JPH05158537A - Running control system for moving agricultural machine - Google Patents

Abstract

PURPOSE:To reduce a burden of a host computer without making a controller complicate and large in size, and also, to easily realize labor saving by an unmanned operation and improvement of automatic running function, etc. CONSTITUTION:A combine 3 and a tractor 7 are provided with a speed detecting device and an azimuth direction device, and also, by providing a controller having a communication equipment, autonomous running is executed, and on the other hand, a host computer having a communication equipment is installed on the ground. In this computer, a position detecting device for detecting a position of the combine 3 and the tractor 7 is provided, and by communicating mutually data by each detecting device, running control of the combine 3 and the tractor 7 is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control system for a mobile agricultural machine that travels a moving body such as a combine or a tractor to perform agricultural work.

[0002]

2. Description of the Related Art Conventionally, there has been a technique in which a moving body such as a combine is provided with a sensor or the like for detecting a traveling course, and the moving body is automatically driven to carry out agricultural work.

[0003]

In the prior art described above, since the basic control necessary for traveling of the moving body is artificially performed, the manual operation of the operator is only partially reduced, and the moving body is It is not possible to easily save labor by unmanned operation of the vehicle, and the conventional technology that controls the automatic traveling only by the controller mounted on the moving body cannot easily improve the automatic traveling function and simplify the controller. There was a problem.

[0004]

SUMMARY OF THE INVENTION Therefore, according to the present invention, a moving body is provided with a speed detecting device for detecting a traveling speed and an azimuth detecting device for detecting an azimuth and a control device having a communication device. While autonomously traveling, a host computer having a communication device is installed on the ground, and this computer is provided with a position detection device for detecting the position of a moving body, and data from each detection device is communicated with each other. , The traveling control of the moving body is performed, and the detailed control is performed by the controlling unit of the moving body, and the host computer can perform the basic control. Therefore, the burden on the host computer can be reduced without increasing the size and complexity of the controlling unit of the moving body. The position of the moving body can be constantly corrected by the data from the host computer, and highly accurate traveling control saves labor by unmanned driving. In which the obtaining aims to facilitate and improving automatic traveling function.

Further, since the position detecting device for detecting the position of the moving body provided in the host computer is characterized by being a positioning system using a spread spectrum communication system, individual recognition of a plurality of moving bodies can be easily performed. With getting
The communication between the mobile body and the host computer and the position detection of the mobile body can be easily performed by one system.

Further, the host computer is characterized by controlling a plurality of mobile units by means of multiplexed communication.
The cooperative work of a plurality of moving bodies can be easily performed, and for example, the combine and the tractor can be easily run in parallel or the multiple tractors can be run simultaneously.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is an explanatory diagram for performing a cooperative harvesting work by a combine and a tractor, FIG. 2 is a block diagram of a host computer, FIG. 3 is a block diagram of a combine controller, and FIG. 4 is a block diagram of a tractor controller.
As shown in, the Glen tank (1) and the paddy discharge auger (2) are equipped on the combine (3) which is a moving body,
The combine (3) is moved along the uncut grain culm row (5) of the field (4), the grain culm is continuously cut and threshed, and the grain is stored in the Glen tank (1) and the transport tank. A tractor (7), which is a moving body that pulls (6), is run in parallel with the combine (3), and the grains in the grain tank (1) are carried into the transport tank (6) by the paddy discharge auger (2). When the transport tank (6) is filled with grains, the tractor (7) is moved to the tank (6) replacement position, and the tractor (7) with the tank (6) emptied is combined with the combine (3).
It is configured to be run side by side again to receive the grain from the combine (3) to the tank (6).

Further, as shown in FIG. 2, a position detecting device for detecting the positions of the combine (3) and the tractor (7) is provided with a host computer (8) installed at a predetermined place (fixed position) on the ground. A short range radar (9),
Selection of transmitter (10) and receiver (11) for multiplex communication, which are communication devices for mutually communicating data to the combine (3) and tractor (7), and model and control pattern (work content) Further, a keyboard (12) for inputting working conditions, a database (13) in which information necessary for traveling of the combine (3) and the tractor (7) can be written or read, and the contents of input and output information are displayed. The host computer includes a monitor (14) and an alarm device (15) for notifying an abnormality when the paddy discharge auger (2) of the combine (3) is out of the transport tank (6) input position of the tractor (7). It is connected to (8).

