JPH0518522B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a stroke end detection means for detecting when a machine body has reached the end of a working stroke, and a travel distance detection means for detecting a travel distance of the machine body. and an azimuth detecting means for detecting the orientation of the aircraft, and also stores a travel pattern for automatically causing the aircraft to travel to the next work process in a direction intersecting with the previous work process after the completion of one work process. The traveling pattern storage means is provided with a traveling pattern storage means for moving forward a set distance based on the information from the traveling distance detecting means after one stroke is completed, and then determining the next work stroke based on the information from the azimuth detecting means. The machine makes a primary turn at a set angle, then moves backward a set distance toward the location before the next work stroke based on the information from the travel distance detection means, and then moves backward a set distance to the location before the next work stroke based on the information from the direction detection means. A travel pattern for making a secondary turn at a set angle is stored, and the travel end detection means and the travel pattern storage means are respectively configured to automatically travel the aircraft along the travel pattern after the work stroke is completed. The present invention relates to a turn control device for a work vehicle, which is provided with a control means for automatically operating a steering device and a traveling transmission based on information on the vehicle.

[Conventional technology]

Such a turn control device for a work vehicle is used to turn the vehicle every time one stroke is completed. The vehicle automatically travels around the work area while repeating the turns, based on a pre-stored travel pattern.

By the way, the working site conditions differ depending on the working site. For example, when the above-mentioned working vehicle turns in a field with soft mud, the traveling device slips, and the position in the width direction of the machine after the turn is not appropriate for the work object. There were times when I deviated greatly from my position.

In other words, in a combine harvester as an example of a working vehicle, when the stroke end is detected by the stroke end detecting means, the combine harvester is driven a set distance and then turned at a set angle to turn the machine. The aircraft is stopped, then moved backward a set distance, turned in the direction of the next stroke, and then moved forward to start the next stroke. , the aircraft has drifted sideways due to slipping of the traveling gear, and if it is retreated the set distance in that state, the position of the aircraft after retreating will deviate greatly from the position of the aircraft without any drifting. If it is moved forward, the position of the machine body in the width direction relative to the work target for the next stroke will deviate greatly from the appropriate position.

Therefore, conventionally, for example, by correcting the retreat distance corresponding to the amount of deviation of the aircraft during a turn, the position of the aircraft in the width direction after the next turn is brought closer to the appropriate position. (Refer to Japanese Patent Application No. 59-253838.) [Problems to be Solved by the Invention] However, in the above conventional means, the steering device is not operated by overrunning when the aircraft stops traveling or by turning in the direction of the next stroke after the end of backward movement. Because slips, etc. of It was not possible to bring the position closer to the proper position.

Therefore, as shown in Figure 8B, if the machine after the turn is located far away from the work target, it will take a long time to get the machine to the proper position, resulting in a decrease in work efficiency. It was hot. Further, if the machine body after turning comes too close to the object to be worked on, the divider may push down the object to be worked on, resulting in the inconvenience of leaving uncut areas.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to bring the position in the width direction of the aircraft body closer to the appropriate position after a turn.

[Means for solving problems]

In order to achieve the above object, the turn control device for a work vehicle according to the present invention has the above-mentioned structure, and after the turn is completed, the position of the machine body in the width direction with respect to the work object of the next work stroke is determined. Information on the width direction position detection means with respect to the work object is provided so that the position of the machine body in the width direction with respect to the work object at the next turn position approaches the appropriate position. The present invention is characterized in that the vehicle is further provided with a driving pattern correcting means for automatically correcting the reverse distance, primary turning angle, or secondary turning angle in the stored driving pattern based on the stored driving pattern.

