JPH05123006A - Automatic steering control unit for mobile farm machine - Google Patents

Abstract

PURPOSE:To provide the title control unit designed to improve control smoothness by successively storing values detected by a detecting sensor and cumulatively summing a specified frequency of past values among the values stored into the reference data. CONSTITUTION:Values detected by a detecting sensor 5 are successively stored at every specified time in memory regions differing from one another. Of the values thus stored, a specified frequency of past values are summed into the reference data. Thereby, the smooth reference data can be obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic steering control device for a mobile agricultural machine which performs intermediate management work such as fertilization, control, weeding and grooving.

[0002]

2. Description of the Related Art Recently, in a mobile agricultural machine for performing intermediate management work such as this type of fertilization and control, a pair of left and right sensors for detecting crop lines are provided on a traveling machine body, and the left and right of the sensors are provided. It has been proposed to compare the detected values to automatically control the traveling body. However, in the past, since a digital contact sensor (such as a detection switch that detects the swing angle of the detection bar step by step) was used to detect the crop strip, the sensitivity was inevitably low and highly accurate automatic steering control could be performed. The reality is that there is no such thing. Therefore, it is conceivable to configure the detection sensor with an analog contact sensor to perform highly accurate detection. In this case, although a fine detection value can be obtained, the recoil and vibration of the detection bar are strict. Therefore, even if the temporary peak hold value is compared, even if the temporary hold peak value is compared, in the simple comparison state after the hold time, the reverse phenomenon of the left and right detection values frequently occurs due to the drastic fluctuation of the detection value. Perhaps it is not possible to perform smooth control, but there is also the inconvenience that an appropriate detection value cannot be obtained if there is a deviation in the planting position of the left and right detection crop rows, which was a problem.

[0003]

SUMMARY OF THE INVENTION In view of the above-mentioned circumstances, the present invention was devised with the object of providing an automatic steering control device for a mobile agricultural machine capable of eliminating these drawbacks. A pair of left and right analog contact sensors that detect crops, and the left and right detection values of the contact sensors are compared to the traveling machine that travels between the existing crop lines to automatically control the traveling machine. In a mobile agricultural machine provided with a control section, the automatic steering control section is provided with detection value input means for inputting a detection value of a contact sensor at predetermined time intervals, and the input detection value is sequentially stored in different storage areas. And a detection value calculation means for adding the detection values of a predetermined number of past times among the stored detection values to obtain comparison data for automatic steering control. is there. Or
A pair of left and right analog type contact sensors that detect crops, and an automatic steering control unit that automatically controls the traveling body by comparing the left and right detection values of the contact sensors to the traveling body that travels between the existing crop lines. In the mobile agricultural machine provided with, the automatic steering control unit, the detection value input means for inputting the detection value of the contact sensor at predetermined time intervals, and the detection for sequentially storing the input detection value in different storage areas A value storage means and a detection value extraction means for extracting a maximum value or a minimum value from the stored detection values of a predetermined number of times in the past to be used as comparison data for automatic steering control are provided. It is what The present invention is capable of performing extremely smooth automatic steering control with this configuration.

[0004]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a first embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a riding type rice transplanter, and the traveling machine body 1 has a spreader via an elevating link 2 at its rear part in order to perform control work in a field where crops are already planted. The boom sprayer 3 is connected, but an unmanned operation mechanism including an actuator is provided in each of the operation units such as the steering, the brake, the accelerator, and the clutch operated by the operator.

Reference numeral 4 denotes a pair of left and right support stays provided at the front end of the machine body.
Inclined downward from the front end of the machine to be located in front of the front wheels F running through the existing crop lines and between the crop lines running on the front wheel F on the inner side of the machine. Detection bar 5a protruding in a lateral direction and protruding outward in the left and right directions, and an analog angle for detecting a change in angle of the detection bar 5a (a swing angle based on contact with a crop) A detection sensor 5 including a sensor 5b is provided.

On the other hand, 6 is a control box arranged at the rear part of the driver's seat 7, which is provided to house a control part 8 which will be described later. On the other hand, a sensor box 9 having a receiver and various sensors is provided, while a driver box 10 having various driver circuits is provided below the driver's seat 7, which is a front lower position of the control box 6.

The control unit 8 is constructed by using a so-called micro computer unit (including CPU, RAM, ROM, etc.), which receives signals from the receiver, the detection sensor 5, etc. On the other hand, an operation signal is output to each unmanned operation mechanism based on the determination based on these input signals. That is, in the control unit 8, the remote operation control for controlling each unmanned operation mechanism based on the remote operation signal emitted from the transmitter and the detection values of the left and right detection sensors 5 are compared so that both detection values match. Headland processing for determining headland by automatic steering control for steering operation, and cycle measurement (inter-stock cycle) based on the detection value of the detection sensor 5, and automatically stopping or turning the traveling machine body 1 based on the determination. Although various controls such as control are configured to be performed, the automatic steering control, which is the gist of the present invention among these controls, will be described below in detail based on the flow chart.

