JPH0630604A - Device for controlling steering of movable agricultural machine - Google Patents

Abstract

PURPOSE:To highly efficiently perform the good automatic steering control of a movable agricultural machine such as a speed sprayer. CONSTITUTION:The steering control device provided with guide sensors (25a) and (25b) used for detecting a magnetic field generated from a guiding cable (26) arranged along a traveling route and disposed on a movable agricultural machine (1), and with a fuzzy inference control means (35) for inputting the deviation (Vx) of the machine frame from the guiding cable and the direction (DELTAVx) of the machine frame, the deviation and the direction being detected with the guide sensors (25a), (25b), is characterized by disposing in the fuzzy inference control means (35) a fuzzy treating means for computing the quantity of the control with a fuzzy rule for steering the frame in the left direction when the frame is deviated in the right direction and directed in the right direction or in the straight traveling direction and for not steering the frame when the frame is direction in the felt direction, and further with a fuzzy rule for steering the frame in the right direction when the frame is deviated in the left direction and directed in the right directied or in the straight traveling state and for not setting the frame when the frame is directed in the right direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control device for a mobile agricultural machine such as a speed sprayer used for spraying chemicals in an orchard for cultivating apples, grapes, pears and the like.

[0002]

2. Description of the Related Art As a steering control device of this type, for example, a magnetic field from an induction wire laid in a field scene described in Japanese Patent Laid-Open No. 62-196709 is detected to control the airframe along the wire. There is a means to do so.

[0003]

However, when steering control is performed by detecting such a magnetic field, the strength of the magnetic field is proportional to the changed distance, and the traveling position is greatly displaced even with a small adjustment. Then, there is a problem that proper control cannot be performed due to hunting or delay in control.

[0004]

Therefore, according to the present invention, a mobile agricultural machine is provided with an induction sensor for detecting a magnetic field from an induction cable arranged along a traveling path, and a target of a machine body detected by the induction sensor. In the steering control device equipped with fuzzy inference control means for controlling the steering of the aircraft by inputting the deviation of the aircraft and the direction of the aircraft, the aircraft is shifted to the right Steer,
By the fuzzy rule that the steering is not steered when facing to the left, and the steering is to the right when the aircraft is displaced to the left and is facing left or in a straight state, and is not steering when facing the right. The fuzzy processing means for calculating the control amount is provided in the fuzzy inference control means, and the deviation from the target of the machine body and the direction of the machine body are calculated based on the detection of the induction sensor, and the fuzzy according to the minimum required six rule numbers. The target steering angle is determined by inference and steering control is performed so that the actual steering angle becomes equal, and it is possible to properly follow the guidance cable without causing hunting etc. In an orchard with many undulations and slopes,
In addition, it is optimally used for steering control of a speed sprayer in which the machine weight changes depending on the amount of chemical liquid in the tank and uniform spraying of the chemical liquid is also required.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a control circuit diagram, FIG. 2 is an overall side view of the speed sprayer, and FIG. 3 is a plan view of the speed sprayer. In FIG. 1, (1) is a speed sprayer that is a mobile agricultural machine, and before a steering handle (2) is provided. Part bonnet (3) and cab (4)
A driver's seat (5) installed in the vehicle and a tank (6) for containing chemicals
A spray nozzle (7) and a blower fan (8) for spraying the chemical liquid, and left and right front wheels (9) (9) and rear wheels (10)
(10) is provided, and the chemical liquid is sprayed to the surroundings while traveling.

Further, the steering wheel (2) is provided with an engine (11) and a mission (12) for driving the front wheels (9) and the rear wheels (10) via drive shafts (13) (14) respectively. Alternatively, a steering solenoid valve (16) that is switched by an electromagnetic solenoid (15) and steering cylinders (17) (18) that steer the front wheels (9) and rear wheels (10).
And a hydraulic pump (1
9) via the valve (16) to each cylinder (17)
(18) is hydraulically connected. And front and rear wheels (9) (1
A potentiometer type steering angle sensor (20) for detecting the steering angle 0) is provided.