[Effect]

That is, when the steering device and the traveling transmission are operated by the control means into which information from the stroke end detection means and the travel pattern storage means is inputted to turn the aircraft, after the turn is completed, the work target for the next work stroke is determined. Based on the information of the width direction position detection means for the work object that detects the position of the machine body in the width direction relative to the work object, the position of the aircraft body in the width direction relative to the work object at the next turn position is brought closer to the appropriate position. Since the driving pattern correction means automatically corrects the reverse record, the primary turning angle, or the secondary turning angle in the stored driving pattern,
With a travel pattern stored in advance, even if there is a shift in the transition of the aircraft to the next stroke due to the travel ground conditions, for example, direction change control can be performed more accurately from the next time.

[Effects of the Invention] Therefore, by controlling the direction change based on the corrected travel pattern, the position in the width direction of the work object in the next work process can be brought as close to the appropriate position as possible. As a result, it is possible to avoid problems such as the occurrence of unfinished work when the machine body is deviated too much laterally with respect to the work target, thereby improving work efficiency at the work site.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 6, the planted stem culms of rice, wheat, etc. in the field to be worked on are raised and harvested, and the harvested stem culms are conveyed while changing their posture to a sideways posture and transferred to the feed chain 1. A pair of left and right crawler traveling devices 4 serve as steering devices to connect the reaping section 2 that delivers the rice and the threshing device 3 that threshes and sorts and collects the stem culms that are pinched and conveyed by the feed chain 1.
A self-propelled combine harvester as a reaping/harvesting machine is constructed by mounting it on a machine V equipped with a and 4b.

In addition, C in the figure is a hydraulic cylinder for raising and lowering the reaping section 2, and the reaping section 2 is operated in an elevated state during non-operation such as when driving on the road or when turning after each stroke. It is set as.

As shown in Fig. 2, there is a contact at the bottom of the reaping section 2 that outputs an ON/OFF signal by contacting the base of the stem culm (H) introduced into the reaping section 2 from the front. A stock sensor (S ₀ ) composed of a type switch is provided and is configured to detect whether or not reaping work is in progress.

The mounting frames 6, 6 of the right and left weeding tools 5a, 5b provided at the tip of the reaping section 2 are provided with attachment frames 6, 6, respectively, of the stem culms H that are biased toward the front side of the machine V and introduced into the reaping section 2. An arrogant sensor consisting of a sensor bar 7 that contacts the base of the stock and rotates toward the rear of the aircraft V by an angle corresponding to the contact position, and a potentiometer R that detects the rotation angle of the sensor bar 7. (S ₁ ) and (S ₂ ), and the arrogant sensor (S ₁ ) located on the right side is
A width direction position detecting means 105 with respect to the stem culm H is configured to detect the position of the body V in the width direction with respect to the stem culm (H) in the next working process. Incidentally, since the stem culm H planted in the field comes into contact with the sensor bar 7 intermittently, the output signal of the potentiometer R changes intermittently.
Therefore, in order to detect the lateral deviation amount B, signal processing such as averaging the output signal of the potentiometer (R) and detecting the maximum value per unit time is performed. .

Stroke end detection that detects that the aircraft has reached the end of the work stroke when the stock sensor (S ₀ ) turns OFF and the arrogance sensors (S ₁ ) and (S ₂ ) turn OFF. Means 102 is configured.

Further, an orientation sensor 8 is provided on the upper part of the aircraft V, which is an integral unit of a geomagnetic sensor that detects the absolute orientation by sensing changes in the geomagnetic field and a signal processing section that processes the detection signal. The direction of the image is detected.

As shown in FIG. 2, the output from the engine E is transferred to a hydraulic continuously variable transmission 9 as a traveling transmission.
A distance sensor 11 is provided to detect the traveling speed and distance by detecting the rotational speed of the input shaft 10a to the transmission section 10. .

The speed change device 9 is operated by a motor (not shown) during automatic travel or turn control, or by a speed change operation lever (not shown) during manual operation.

Further, steering clutch brakes 12L, 12R for intermittent power transmission from the transmission section 10 to the left and right crawler traveling devices 4a, 4b, hydraulic cylinders 13L, 13R for turning on and off the steering clutch brakes 12L, 12R, and An electromagnetic valve 14 is provided to operate the hydraulic cylinders 13L and 13R.