The automatic steering control includes an interrupt routine for reading a detected value, a calculation routine for calculating the read detected value, and an actual unmanned steering operation based on the calculated data. It is composed of an automatic steering routine for controlling the actuator of the operating mechanism.The automatic steering routine compares the left and right detection data while taking the dead zone α into consideration, and based on the data comparison, the unmanned steering operating mechanism is operated. It is a general one that activates an actuator.

On the other hand, the interrupt routine is performed at a predetermined time interval (1 /
The detection values DθL and DθR of the left and right detection sensor 5 are read in fs) and the read detection values DθL and DθR are respectively stored in the memory. In the interrupt routine of the present invention, the detection values DθL and DθR are stored. The storage counter STRCNT is counted up each time the data is read, and the storage counter STRCNT is set to the head address DθL00, DθR.
Detected values DθL, D in the storage address calculated by adding 00
Since θR is configured to be stored respectively, not only the detected value read this time but also read data for the past m times are sequentially stored and held. When the storage addresses reach the final addresses DθLm and DθRm, the storage counter STRCNT is reset to store the detected value again from the first addresses DθL00 and DθR00.

Furthermore, the calculation routine calculates the final comparison data used in the automatic steering routine by calculating the stored detection values DθL and DθR, but in the calculation routine of the present invention, , The number of sampling data n is calculated, and the stored detection values for the past n times are cumulatively added to set the final comparison data LSUM and RSUM. That is, the comparison data LSUM and RSUM are calculated based on the stored detection values of the past n times to smooth the comparison data. Note that the cumulative addition for the past n times is performed at the previous storage address (the storage counter STRCNT is set to the first address DθL00, DθR00).
It is performed by going back n times in the negative direction from (calculation by adding to), but the storage address of the addition data is the start address DθL
When 00 and DθR00 are reached, cumulative addition is continuously performed in the negative direction from the final addresses DθLm and DθRm.

By the way, the number of sampling data n
Is set to the number of detection values stored while traveling an integral multiple (twice in the embodiment) of the distance between stocks.
That is, the stock cycle t measured in the headland processing control
Is calculated by multiplying the required travel time T by the integer and multiplying the required travel time T by the interrupt frequency fs. Since the data is added and set in the comparison data, it is possible to allow the deviation of the planting position between the left and right crop crop rows.

In the first embodiment of the present invention constructed as described above, the control unit 8 automatically controls the traveling machine body 1 on the basis of the detection of the left and right detection sensor 5 which is an analog contact sensor. However, the detection values of the left and right detection sensors 5 are sequentially stored in the memory at predetermined time intervals, and are cumulatively added retroactively n times in the past and then used as comparison data for the automatic steering routine. Therefore, as in the conventional case where the current value of the detection sensor 5 is directly used for the data of the automatic steering routine, the fluctuation of the detection value based on the reaction or vibration of the detection bar 5a is directly reflected in the automatic steering control. Perhaps it is possible to reliably prevent malfunctions, but it is also possible to eliminate the frequent inversion phenomenon of the left and right detection values based on a drastic change in the detection values.As a result, smoothed comparison data can be obtained. Based on this, extremely smooth automatic steering control can be performed.

Moreover, since the detection values are cumulatively added, all detection values are effectively used without wasting the detection results as in the case of using only the peak value among the detection values, and the detection accuracy is improved. Can be improved.

Further, in the embodiment, the detection values during the required travel time of the multiples of the distance between the stocks are cumulatively added and set in the comparison data. Can be allowed and smooth automatic steering control can be performed.

Next, a second embodiment of the present invention will be described with reference to the drawings. However, the difference from the first embodiment is only the arithmetic routine, and the description of the other components will be omitted. In the operation routine of the second embodiment, the number of sampling data n is calculated as in the first embodiment, but the storage detection values of the past n times are not cumulatively added, but the storage detection of the past n times is detected. The values are retrieved, the maximum value is picked up, and the final comparison data is set. That is, the purpose of setting the comparison data based on the detection values of the past n times so that the comparison data does not fluctuate is the same as that of the first embodiment. Even in the case of hitting, since the maximum value in the past is held, it is possible to prevent a wrong steering control from being performed based on the detection of stock absent. It can be equipped.