Further, a positioning system using a spread spectrum communication system is provided with the radar (9) and the transceiver (1
0) (11) and a host computer (8), the position of the combine (3) and the tractor (7) is detected by the system, and the individual recognition of the combine (3) and the tractor (7) is performed, In addition, the communication with the combine (3) and the tractor (7) and the position detection of the combine (3) and the tractor (7) are performed by one system, and a plurality of communication is performed by the multiplex communication of the transceivers (10) (11). Data is transmitted and received at the same time, the combine (3) and the tractor (7) are simultaneously controlled in parallel, and the group management of a plurality of mobile units such as the combine (3) and the tractor (7) can be performed.

Further, as shown in FIG. 3, a combine controller (16), which is a control device composed of a microcomputer, is mounted on the combine (3), and information is exchanged with the host computer (8). A receiver (17) and a transmitter (18) that are communication devices that communicate with each other, a Glen tank paddy sensor (19) that detects the amount of paddy in the Glen tank (1), and an uncut grain culm to be taken into the cutting unit. A line cutting sensor (2) that detects a line and runs a combine (3) along the line to control the steering during a line cutting operation.
0) and the ultrasonic sensor (21), and a magnetic direction sensor that is a direction detecting device that performs steering control together with the ultrasonic sensor (21) during a horizontal cutting operation in which the combine is made to travel orthogonally to the row of the uncut grain culm. (22), a vibration gyro (23) that causes the combine (3) to perform a turning operation such as a direction change in a headland, and a vehicle speed sensor (24) that is a speed detection device that detects the traveling speed, and the combine (3) Mowing section height sensor (25) for detecting the ground height, accelerator pulse motor (26) and engine rotation sensor (27) for adjusting the engine rotation of the combine (3), and combine (3) left-handed An electromagnetic valve (28) for the left side clutch that rotates, a electromagnetic valve (29) for the right side clutch that rotates the combine (3) to the right, and a combine (3)
Pulse motor (30) for traveling speed change and potentiometer (31) for traveling speed change that change traveling speed by changing the position of the speed change lever, and electromagnetic for paddy discharge auger clutch that turns on and off paddy discharge auger (2) of combine (3). A valve (32) and an electromagnetic valve (33) for raising and lowering the mowing part of the combine (3) are provided.

Then, the steering control during the line cutting work by the line cutting sensor (20) and the ultrasonic wave sensor (21), and the steering during the horizontal line cutting work by the ultrasonic wave sensor (21) and the magnetic direction sensor (22). The combine (3) is caused to travel autonomously under control, and when there is an instruction to correct the traveling direction from the host computer (8) while the combine (3) is traveling autonomously, the traveling direction is corrected by the magnetic direction sensor (22).
When the combine (3) detects that the combine (3) has reached the headland of the field (4) and there is no more grain to cut, it sends information to the host computer (8), and the host computer (8)
When a turning command is issued from the host computer (8), a turning operation is performed based on the detection angle of the vibration gyro (23) and the detection distance of the vehicle speed sensor (24) to change the direction of the combine (3). ), The traveling speed is adjusted by switching the speed change lever of the combine (3), and the pad discharge auger (3) is turned on and off according to the instruction from the host computer (8), and the grain tank (8) is added to the host computer (8). In addition to notifying the fullness of 1),
Upon completion of the reaping work, the combine (3) is moved to a predetermined position by autonomous running of the magnetic direction sensor (22), and an emergency stop instruction from the host computer (8) or communication with the host computer (8) is disabled. It is configured to stop the engine of the combine (3) when it becomes.

