JPH06266433A - Running controller of working vehicle - Google Patents

Abstract

PURPOSE:To provide the running controller which executes automatic steering control, while detecting attitude change of a running machine body with high accuracy, and can maintain the attitude of the machine body in its target attitude. CONSTITUTION:The running controller is constituted so that a deviation from a running target attitude of a running machine body is detected by a piezoelectric element type gyro sensor 17 for executing a detecting operation at the time when change acceleration is higher than a set value, and an optical fiber type gyro sensor 18 for executing the detecting operation at the time when the change acceleration is lower than the set value, and a steering cylinder 10 is formed so as to execute automatic control in accordance with a result of detection by each sensor 17, 18 so that the running machine body runs along the target direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises an azimuth detecting means for detecting a deviation of a traveling machine body from a traveling target attitude, and the azimuth detecting means, when the traveling attitude of the traveling machine body is displaced from the target attitude, An automatic steering control means for automatically controlling the steering mechanism so that the traveling machine body travels along the target direction based on the detection information of the azimuth detecting means is configured to detect the displacement acceleration to detect the posture displacement. The present invention relates to a traveling control device for a work vehicle provided.

[0002]

2. Description of the Related Art Conventionally, in a traveling control device for a work vehicle, as described in, for example, Japanese Unexamined Patent Publication No. 2-110603, the absolute direction of a traveling machine body is detected by using geomagnetism to travel in a target direction. There has been one configured to detect the posture deviation of the machine body and automatically control the steering mechanism.

[0003]

When the above-mentioned azimuth sensor utilizing geomagnetism is used, an accurate azimuth can be detected if the geomagnetism can be detected with high accuracy, but the geomagnetism is weak, so that it is generated from the electric motor. There is a drawback that it is easily affected by an external noise source such as a magnetic field line or a magnetic field line generated from an engine generator, which makes it difficult to always detect an accurate direction. Therefore, as a method of eliminating such a defect, the displacement from the target posture of the machine body due to work traveling is grasped as a mechanical displacement, and the displacement acceleration is based on a displacement sensor such as a gyro sensor using a piezoelectric element, for example. A configuration has been considered in which the displacement of the traveling body from the target posture is calculated from the detected displacement acceleration. However, in the above-mentioned improved structure, although it is possible to capture a relatively quick attitude change of the aircraft accompanying work traveling, when the aircraft traveling direction slowly deviates from the target line as the vehicle travels a long straight distance. , It is difficult to accurately grasp the attitude change, and the aircraft may be displaced left and right from the target arrival point, and there is still room for improvement. An object of the present invention is to provide a traveling control device for a work vehicle, which is capable of maintaining the posture of the traveling machine body at the target posture as much as possible even if the traveling distance is long, by a reasonable improvement.

[0004]

According to a characteristic configuration of the present invention, in the traveling control device for a work vehicle described at the beginning, the first detection for detecting the azimuth detecting means when the displacement acceleration is larger than a set value. The automatic steering control means controls the steering mechanism in accordance with the detection result of each of the detection sensors, and a second detection sensor that operates when the displacement acceleration is smaller than a set value. The point is that it is configured as follows.

[0005]

When the traveling body starts to displace from the target posture due to the unevenness of the ground as the traveling body travels, the displacement acceleration is relatively large. For example, the posture of the body begins to displace. A first detection sensor such as a piezoelectric gyro sensor that can accurately detect a transient displacement detects a displacement acceleration and corrects and controls the steering mechanism based on the detection result. Despite the steering control based on the detection result of the first detection sensor, the ground may be slightly tilted to the left or right, or the initial setting of the steering mechanism may be slightly displaced from the target posture. The displacement acceleration is small when the aircraft slowly displaces from the target posture. In such a case, for example, an optical fiber gyro sensor that can accurately detect even a very slow displacement. The second acceleration sensor detects the displacement acceleration and corrects and controls the steering mechanism based on the detection result.