In the figure, reference numeral 15 is an electromagnetic valve for operating a hydraulic cylinder (C) for raising and lowering the reaping section 2.

To explain the determination of the detection results of the left and right sensors (S ₁ ) and (S ₂ ), as shown in FIG. 7, the deviation amount B is divided into three zones ( ),
It is divided into () and () for discrimination.
In other words, the state in which the sensor bar 7 is most returned to the front side of the body V and the state in which it is rotated backward by a predetermined angle is a state in which the body V is deviated in the direction away from the stem culm H. A dead zone () is defined as the shallow zone (), and a dead zone () along the stem culm H up to a state where it rotates further backward by a predetermined angle from this shallow zone (), and from this dead zone zone () Furthermore, the state in which it is rotated to the rear side is defined as a deep zone () in which it is in a state in which it is too far into the stem culm H.

Hereinafter, various control means for automatically running the machine while following the stem culm H will be explained.

When performing reaping work while manually maneuvering the outermost part of the reaping work range in advance, the direction sensor 8
The detected orientations of each of the four sides are stored in the control device I as the reference orientation for each side, and after the completion of one work process, the machine automatically travels to the next work process in the direction that intersects with that process. Traveling pattern storage means 103 for storing patterns
Information from is stored in the control device I.
(Hereinafter, the reaping work for memorizing the reference orientation will be referred to as outer circumferential teaching.) Then, in order to cause the machine to automatically travel along the travel pattern after the work stroke is completed, the travel end detection means 102 and Based on the respective information in the driving pattern storage means 103, the steering device 4
a, 4b and the traveling transmission 9 are automatically operated to turn the aircraft.

After the end of the turn, the stored travel pattern is determined based on the information of the width direction position detection means 105 with respect to the work object H, so that the position of the aircraft body in the width direction with respect to the work object H approaches the appropriate position. The driving pattern correcting means 104 is configured to automatically correct.

Next, the operation of the control device I will be explained as shown in FIGS. 3 and 5.
The explanation will be based on the flowchart shown in the figure.

As shown in Fig. 3, the operating state of the work mode selection switch (SW ₀ ), which sets whether to perform peripheral teaching or automatic travel, is determined, and if this switch (SW ₀ ) is in the ON state, When outer circumferential teaching is to be performed and the steering control start switch (SW ₁ ) is turned ON while the work mode selection switch (SW ₀ ) is OFF, the state of the stock sensor (S ₀ ) is determined. do.

When the machine is manually operated to start reaping work, the stock sensor (S ₀ ) is turned on and reaping control is started.

After that, one stroke of reaping work is completed and the stock sensor (S ₀ ) and the left and right arrogant sensors (S ₁ ) and (S ₂ ) are activated.
If it is in the OFF state, or the stock sensor (S ₀ )
is in the OFF state for a set time (0.2 seconds) or more, and if either of the two states is maintained for a set time (1.5 seconds) or more, turn control will be started.

The turn control will be explained below based on the flowchart of FIG.

When turn control is started, the reaping unit 2 is raised once, the distance sensor 11 starts measuring the travel distance (Lx), and the travel gear is changed until the travel distance (Lx) reaches the first set distance (La). While automatically operating the device 9 to increase speed or decelerate the actual traveling speed (Vx) to the primary turning start speed (Va),
After traveling the set distance (La), the left crawler traveling device 5a is stopped by the operation of the left clutch brake 12L, and the aircraft turns at a set angle (60°) in the direction of the next stroke, and after completing the first turn, the aircraft The vehicle decelerates until it stops, and measures the travel distance (Lb) until it stops. Then, after the set time (2.0 seconds) has elapsed, it starts reversing and starts measuring the distance traveled (Lx).
The traveling speed (Vx) is increased to the secondary turning start speed (Vb) until the vehicle reaches the second set distance (Lc), and when the vehicle travels the set distance (Lc), the right crawler device 4b is stopped. Then, turn the aircraft until it reaches the next stroke direction (β), and after completing the second turn,
Slow down and bring the aircraft to a stop. Then, the reaping section 2 _is lowered, starts moving forward, and speeds up, and the pushing amount ( DRI) sampling begins. The sampling is performed until the stock sensor (S ₀ ) turns ON, and it is checked whether the sum (DR) of the indentation amount (DRI) obtained by the sampling is the preset semi-optimal value (Dop). Judgment and summation (DR)
If is a sub-optimal value (Dop), the pre-stored running pattern is left as is without correction, and if the sum (DR) is not a sub-optimal value (Dop), it can be obtained by the following formula. The value is stored in the control device I as the backward distance (L _D ) of the second set distance (Lc) at the next time of direction change to the next stroke.