Further, as shown in FIG. 4, a tractor controller (34), which is a control device composed of a microcomputer, is mounted on the tractor (7), and information is exchanged with the host computer (8). A receiver (35) and a transmitter (36) that are communication devices that communicate with each other
And front and rear and left and right ultrasonic sensors (37) (38) (39) (40) for detecting the front, rear, left and right vehicles, and the tractor (7).
The magnetic azimuth sensor (41) that is the azimuth detecting device that detects the course of the vehicle, the vehicle speed sensor (42) that is the speed detecting device that detects the traveling speed, and the position of the paddy discharge auger (2) with respect to the transport tank (6) are Three points: a paddy discharge auger position sensor (43) that detects the properness, a transport tank paddy sensor (44) that detects the amount of paddy in the transport tank (6), and a tractor (7) equipped with a cultivator and the like. An electromagnetic valve (45) for raising and lowering the working machine for raising and lowering the lift arm of the link,
An electromagnetic valve (46) for the PTO clutch that turns on and off the PTO shaft of the tractor (7), an electric cylinder (47) for the traveling clutch that turns on and off the traveling clutch of the tractor (7), and a potentiometer (48) for the traveling clutch, and a tractor. (7) An accelerator pulse motor (49) for adjusting the engine rotation and an engine rotation sensor (50), a left brake electric cylinder (51) and a left brake potentiometer (for left turning and braking of the tractor (7) ( 52), the right brake electric cylinder (53) and the right brake potentiometer (54) used for turning and braking the tractor (7) to the right, and the speed change lever positions of the tractor (7) are changed to switch the traveling speed. Travel speed pulse motor (55) and travel speed potentiometer (5
6), a steering electromagnetic valve (57) for changing the traveling direction of the tractor (7), and a steering angle sensor (58).

Then, the ultrasonic sensors (37) to (4
0) detects the relative position with the combine (3), detects the traveling direction with the magnetic azimuth sensor (41), adjusts the traveling speed with the vehicle speed sensor (42), and causes the tractor (7) to travel autonomously. When the host computer (8) gives an instruction to correct the traveling direction while the tractor (7) is traveling autonomously, the magnetic orientation sensor (41) corrects the traveling direction, and when the combine (3) is approached more than a predetermined distance. The tractor (7) is stopped to prevent a collision, and a turning operation is performed based on the detection angle of the magnetic direction sensor (41) and the detection distance of the vehicle speed sensor (42) by a turning command from the host computer (8). To turn the tractor (7) and inform the host computer (8) when the transport tank (6) is full of kernels, Is used to move the tractor (7) from the tank (6) replacement position to the combine (3) position, and when the harvesting work is completed, the tractor (7) is autonomously moved to a predetermined position by the magnetic direction sensor (41). The engine of the tractor (7) is stopped when it is moved or when an emergency stop instruction from the host computer (8) or communication with the host computer (8) is disabled.

This embodiment is constructed as described above, and is shown in FIG.
As shown in the flowchart in Fig. 2, the ground control of the host computer (8) is performed, the work area coordinates of the work machine to be initialized are input, and the work procedure of the work machine to be initialized is also input. The i-th command (one of the work processes) is transmitted to the work machine such as (3) and the tractor (7), and the position of the work machine is determined by the input / output of the radar (9) and the transceivers (10) and (11). Detecting and receiving the operating state of the work machine to determine whether the command is being executed properly, and if the execution is not appropriate, send a correction command, and the execution is appropriate and the i-th work is When it is completed, the next work order is transmitted in sequence and the whole work is completed.

Further, as shown in the flow chart of FIG.
Combine (3) of combine controller (16)
Controlled by the host computer (8)
Of the cutting operation command, the cutting operation control, the turning control when the turning command, the paddy discharging auger (2) clutch control when the paddy discharging command, and the stop command. The stop control is sometimes performed, and the travel control is performed at the time of the travel command. Every time the control is performed, the engine speed, the gear shift position, the travel speed and the travel distance, and the magnetic azimuth sensor (22) Combine such as detection direction (3)
The operation state is detected, the operation state is transmitted to the host computer (8), and control for returning to a predetermined position upon completion of work is performed to return the combine (3) to a predetermined position by autonomous traveling.

Further, as shown in the flow chart of FIG.
The tractor controller (34) controls the tractor (7), receives the command from the host computer (8), and when the cultivating command is received, the electromagnetic valve (4) is operated.
5) Plowing work control for activating (46), turning control when a turning command is issued, stop control when a stop command is given, and running control when a running command is given. Every time the control is performed, the engine speed, the gear shift position, the traveling speed / distance, the magnetic direction sensor (41)
The operating state of the tractor (7) such as the detection direction of the tractor is detected, the operating state is transmitted to the host computer (8), control is performed to return to a predetermined position when the work is completed, and the tractor (7) is autonomously driven to a predetermined state. It returns it to the position.

