JPH062485Y2 - Detection sensor structure in a field work machine - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a detection sensor structure in a field working machine for detecting an already-worked locus such as a row of planted seedlings or a tillage mark.

[Problems to be Solved by Prior Art and Invention] Generally, in this kind of field working machine, for example, when this is a rice transplanter, detection sensor mechanisms for detecting an already planted seedling row are provided on both left and right sides, and the detection sensor mechanism is provided. There is a configuration in which planting work can be performed in accordance with the existing seedling row based on the detection of the already seeded row. However, conventionally, when the left and right detection sensor mechanisms are configured by arranging the same number of sensors side by side in the left and right direction, the detection signals from each of these sensors are individually input to the control unit. Therefore, in the control unit, a large number of input ports corresponding to the number of sensors are used, and as a result, the number of input ports for inputting other information is reduced, which makes it impossible to perform more advanced control operation. It is not allowed, and the input interface from the sensor to the input port, the multiplexer for inputting several inputs to one port in order, and other members are required only for the input, and the number of parts is large and the structure is complicated. It has a drawback that it becomes a problem.

[Means for Solving the Problem] The present invention was conceived with the object of providing an input structure of a detection sensor in a field working machine capable of eliminating these drawbacks in view of the above circumstances. In the field work in which the detection sensor mechanisms for detecting the already-worked loci are arranged on the left and right sides of the machine body, the respective detection sensor mechanisms are configured by arranging the same number of sensors in parallel in the left-right direction. When connecting the circuit to input the detection signal from the mechanism to the control unit, among the sensors of the left and right detection sensor mechanism, the sensors of the same position counting from one side in the left and right direction are joined in the OR circuit,
The detection signal from the OR circuit is input to the control unit.

According to this configuration, the present invention provides a detection sensor mechanism in which a plurality of sensors arranged in parallel on the left and right are used to detect an already-worked locus, but the control unit controls the number of input ports from each sensor. It is possible to reduce to half.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, 1 is a traveling machine body of a riding type rice transplanter, and a planting section 2 is provided behind the traveling machine body 1 via a three-point link mechanism 3.
Is provided so that it can move up and down. In this three-point link mechanism 3, the hydraulic cylinder 4 is interposed between the left and right lower links 3a, 3a in an inclined manner, and each of the links 3a, 3a,
3b is swingable to the left and right by vertical axes 3c and 3d on the front and rear sides, respectively.
By the expansion and contraction operation of, the planting part 2 can be moved in parallel in the left-right direction.

The planting section 2 is provided with seedling detection sensor mechanisms 5L and 5R for detecting the already planted seedling row A on both left and right sides. That is, the seedling detection sensor mechanisms 5L and 5R are attached to the brackets 6 provided on the left and right sides of the planting section 2, respectively. In this seedling detection sensor mechanism 5L, 5R, a non-contact type sensor composed of a light emitting / receiving element is provided on a comb-shaped member 5a, which are arranged in parallel in the left-right direction at a predetermined detection interval. However, if it is assumed that the sensor groups of the left and right seedling detection sensor mechanisms 5L, 5R are in the left-right direction, that is, S ₁ , S ₂ , and S ₃ from the right side in this embodiment, these sensor groups are used. In the sensor groups S ₁ , S ₂ , S ₃ , the light from the light emitting element on one side is projected toward the adjacent light receiving element, and this projection is blocked by the seedlings already planted. The existing seedling row A is detected in.

Next, a control procedure of the working unit 2 based on the detection of these seedling detection sensor mechanisms 5L and 5R will be described. Where 6
As will be described later, is a control unit constituted by using a microcomputer, and 7 is an electromagnetic valve for expanding and contracting the hydraulic cylinder 4, and is constituted by an expansion side solenoid 7a and a contraction side solenoid 7b. And
Detection signals from the seedling detection sensor mechanisms 5L and 5R are input to the control unit 6, and a control command is issued to the electromagnetic valve 7 based on the determination result based on the input signal. That is, seedling detection sensor mechanism 5L, 5R is sequentially S _1, S _2, S ₃ from the right side of the sensor others either as described above, these respective corresponding seedling detection sensor mechanism 5L, 5R right Sensor S ₁ , S ₁ comrades, S ₂ , S _{2 at} the same position counting from
Combining with each other, S ₃ and S ₃ comrades
e) is used for connection, and this is input to the corresponding input ports 1, 2, 3 of the control unit 6 via the monostable multivibrator 8. When the detection signal from either the left or right seedling detection sensor 5L, 5R is S ₂ at the center, it is determined that the planting part 2 is located at an appropriate position with respect to the already planted seedling row A, and therefore the electromagnetic field The valve 7 is configured so that all solenoids are turned off, but if the detection result is S ₁ on the right side, it is determined that the working unit 2 is on the left side. The extension side solenoid 7a is controlled to be ON, and the contraction side solenoid 7b is turned OFF, whereby the hydraulic cylinder 4 is extended and the working unit 2 is displaced to the right, while the detection result is S ₃ on the left side. If it is, on the contrary, the expansion side solenoid 7a is OFF and the reduction side solenoid 7b is ON.
As a result, the hydraulic cylinder 4 contracts and displaces the planting part 2 to the left side. In this way, the lateral displacement control of the planting part 2 is automatically performed, and the automatic planting in line with the planted seedling row A is performed. The operation of planting seedlings is now possible. In addition, the left and right automatic displacement of the planting section 2 is caused by the seedling detection sensor mechanism 5L, 5R.
It is also possible to use an automatic steering mechanism that is configured to automatically steer the steered wheels based on the detection result by the. Reference numeral 9 denotes a lateral shift angle detection sensor of the planting section 2.