L _D = Ld + (Dop - DR) δ However, Ld is the currently stored retreat distance, δ
is a proportionality constant.

[Another example]

In the above embodiment, the stroke end is detected based on the detection signals of the stock sensor (S ₀ ) and the arrogant sensors (S ₁ ) and (S ₂ ). Detection may be performed based on the detection signal of only (S ₀ ) or the detection signal of only arrogant sensors (S ₁ ) and (S ₂ ).

Further, in the embodiment described above, the traveling pattern is corrected by changing the retreat distance (L _D ), but instead of this, it may also be corrected by changing the turning angle of the aircraft.

The turn control device of the present invention can be applied to various types of work vehicles, such as lawn mowing work vehicles.

[Brief explanation of the drawing]

The drawings show an embodiment of the turn control device for a working vehicle according to the present invention, FIG. 1 is a block diagram showing the overall configuration of the present invention, FIG. 2 is a block diagram of the control system, and FIG. 3 shows the control operation. FIG. 4 is a flowchart showing the operation of turn control, FIG. 5 is a flowchart showing turn control, FIG. 6 is an overall side view of the combine harvester, and FIG. 7 is an illustration of the arrogant sensor. FIGS. 8A and 8B are explanatory diagrams showing conventional examples of turn control operations. 4a, 4b...steering device, 9...travel transmission device, 101...control means, 102...stroke end detection means, 103...travel pattern storage means, 10
4... Running pattern correction means, 105... Width direction position detection means.

Claims (1)

[Claims] 1. Stroke end detection means 102 for detecting that the aircraft has reached the end of the work process, travel distance detection means 11 for detecting the distance traveled by the aircraft, and direction detection means 8 for detecting the orientation of the aircraft. In addition, a traveling pattern storage means 103 is provided for storing a traveling pattern for automatically causing the aircraft to travel to the next working stroke in a direction intersecting with that stroke after the completion of one working stroke. 103, after the completion of one stroke, the vehicle is moved forward by a set distance based on the information from the travel distance detecting means 11, and then, based on the information from the direction detecting means 8, the set angle is primarily rotated for the next work stroke;
Next, based on the information from the traveling distance detecting means 11, the vehicle is moved backward a set distance towards the front of the next work stroke, and furthermore, based on the information from the direction detecting means 8, a set angle is set so as to follow the next work stroke. A traveling pattern for making a secondary turn is stored, and in order to cause the aircraft to automatically travel along the traveling pattern after the work stroke is completed, information is stored in each of the stroke end detection means 102 and the traveling pattern storage means 103. This is a turn control device for a working vehicle, which is equipped with a control means 101 for automatically operating the steering devices 4a, 4b and the traveling transmission 9, and after the end of the turn, the turning control device for the work vehicle is configured to control the turning of the vehicle for the work target of the next work stroke. A width direction position detection means 105 is provided to detect the position in the width direction, and a width direction position detection means 105 is provided to detect the position in the width direction. A working vehicle is equipped with a traveling pattern correction means 104 that automatically corrects the backward movement distance, primary turning angle, or secondary turning angle in the stored traveling pattern based on information from the width direction position detection means 105. Turn control device.