). , a movement deviation angle detection value (α) obtained from the azimuth detection means (12), and the steering angle detection means (13).
The detected steering angle value (β) is divided into at least three odd-numbered zones, and divided into a lateral deviation amount zone signal, a moving deviation angle detected value zone signal, and a steering angle detected value zone signal. Based on this, the control means (17) outputs a steering signal to the actuator (10b) to control the traveling body (7).
), the steered wheels (10) are steered so as not to deviate from the predetermined traveling direction line (19).

Further, the lateral deviation amount (X), the movement deviation angle detection value (α), and the steering angle detection value (β) are converted into numerical codes corresponding to each of the divided zones, The control unit (17) performs a logical operation and transmits the result to the actuator (10b) to steer the traveling aircraft (7).

[0011]

As explained above, according to the present invention, the speed of the traveling body (7) calculated based on the signals from the moving deviation angular velocity detecting means (11) and the traveling acceleration detecting means (15) is A lateral deviation amount (X) with respect to a predetermined traveling direction line (19), a movement deviation angle detection value (α) obtained from the azimuth detection means (12), and a steering angle from the steering angle detection means (13). The detected value (β) is divided into at least three odd-numbered zones, and based on the divided lateral deviation amount zone signal, moving deviation angle detected value zone signal, and steering angle detected value zone signal, The control means (17) outputs a steering signal to the actuator (10b), and the actuator (10b) steers the traveling aircraft (7) so as not to deviate from the predetermined traveling direction line (19). 7)
The amount of deviation from the predetermined traveling direction line (19) is not amplified, and extremely high control accuracy can be obtained. In addition, each detection means (
11, 12, 13, and 15), unnecessary labor and cost can be saved without preparing or installing special equipment.

Furthermore, by converting the divided zone signals into numerical codes, it is possible to reduce the program and therefore the storage capacity of the control means (17), reduce calculation time, and improve control accuracy.

[0013] The reference numerals in parentheses above specifically indicate the structure and do not limit the structure in any way.

[0014]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIGS. 4 and 5, the riding rice transplanter 1 has a traveling vehicle 2 at the front thereof, and a planting section 3 mounted at the rear thereof. Then, the running vehicle 2 has front wheels 5
, 5 and rear wheels 6, 6, and an engine 9 is mounted in the upper part in front of the front wheels 5, 5. And engine 9
A steering wheel 10 is installed upright behind the steering wheel. Further, the steering wheel 10 is provided with a touch switch 10a for randomly turning on and off automatically.

Further, a gyro 11 for detecting the movement deflection angular velocity is provided below the steering wheel 10, and an azimuth sensor 12 is supported higher than the steering wheel 10 by a support rod 12a on the upper left side of the aircraft body 7, and detects the steering angle. A potentiometer 13 is provided on the right front side of the body 7, and an acceleration sensor 15 for detecting ground running acceleration in the longitudinal direction is provided near the gyro 11. Further, a tilt sensor 16 is provided to improve stability when the traveling body 7 tilts from side to side.

A control circuit 17 shown in FIG. 1 is provided near the driver's cab, and the deviation angular velocity signal from the gyro 11 is input to the arithmetic circuit, passes through an integrating circuit, and becomes a deviation angle θ signal. , is further calculated,
The moving acceleration signal from the acceleration sensor 15 passes through a two-degree integration circuit, becomes a moving distance L signal, and is further calculated.

[0018] And, △Xn = △Xn-1 + △
Ln・sin(θn+θn−1)……
After being subjected to the arithmetic processing of formula (■■), it becomes the lateral deviation X signal at that point in time. Incidentally, the equation (2) is illustrated in FIG. 2.

[0019] Then, a deviation angle α signal obtained from the azimuth sensor 12, a signal of the steering angle β of the steering wheel 10 from the potentiometer 13, and a signal of the aircraft lateral deviation X,
are converted into zone signals as shown in FIGS. 6 to 8, the calculations shown in FIG. 3 are performed, and the output signals shown in FIG.
The signal is transmitted to the actuator 10b. The traveling body 7 travels along a predetermined traveling direction line 19.

Next, referring to FIGS. 2 and 6 to 8, in order to quickly bring the lateral deviation X of the traveling aircraft 7 close to zero, the lateral deviation Set up 5 zones, A, B, C, D.
, E zone (see Figure 6). Then, the deflection angle α of the traveling body 7 and the steering angle β of the actuator 10b are set in three zones, one on each side of the center zone (Fig. 7,
8). Then, as shown in Figure 3, 5×3×3=4
The steering wheel 10 is actuated via the actuator 10b of the steering wheel 10 in response to a signal from the control circuit 17 in accordance with any of the five modes.

[0021] Also, some modes will be explained as follows.
In 01 mode, the lateral deviation X of the traveling aircraft 7 is the second on the left side.
If the aircraft is deviated to the zone, the aircraft deviation angle α is to the left, and the steering angle β is to the left, the aircraft will quickly (
The steering speed is increased (H)) and the vehicle is steered to the right (R) direction (this is natural since the rotation angle is large). In 02 mode, the aircraft lateral deviation
zone, when the aircraft deflection angle α is to the left and the steering angle β is in the center zone, the vehicle is slowly (L) steered to the right. 03
In the mode, if X is the second left zone, α is the left zone, and β is facing right, there is no steering control. For example, in 09 mode, X is the left second zone, α is the right zone,
When β is in the right zone, the steering wheel is slowly (L) steered to the left (L). Then, at the next point in time, β becomes the center zone, and then the predetermined traveling direction line 1 changes in mode so that it becomes 08 mode or 14 mode.
It's getting closer to 9.

