JPH05127740A - Automatic turn controller for moving agricultural machine - Google Patents

Abstract

PURPOSE:To enable precise automatic turn control meeting field conditions by setting the turn angle, required for turning from a straight travel state to a turning state, as an angle required for returning to the straight travel state from the turning state. CONSTITUTION:An automatic turn control part performs remote operation control over the operation mechanism of a traveling body 1 based upon the remote operation signal from a transmitter, automatic steering control over steering based upon the detected value of a detection sensor, ground projection decision control for deciding a ground projection, and automatic turn control for automatically turning the travel body 1. In the automatic turn control, the turn angle alpha required for turning from the straight travel state to the complete turning state is stored as the necessary return angle alpha required for returning to the straight travel state from the turning state and when the angle obtained by subtracting the stored angle data alpha from a target turn angle (90 deg.) is reached, straight returning operation is started. There is therefore no deviation in the timing of straight returning in spite of a change in field conditions of a slip rate, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic rotation control device for a mobile agricultural machine having an unmanned steering mechanism.

[0002]

2. Description of the Related Art Recently, in this type of mobile agricultural machine, it has been proposed to run the traveling machine unmanned in order to improve work safety and efficiency, and in this case. Are required to automatically perform a series of traveling operations of starting traveling when the traveling body reaches a headland and returning straight when the traveling is completed. Therefore, in the related art, when the traveling body reaches the headland, a traveling start command is output to the unmanned traveling operation mechanism, and a straight traveling return command is output after a predetermined time from the command output, thereby automatically traveling the body. I was doing. However, this one
Since the unmanned steering operation mechanism is returned straight based on a fixed timer time, it is not possible to deal with various field conditions such as slip rates that differ from field to field, and as a result, the timing of straight recovery is quick. There is an inconvenience that the phenomenon of occurrence and the phenomenon of delay occur frequently, and further improvement is required for practical use.

[0003]

SUMMARY OF THE INVENTION In view of the above-mentioned circumstances, the present invention was devised with the object of providing an automatic traveling control device for a mobile agricultural machine capable of eliminating these drawbacks. The unmanned traveling operation mechanism that allows unmanned operation parts such as the steering operation mechanism necessary for traveling the aircraft and the automatic rotation that automatically controls the operation of the unmanned traveling operation mechanism. In a mobile agricultural machine provided with a line control unit, a traveling direction input means for inputting a traveling direction of a machine body to the automatic traveling control unit, and a traveling unit for outputting a traveling start command to an unmanned traveling operation mechanism. A start command output means, a required return angle storage means for storing a required return angle required for the unmanned traveling operation mechanism to return from the traveling state to the straight traveling state, and a target based on the traveling direction at the start of traveling. Reaching the angle obtained by subtracting the required return angle from the traveling angle It is characterized in that provided a rectilinear return command output means for outputting the straight return command to the unmanned times row operation mechanism stage. Further, according to the present invention, with this configuration, it is possible to perform extremely accurate automatic traveling control.

[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. Boom sprayer 3 is connected, but an unmanned operation mechanism equipped with an actuator is provided in each operation unit such as a steering wheel operated by an operator, an accelerator, left and right side brakes, a traveling clutch, and left and right side clutches.

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. A receiver 9 for receiving a remote control signal and a sensor box 11 in which a direction sensor 10 for detecting the traveling direction of the traveling machine body 1 are installed are provided in the vehicle, while a driver's seat 7 which is a lower front position of the control box 6 is provided. A driver box 12 incorporating various driver circuits is disposed below the.