In the embodiment of the present invention configured as described above, the seedling planting operation is performed by detecting the seedling row A already planted by the seedling detection sensor mechanism 5L, 5R on either side, which is located on the side of the already planted seedling row A, as described above. Based on the result, the expansion and contraction operation of the hydraulic cylinder 4 is performed, whereby the relative position of the planting section 2 from the already-planted seedling row A becomes substantially constant, and the seedling planting work following the already-planted seedling row A can be performed. Will be.

In this way, it is possible to perform orderly planting work by detecting the seedling row A that has been planted by the seedling detection sensor mechanisms 5L and 5R, but in the embodiment of the present invention, the left and right seedling detection sensor mechanisms 5L and 5R are respectively Although it consists of three sensor groups, and therefore there are six right and left sensors, the detection signals of these sensor groups are from the same position when counted from the right, that is, on the left side, the center side, and the right side. Are merged by the respective OR circuits, and then input to the control unit 6 via the multivibrator 8. Therefore, the control unit 6 allocates half the number of input ports to the total number of sensors. Good. For this reason, the control unit 6 can secure a large number of remaining input ports, can input a large amount of other information signals, and can perform more advanced control. The cost can be greatly reduced, and the cost can be reduced while simplifying the structure. Moreover, in this case, since the sensors at the same position merge from the right end, no matter which one merges, the control is performed under exactly the same conditions, and there is no bearing. Is.

Of course, the present invention is not limited to the above embodiment, but the number of sensor groups of one seedling detection sensor mechanism is not limited to three, and can be increased or decreased as necessary.
Further, the type of sensor may be a contact type. Furthermore, it can be carried out, for example, on an agricultural tractor instead of the rice transplanter, but in this case, the already-worked locus is the tilling locus, and the boundary between the tilling locus and the uncultivated land is detected. It is needless to say that the present invention can be implemented even in this case by using the automatic steering control of the machine body in order to perform the copying work on the already completed work locus.

[Advantages] In short, since the present invention is configured as described above, a detection sensor mechanism including a plurality of sensors arranged side by side in the left-right direction can detect an already-worked locus. Regardless, the left and right detection sensor mechanisms are designed so that the detection signals from the sensors of the same position from one of the left and right directions are merged by the OR circuit and then input to the control unit. Therefore, in the control unit, The number of input ports that receive signals from the detection sensor mechanism will be halved compared to the case where input ports are prepared for all conventional sensors. Therefore, the control unit uses as many remaining input ports as possible. Not only is it possible to secure the necessary information input ports, but it is also possible to eliminate the need for input interface, multiplexers, and other members, and to reduce the number of parts and structure. Can be simplified.

Moreover, even though the signal from the sensor is merged in the OR circuit, the ones merged in the OR circuit are sensors located at the same position counting from one of the left and right directions, so that either the right or the left is detected. Even if the detection signal from the sensor mechanism is received, the same control can be performed without any change in the control procedure, and it can be discriminated whether the signal is from the left or right detection sensor mechanism. Is unnecessary, and the control procedure can be unified, so that simple and excellent detection control can be performed.

[Brief description of drawings]

The drawings show an embodiment of a detection sensor structure in a field working machine according to the present invention. FIG. 1 is a plan view showing a part of a rice transplanter, and FIG. 2 is a schematic view showing a control mechanism. It is a block wiring diagram. In the figure, 5L and 5R are detection sensor mechanisms, 6 is a control unit,
S ₁ , S ₂ , and S ₃ are sensors, and A is a seedling row that has already been planted.

Claims (1)

[Scope of utility model registration request] 1. A field work machine comprising a detection sensor mechanism for detecting an already-worked locus on the left and right sides of the machine body, wherein each detection sensor mechanism is formed by arranging the same number of sensors in parallel in the left-right direction. , When connecting the circuit to input the detection signals from these detection sensor mechanisms to the control unit,
Among the sensors of the left and right detection sensor mechanism, the sensors of the same position counting from one side in the left and right direction are merged in the respective OR circuits, and the detection signal from the OR circuit is input to the control unit. The detection sensor structure in the characteristic field work machine.