As is clear from the above, the combine harvesting work is performed by the combine harvester (3) and the tractor (7), and at the same time as the harvesting and threshing work of the combine harvester (3), the transport tank of the tractor (7) running in parallel. When the combine (3) is rotated and the tractor (7) is rotated after the combine (3) is rotated, the combine (3) is discharged when the combine (3) is rotated by detecting the end of the grain culm row. When the transportation tank (6) is full, the discharge of the grain is restarted, and when the transportation tank (6) is full, it is replaced with an empty tank, and the grain tank (1) of the combine (3) is full. When the combine (3) is turning, the tractor (7) is made to stand by at a place other than the turning place, and the transport tank (6) replacement position or Combine (3) The combiner (3) and the tractor (7) are controlled by a macro command from the host computer (8), and each of the combiner (3) and the tractor (7) is controlled by the host computer (8). The details are controlled by the controllers (16) and (34).

[0018]

As is apparent from the embodiments described above, the present invention provides the moving bodies (3) and (7) with speed detection devices (24) and (42) for detecting the traveling speed, and direction detection for detecting the direction. The devices (22) (41) are provided and the communication device (1
7) Controller (1) having (18) (35) (36)
6) (34) is provided for autonomous traveling while a host computer (8) having communication devices (10) and (11) is installed on the ground, and a mobile body (3) ( A position detecting device (9) for detecting the position of 7) is provided, and the traveling control of the moving bodies (3) and (7) is performed by mutually communicating the data by the detecting devices.
The control of details is the control device (16) of the moving body (3) (7)
(34) and basic control can be performed by the host computer (8). Therefore, the host computer (8) can be controlled without making the control units (16) and (34) of the mobile bodies (3) and (7) complicated and large. The load can be reduced and the mobile unit (3) can be loaded by the data from the host computer (8).
The position of (7) can be constantly corrected, and highly accurate traveling control facilitates labor saving by unmanned operation and improvement of the automatic traveling function.

The position detecting devices (9), (10) and (11) provided in the host computer (8) for detecting the positions of the moving bodies (3) and (7) are positioning systems using the spread spectrum communication system. Therefore, individual recognition of a plurality of moving bodies (3) (7) can be easily performed, and communication between the moving bodies (3) (7) and the host computer (8) can be performed by one system. And moving body (3)
The position of (7) can be easily detected.

Further, the host computer (8) is characterized in that it controls a plurality of mobile units (3) (7) by means of multiplexed communication, so that a cooperative work of the plurality of mobile units (3) (7) is performed. The combine (3) and the tractor (7) can be easily run in parallel, or a plurality of tractors (7) ... Can be run simultaneously.

[Brief description of drawings]

FIG. 1 is an explanatory view of a cooperative work of a combine and a tractor.

FIG. 2 is a block diagram of a host computer.

FIG. 3 is a block diagram of a combine controller.

FIG. 4 is a block diagram of a tractor controller.

FIG. 5 is a flowchart of FIG.

6 is a flowchart of FIG.

7 is a flowchart of FIG.

[Explanation of symbols]

 (3) Combine (moving body) (7) Tractor (moving body) (8) Host computer (9) Short-range radar (position detection device) (10) Transmitter (communication device) (11) Receiver (communication device) (16) Combine controller (control device) (17) (35) Receiver (communication device) (18) (36) Transmitter (communication device) (22) (41) Magnetic direction sensor (direction detection device) (24) ) (42) Vehicle speed sensor (speed detection device) (34) Tractor controller (control device)

Claims (3)

[Claims] 1. A moving body is provided with a speed detecting device for detecting a traveling speed and an azimuth detecting device for detecting an azimuth, and a control device having a communication device is provided for autonomous traveling, while communication is performed on the ground. A host computer having a device is installed, the computer is provided with a position detecting device for detecting the position of the moving body, and the traveling control of the moving body is performed by mutually communicating data by the detecting devices. A characteristic travel control system for mobile agricultural machinery. 2. The traveling control system for a mobile agricultural machine according to claim 1, wherein the position detecting device provided in the host computer for detecting the position of the moving body is a positioning system using a spread spectrum communication system. 3. The first computer according to claim 1, wherein the host computer controls a plurality of moving bodies by means of multiplexed communication.
A traveling control system for a mobile agricultural machine according to the item.