The control unit 8 is constructed by using a so-called micro computer unit (including CPU, RAM, ROM, etc.), which includes the detection sensor 5, the receiver 9 and the direction sensor 10. While inputting signals from the above, the actuating signal is output to each unmanned operation mechanism based on the judgment based on these input signals. That is,
In the control unit 8, remote operation control for controlling each unmanned operation mechanism based on the remote operation signal emitted from the transmitter,
The automatic steering control and the detection sensor 5 for comparing the detection values of the left and right detection sensors 5 and performing a steering operation so that the detection values are the same.
It is configured to perform various controls such as headland discrimination control that discriminates headland by cycle measurement (cycle between stocks) based on the detection value of the vehicle, and further automatic rotation control that automatically turns the traveling vehicle body 1 based on headland discrimination. Among these controls, the automatic circulation control, which is the subject matter of the present invention, will be described in detail below based on the flow chart.

In the automatic turning control executed based on the headland discrimination control, the target turning angle and the turning direction can be set as appropriate, but the traveling machine body 1 is turned 90 ° to the left. Taking the case as an example, first, at the beginning of control,
After the traveling clutch is brought into the connected state, it is judged whether or not the control has just started, and if the control has just started, the detected angle data of the azimuth sensor 10 is reset. Subsequently, it is determined whether or not the current traveling angle is greater than or equal to the angle obtained by subtracting the storage angle data α (required return angle) described below from 90 ° (target traveling angle), but it is determined to be NO at the beginning of control. As a result, the left side clutch cutting operation command, the left side brake on operation command, and the steering left turn operation command are output. Then, each unmanned operation mechanism is operated based on these operation commands to start leftward rotation of the traveling vehicle body 1. However, when the rotation is started, the operation of each unmanned operation mechanism is completed. Whether or not it is continuously determined is determined. When the determination is YES, the detected traveling angle at that time is stored as the stored angle data α. After this processing is completed, the conditional branch (current traveling angle ≧ 90 ° −
The traveling operation is continued until it is determined to be YES in α), but if YES is determined, a left side clutch on / off operation command, a left side brake off operation command, and a steering neutral operation command are output. When the operation of each unmanned operation mechanism based on these operation commands is completed, the automatic circulation control is finished. That is,
The traveling angle required to change from the straight traveling state to the complete traveling state is stored as a return required angle α required for returning from the traveling state to the straight traveling state, and the stored angle data α is stored as the target traveling angle. By starting the straight-ahead return operation when the angle reaches the angle subtracted from the angle, it is possible to accurately return to the target straight-ahead angle. In the present embodiment, after the operation of each unmanned operation mechanism is completed, it is determined whether the traveling vehicle body 1 has not reached the target traveling angle and whether the traveling angle exceeds the target traveling angle. When these are YES, the error is corrected only by operating the steering wheel.

In the embodiment of the present invention constructed as described above, the control unit 8 executes automatic turning control based on the headland discrimination, but from the straight traveling state to the complete traveling state. The traveling angle required for is stored as a required return angle α required to return from the traveling state to the straight traveling state, and the vehicle travels straight when the stored angle data α reaches an angle subtracted from the target traveling angle. In order to start the operation, regardless of the field conditions, the vehicle automatically goes around exactly the target turning angle and then returns straight. Therefore, as in the conventional case in which the unmanned operation mechanism is linearly returned based on a fixed timer time, there is no large deviation in the timing of linear return based on changes in various field conditions such as slip ratio, and it is extremely accurate. By going straight ahead, it will be possible to perform accurate automatic rotation,
Therefore, it can greatly contribute to the practical application of the unmanned mobile agricultural machine, and contribute to the improvement of safety and work efficiency in agricultural work.