[0006]

Therefore, by detecting the displacement acceleration of the attitude displacement of the traveling machine body, it is possible to detect the attitude of the machine body in a state in which it is less likely to be affected by external noise than when detecting the direction of the machine body based on the geomagnetism. In addition, by reasonably using two types of detection sensors having different detection characteristics, the state corresponding to the local posture displacement within a short traveling distance of the traveling body and the state during traveling a long distance can be achieved. Provided is a traveling control device capable of performing steering control appropriately corresponding to each of the states corresponding to a gradual posture displacement and allowing the posture of the traveling body to travel along the target posture as much as possible. I was able to do it.

[0007]

Embodiments will be described below with reference to the drawings. Figure 1
Fig. 1 shows a passenger type rice transplanter which is an example of a work vehicle. This rice transplanter is configured by connecting a seedling planting device 3 to a riding type traveling machine body 1 via a link mechanism 2, and the traveling machine body 1 includes right and left front wheels 4 which are steerable and swingable and a non-steering type machine. The left and right rear wheels 5 and the power of the engine 6 mounted on the front of the fuselage are transmitted to the front and rear wheels 4 and 5 through the mission case 7, and through the planting clutch 9 which can be turned on and off by the planting clutch lever 8. The transmission system is configured so as to be transmitted to the seedling planting device 3.

A steering cylinder 10 (an example of a steering mechanism) for steering and driving the left and right front wheels 4 and 4 is provided. The steering cylinder 10 is operated by manually operating a steering handle 11 provided in a body control section. It is configured so that it can be set to either a manual operation state in which the steering operation is performed so as to correspond to the amount, or an automatic operation state in which the aircraft is automatically steered to steer in the target direction. More specifically, as shown in FIG. 2, the electromagnetic control valve 12 for the steering cylinder 10 is provided with a control device 13 including a microcomputer [an example of automatic steering control means].
The control switch 13 is connected to the control device 13 while the control switch 13 is configured to control the switching by means of.

When the changeover switch 14 is switched to the manual steering mode, the control device 13 operates the steering operation direction and operation based on the detection value of the potentiometer type steering amount detection sensor 15 which detects the rotation operation amount of the steering wheel 11. The steering cylinder 10 is drive-controlled while the actual operation amount is fed back by the stroke sensor 16 so as to correspond to the amount. And the traveling body 1
When the changeover switch 14 is switched to the automatic control mode in a state in which the position is adjusted to the target posture for planting work, the machine is controlled so as to be automatically operated in the straight traveling state even if the steering handle 11 is released. That is,
When the traveling machine body 1 is displaced from the target posture [straight running posture], the traveling machine body 1 is provided with the azimuth detecting means A for detecting the displacement acceleration by detecting the displacement acceleration, and based on the detection information of the azimuth detecting means A. The control device 13 is configured to automatically correct and control the steering cylinder 10 so that the vehicle travels in the target direction. The azimuth detecting means A is composed of a piezoelectric gyro sensor 17 [an example of a first detecting sensor] and an optical fiber gyro sensor 18 [an example of a second detecting sensor]. The piezoelectric gyro sensor 17 is
As shown in FIG. 1, the weight W rotatably supported around the vertical axis Y with respect to the machine body is urged to return to the neutral rotation posture by the spring 19, and the weight W with respect to the left-right rotation direction. When a pair of piezoelectric elements 20, 20 for detecting the pressure caused by the relative rotation are fixedly provided on the machine body side, and the weight W is changed from the stationary reference position to the traveling attitude of the machine body, Then, the pressure displacement corresponding to the displacement acceleration is detected by the piezoelectric elements 20 and 20, and the amount of angular displacement can be calculated by the control device 13 from the detection information of the displacement angular acceleration. Further, the optical fiber type gyro sensor 18 emits light in a clockwise direction and a counterclockwise direction from both terminals via a half mirror 23 from a light emitting element 22 such as a laser diode in an optical fiber 21 wound in a loop. The light receiving element 24 is configured to transmit and detect the respective transmitted light, and the displacement acceleration due to the attitude change of the body can be obtained from the frequency difference of the light in the clockwise direction and the counterclockwise direction. From the detection information of the displacement angular acceleration, the control device 13
The amount of angular displacement can be calculated by.
The piezoelectric gyro sensor 17 has the following detection principle.
The optical fiber gyro sensor 1 has a characteristic that it can accurately detect a transitional displacement where the body attitude starts to be displaced.
No. 8 has a characteristic that it is possible to accurately detect even a very slow displacement. The planted clutch lever 8
Is provided with a clutch switch 25 for detecting that the clutch switch 25 has been operated to the clutch engaged position. This switch 25 is connected to the control device 13, and when the clutch switch 25 reaches the detection state, it travels straight in the body posture at that time. Initially set as the target reference posture for use. That is, when the operator manually sets the aircraft in the standby position for planting in the field, switches the changeover switch 14 to the automatic control mode, and then operates the planting clutch lever 8 to the clutch-engaged position, the current position is set. With the body posture as the target posture, the automatic steering control is executed thereafter. Then, when the planting clutch lever 8 is turned off to approach the edge, the target reference data is cleared and the
When the planting clutch lever 8 is turned on and operated in a state where the machine body is aligned, the target posture is initialized, and thereafter, such operation is repeated. Then, in the automatic steering control mode, when the attitude displacement acceleration of the body detected by the azimuth detecting means A is larger than a set value, that is,
When the attitude of the machine body changes quickly within a short time due to unevenness in the field, etc., the steering cylinder 10 is set based on the detection result of the piezoelectric gyro sensor 17 so that the machine body is maintained in the set target attitude. Automatically control. And
When the attitude displacement acceleration of the airframe detected by the azimuth detecting means A is smaller than a set value, that is, when the running attitude slowly deviates from the target attitude during a long running distance, the optical fiber gyro. Based on the detection result of the sensor 18, the steering cylinder 10 is automatically controlled so that the machine body is maintained in the set target posture.
In this way, by setting the automatic control mode, the pilot can remove the hands from the steering handle 11 while running the aircraft and perform, for example, seedling replenishment work, etc., and the aircraft will always be in the target posture. It will be maintained and the planting line will be kept as straight as possible.