It is needless to say that the present invention is not limited to the above-mentioned embodiment, and it goes without saying that, for example, the sampling frequency, the multiple of the distance between the stocks, etc. can be appropriately changed, and the traveling speed can be kept constant. For example, the number of sampling data n can be set to a constant value. Further, the comparison data to be picked up in the second embodiment is not necessarily limited to the maximum value, and smooth comparison data can be obtained even if the minimum value is picked up. Furthermore, the calculation routines of the first and second embodiments do not necessarily have to be independent. For example, the control unit is provided with both calculation routines, and the calculation routine of the first embodiment is always used, while the calculation routine is missing. When there are stocks, the calculation routine of the second embodiment may be switched to.

[0017]

In summary, since the present invention is configured as described above, the traveling body that travels between the existing crop rows is compared with the left and right detection values of the analog contact sensor that detects the crop. Although the automatic steering control is performed, the contact value input at every predetermined time is sequentially stored in different storage areas, and the detected value of the stored predetermined number of times is added to the automatic detection control. Since this is the comparison data for use, extremely smooth comparison data can be obtained. Therefore,
Like the one that uses the current detection value as it is as comparison data,
It is possible to reliably prevent the problem that the fluctuation of the detection value due to the recoil or vibration of the detection bar is reflected in the automatic steering control as it is, or the reverse phenomenon of the left and right detection values frequently occurs due to the severe fluctuation of the detection value. As a result, the smoothness of the automatic travel control can be dramatically improved.

Moreover, since the detection values are added, all detection values are effectively used without wasting the detection results as in the case of using only the peak value among the detection values, and the detection accuracy is improved. Can be measured.

Further, since the detection values for the predetermined number of times in the past are added as the comparison data, even if there is a deviation in the planting position in the provisional left and right detected crop rows, this can be tolerated, and in particular addition By making the number of data correspond to the number of data obtained while traveling an integral multiple of the distance between plants, it becomes possible to completely allow the deviation of the planting position.

Further, the contact value input every predetermined time is sequentially stored in different storage areas, and the maximum value or the minimum value is extracted from the stored detection values for a predetermined number of times in the past, and the automatic steering is performed. When the comparison data for control is used, smoothing of the comparison data can be performed and extremely smooth automatic steering control can be performed as in the case of the above, but in the case of extracting the maximum value, the provisional crop Even if there is a stock shortage, it is possible to keep the maximum value in the past, so it is possible to solve the problem of erroneous automatic steering control based on the stock shortage and significantly improve the control accuracy. You can

[Brief description of drawings]

FIG. 1 is a side view of a traveling body.

FIG. 2 is a block diagram showing an outline of a control mechanism.

FIG. 3 is a flow chart showing an interrupt routine.

FIG. 4 is a flowchart showing a calculation routine.

FIG. 5 is a flow chart showing an automatic steering routine.

FIG. 6 is an address map of a memory.

FIG. 7 is a timing chart showing the operation.

FIG. 8 is a flow chart showing a calculation routine of a second embodiment.

FIG. 9 is a timing chart showing the operation of the second embodiment.

[Explanation of symbols]

 1 traveling machine body 5 detection sensor 5a detection bar 5b angle sensor 8 control unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kenji Ito 667 Izaya-cho, Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Mitsubishi Agricultural Machinery Co., Ltd. 667 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inoue Hisao Nogami 667 Izumo-cho, Higashi Izumo-cho, Yatsuka-gun, Shimane Prefecture 667 1 Mitsubishi Agricultural Machinery Co., Ltd.

Claims (2)

[Claims] 1. A traveling vehicle that travels between already planted crop rows,
A mobile agricultural machine comprising a pair of left and right analog contact sensors for detecting a crop, and an automatic steering control unit for automatically steering a traveling vehicle body by comparing left and right detection values of the contact sensors. In the control unit, the detection value input means for inputting the detection value of the contact sensor at predetermined time intervals, the detection value storage means for sequentially storing the input detection value in different storage areas, and the past detection value among the stored detection values. An automatic steering control device for a mobile agricultural machine, comprising: a detection value calculation means for adding detection values for a predetermined number of times to obtain comparison data for automatic steering control. 2. A traveling vehicle that travels between already planted crop rows,
A mobile agricultural machine comprising a pair of left and right analog contact sensors for detecting a crop, and an automatic steering control unit for automatically steering a traveling vehicle body by comparing left and right detection values of the contact sensors. In the control unit, the detection value input means for inputting the detection value of the contact sensor at predetermined time intervals, the detection value storage means for sequentially storing the input detection value in different storage areas, and the past detection value among the stored detection values. An automatic steering control device for a mobile agricultural machine, comprising: a detection value extracting means for extracting a maximum value or a minimum value from a predetermined number of detection values to obtain comparison data for automatic steering control.