It should be noted that the present invention is not limited to the above-mentioned embodiment, but the sensor for detecting the traveling direction is not limited to the azimuth sensor, and the movement of the traveling machine body is not limited thereto. It goes without saying that a gyro or the like that directly detects may be used. Also, the required return angle is
A fixed angle may be set in advance without necessarily storing it at the stage of starting circulation. That is, even if the slip rate or the like changes significantly even in the same field, the stored data does not always match the required return angle. Good automatic circulation control can be performed.
Although it has been described above that the target traveling angle and the traveling direction can be appropriately set, it is also possible to combine the 90 ° traveling of the above-described embodiment and perform 180 ° traveling. The explanation will be given below based on the chart. First, in the first half of the control, 90 ° traveling is performed in substantially the same manner as in the above embodiment, but after the 90 ° traveling is completed, it is determined whether or not the headland has traveled a predetermined distance, When this becomes YES, the second 90 ° circulation in the latter half of the control is executed. At the start of the second turn, the left side clutch turning operation command, the left side brake on / off operation command, and the steering left turn operation command are output in the same manner as the first time turning. The unmanned operation mechanism operates based on the command to start the left-handed traveling of the traveling machine body 1. However, after this traveling is started, the current traveling angle is 180 ° (the first traveling time). It is repeatedly determined whether or not an angle obtained by subtracting the stored angle data α (required return angle stored in the first round of travel) from the target rounding angle based on the start of the round of travel is reached, and When the answer is YES, a command to enter the left side clutch, a command to operate the left side brake, and a command to operate the steering neutral are output, and the straight-line return operation is started. That is, although the 90 ° traveling is combined to perform the 180 ° traveling, the timing for starting the straight-ahead return operation in the second traveling is based on the traveling angle at the start of the first traveling. Therefore, if the traveling body 1 bends in the provisional headland (for example, when a control error occurs in the automatic steering control or when the crop strip itself in the headland is bent), the pillow At the stage of land escape, it is possible to accurately return straight along the crop line.

[0011]

In summary, since the present invention is constructed as described above, the traveling machine body can be automatically rotated based on the operation control of the unmanned traveling operation mechanism.
After inputting the aircraft's traveling direction at all times and outputting the start-of-travel command to the unmanned traveling operation mechanism, the unmanned traveling operation mechanism is required to return the required return angle before returning from the traveling state to the straight traveling state. Since it is determined that the angle has decreased from the target traveling angle based on the traveling direction at the start, and the straight-line return operation is started based on the determination, the target traveling angle is irrespective of the field conditions. After that, the car will go straight and return straight. Therefore, it is possible to realize an extremely accurate straight-line return without causing a large deviation in the straight-line return timing based on changes in various field conditions such as a slip ratio like a straight-line return of an unmanned operation mechanism based on a fixed timer time. Therefore, it is possible to perform highly accurate automatic rotation, and as a result, it is possible to greatly contribute to the practical application of the unmanned mobile agricultural machine and to contribute to the improvement of safety and work efficiency.

[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 automatic circulation control.

FIG. 4 is an operation explanatory view showing automatic rotation of 90 °.

FIG. 5 is a flow chart showing automatic circulation control according to the second embodiment.

FIG. 6 is an explanatory view of the same as above.

[Explanation of symbols]

 1 traveling machine body 5 detection sensor 8 control unit 10 direction sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masaoka Matsuoka 667 Izamachi, Higashi Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Mitsubishi Agricultural Machinery Co., Ltd. 667 1 Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Kenji Ito, Izumo-cho, Yatsuka-gun, Shimane Prefecture 667 Iba-cho, Izamachi 1 Mitsubishi Agricultural Machinery Co., Ltd.

Claims (1)

[Claims] 1. An unmanned traveling operation mechanism capable of operating an operation section such as a steering operation mechanism necessary for traveling of the aircraft unmanned, and an operation control of the unmanned traveling operation mechanism to automatically perform aircraft traveling. In a mobile agricultural machine provided with an automatic traveling control unit for performing, the automatic traveling control unit outputs a traveling start command to a traveling direction input means for inputting a traveling direction of the machine body and an unmanned traveling operation mechanism. The rotation start command output means, the required return angle storage means for storing the required return angle required for the unmanned traveling operation mechanism to return from the traveling state to the straight traveling state, and the traveling direction at the start of traveling Of the moving agricultural machine characterized by being provided with a straight travel return command output means for outputting a straight travel return command to the unmanned traveling operation mechanism when the angle reaches the target travel angle minus the required return angle. Automatic circulation control device.