[Other Embodiments] As in the above embodiment, instead of setting the reference target posture for each turning of the ridge, after initial setting at the start of planting work in the field, first straight traveling The detection result of the azimuth detecting means A is stored, and the on / off state of the planted clutch lever 8 is detected every time the ridge turns,
According to the detection result, the stored data is switched between a state in which the stored data is read according to the stored order and a state in which the stored data is read in a direction opposite to the stored order, and automatic steering control is performed based on the stored data and the azimuth change data when the aircraft turns. You may. With this configuration, it is possible to reduce the setting error of the reference posture that tends to occur when the initial setting is performed for each ridge turn, and to perform the straight ahead control with higher accuracy. Further, as the steering mechanism, an electric motor or the like may be used instead of the steering cylinder.

It should be noted that reference numerals are added to the claims to facilitate the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Side view of rice transplanter

FIG. 2 is a control block diagram.

[Explanation of symbols]

 1 traveling machine body 10 steering mechanism 13 automatic steering control means 17 first detection sensor 18 second detection sensor A azimuth detection means

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Claims (1)

[Claims] 1. A azimuth detecting means (A) for detecting a deviation of a traveling machine body (1) from a traveling target posture, wherein the azimuth detecting means (A) is such that the traveling posture of the traveling machine body (1) is the target. When the vehicle is displaced from the posture, the displacement acceleration is detected to detect the posture displacement, and the traveling machine body (1) travels along the target direction based on the detection information of the azimuth detecting means (A). A traveling control device for a work vehicle, comprising: an automatic steering control means (13) for automatically controlling a steering mechanism (10), wherein the azimuth detection means (A).
A first detection sensor (17) that detects and operates when the displacement acceleration is larger than a set value, and a second detection sensor (1) that detects and operates when the displacement acceleration is smaller than the set value.
8) and the automatic steering control means (13) is configured to control the steering mechanism (10) in accordance with the detection results of the detection sensors (17), (18). Work vehicle travel control device.