Based on the above configuration, a predetermined traveling direction line 19 of the riding rice transplanter 1 is set, the engine 9 is operated, and the power is transmitted to the wheels 5, 5, 6, 6 to drive the rice transplanter 1 around the field. In the automatic straight-ahead control device, a deviation angular velocity signal from the gyro 11 with respect to a predetermined traveling direction line 19 of the aircraft body 7, an acceleration signal from the acceleration sensor 15, and a signal of the deviation angle α from the azimuth sensor 12, When the signal is received, the arithmetic circuit performs the calculation of the above-mentioned integral calculation formula (3) and the mode calculation shown in FIG. The predetermined traveling direction line 19 is steered by
proceed above.

[0023] At this time, the azimuth sensor 12 senses the earth's magnetism that is not disturbed by the traveling vehicle 2 or the planting section 3, and transmits a direction deviation angle signal to the control circuit.

Further, when the operator grasps the touch switch 10a and operates the vehicle, automatic steering is interrupted and manual steering is performed.

The tilt sensor 16 also transmits a tilt signal of the body 7 to the control circuit 17, and the control circuit reduces the left and right tilt of the body 7.

Next, another embodiment will be described with reference to FIGS. 9 and 10.

Each mode in FIG. 8 is divided into five modes: (A) leftward, (B) slightly leftward, (C) proper, (D) slightly rightward, and (E) rightward.
Numerically coded to 000,0010,1010, (a)
The three divided modes of leftward tendency, (b) proper, and (c) rightward tendency are numerically coded as 0101, 0000, and 1010, respectively, and the steering angle division modes of (a), (i), and (u) are They are numerically coded as 0101, 0011, and 1010, respectively. Then, as shown in FIG. 9, a steering code S is obtained by further performing predetermined arithmetic processing on the logical sum U of X and α and the logical product U'.

Then, the logical product of the steering code S and the steering angle β is calculated to obtain an output code T as shown in FIG. The actuator 10b of the steering wheel 10 is controlled in real time by using the upper bits of this output code T as a steering speed code and the lower bits as a steering direction. In the above, in the upper bits, 00 is low speed, 1
0 and 01 indicate high speed, and 00 or 11 in the lower bits indicates no steering, 01 indicates a rightward steering output, and 10 indicates a leftward steering output.

By using the arithmetic circuit of the control circuit 17 as a numerically coded arithmetic circuit as described above, the number of arithmetic programs can be reduced, the memory circuit capacity can be reduced, and the control speed can be increased, and the accuracy of control can be increased. You can improve.

Note that in the above embodiment, the gyro 11
Although the azimuth sensor 12 and the azimuth sensor 12 are used, either one of them, for example, the gyro 11, may be used and the deflection angle after the direction of movement of the aircraft may be processed by an integrating circuit.

[Brief explanation of the drawing]

FIG. 1 is a control block diagram of a straight-travel control device showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the lateral deviation model.

FIG. 3 is a table of its control output modes.

FIG. 4 is a plan view of a riding rice transplanter embodying the present invention.

FIG. 5 is a side view thereof.

FIG. 6 is a plan view showing modes in which the lateral deflection of the traveling aircraft is divided into five.

FIG. 7 is a plan view showing modes in which the deflection angle of the traveling aircraft is divided into three.

FIG. 8 is a plan view showing modes in which the steering angle is divided into three.

FIG. 9 is an output mode steering code calculation table showing another embodiment.

FIG. 10 is a calculation table for the steering output code.

[Explanation of symbols]

1 Mobile work machine (riding rice transplanter) 7
Traveling aircraft 10 Steering wheel (steering) 10b
Actuator 11 Movement deviation speed detection means (gyro) 1
2 Azimuth angle detection means (azimuth sensor) 13
Steering angle detection means (potentiometer) 15
Travel acceleration detection means (acceleration sensor) 17
Control means (control circuit) 19 Predetermined traveling direction line X Lateral deviation amount α Movement deviation angle detection value β Steering angle detection value

Claims (2)

[Claims] 1. A mobile work machine whose traveling direction is controlled by a steering wheel, comprising: a moving deflection angular velocity detection means for detecting a moving deflection angular velocity with respect to the traveling direction of the traveling machine; a traveling acceleration detecting means for detecting traveling acceleration; a direction detecting means for detecting a direction of the traveling aircraft; a steering angle detecting means for detecting a steering angle of the traveling aircraft; an actuator for operating the steered wheels; A lateral deviation amount of the traveling aircraft with respect to a predetermined traveling direction line calculated based on signals from the deviation speed detection means and the traveling acceleration detection means, a movement deviation angle detection value obtained from the azimuth detection means, and the steering angle. The steering angle detection value from the detection means is divided into at least three odd-numbered zones, and the divided lateral deviation amount zone signal, the moving deviation angle detection value zone signal, and the steering angle detection value zone signal are divided into at least three odd-numbered zones. An automatic straight-travel control device for a mobile work machine, comprising: control means for outputting a steering signal to the actuator so as to prevent the traveling machine body from deviating from the predetermined traveling direction line. 2. The moving work according to claim 1, wherein the lateral deviation amount, the movement deviation angle detection value, and the steering angle detection value are numerically coded corresponding to each of the divided zones. Machine's automatic straight-line control device.