As shown in FIG. 4, the spray nozzle (7) is also provided.
Is a semi-circular spray frame (21) with 3 on the left and right and in the center.
The left nozzle (7a)
The left and right and central chemical liquid valves (22) (23) (24) for adjusting the amount of spraying of each of the right nozzle (7b) and the central nozzle (7c) to increase / decrease or to stop are provided, and the nozzles (7a) (7b) are connected from the chemical liquid pump. ) (7c) is configured to increase / decrease the amount of the chemical liquid fed.

Further, a pair of left and right induction sensors (25a) and (25b), which are magnetic sensors, are provided on the left and right sides below the front end of the speed sprayer (1) to detect the induction cable (26) laid in the orchard. The machine stand (1
The left and right sensors (2
5a) and (25b) are attached to the guide cable (26) laid on the road surface so that the detection surfaces face the left and right sides at the same distance, and the power source (2) is connected to the cable (26).
8) When an alternating current is applied from the cable (26)
When a magnetic field is generated, the strength of the magnetic field is detected by the left and right sensors (25a) and (25b).

Also, as shown in FIG. 1, an electromagnetic valve (29) of a traveling clutch control electric cylinder for turning on / off the steering electromagnetic valve (16) and the traveling clutch and simultaneously turning the traveling brake on / off. An engine stop motor (30) for stopping the fuel supplied to the engine (11), a power sprayer electromagnetic clutch (31) for turning on and off the drive of a chemical liquid and water pump, and the chemical liquid valve (22) ( A control circuit (35), which is a fuzzy inference control means including a valve motor (32), (33), and (34) for controlling opening and closing of each of 23) and (24), and configured to drive and control them. The inductive sensor (25a) (25b)
A steering angle sensor (20), an ultrasonic obstacle sensor (36) for detecting an obstacle ahead, and a medicine remaining amount sensor (37) for detecting the remaining amount of the liquid medicine in the liquid medicine tank (6). It is configured to be connected to the control circuit (35) for input and to perform the steering following the cable (26) by the induction of the induction cable (26).

Further, it is provided with a radio-controlled remote controller (38) for remotely controlling the speed sprayer (1), and the traveling start and traveling stop switches (39) (40) are provided.
And a spray switch (41) for turning on and off the electromagnetic clutch (31) for the power sprayer, and drive control of the valve motors (32) (33) (34) to control the chemical liquid valves (22) (23). ) (24) for opening and closing each valve opening / closing switch (42) (43) (44) is provided in the operating device (38), and the sprayer is operated except when the remote operation switch (45) and the cable (26) are automatically operated. A radio controlled radio in which the remote control lever (46) for performing the remote control of (1), a monitor (47) for displaying a work state, etc. are provided in the operation device (38) and are input and connected to the control circuit (35). The operating device (38) is attached to the receiver (48) and the transmitting and receiving antenna (49
a) Communication connection is established via (49b) so that bidirectional communication is possible.

The present embodiment is configured as described above. For example, the maximum automatic traveling speed is 0.75 m / sec, the minimum automatic turning radius (cable laying radius) is 2000 mm, and the maximum automatic traveling inclination angle is the inclination angle of the traveling route. 5 ° Adaptability of cable laying height Underground ...... 0-3
00mm When installed in the air ... 1600mm to 1700mm Distance between adjacent cables 4000mm or more Induction route extension distance Approx. 150m (1.25
sq. AVS line) Straight line cable followability Steering control is performed to follow the guide cable (26) under the condition that the lateral displacement is within 50 mm, and the guide sensor (25a) during automatic traveling is used.
An output example of (25b) is shown in FIG.

By the way, the induction sensors (25a) (2
The output value (Vd) of 5b) is the differential output value (Va-Vb) (Vd = Va-Vb) of the output value (Va) of the left sensor (25a) and the output value (Vb) of the right sensor. Then, the relationship as shown in FIG. 6 is obtained with respect to the lateral displacement amount X of the machine body from the result of the experiment.

As shown in FIG. 7, the output value (V
When d) is input, the steering amount (ΔV) is obtained by fuzzy inference from the lateral shift (Vx) with respect to the steering reference and the direction (ΔVx) of the airframe that is the rate of change of this shift (Vx).
s) is calculated and the steering control is performed. Now, the output of the cable guidance sensor is Vd, and the moving average value of Vd is Vd.
The offset amount of dm and Vdm toward the center of the machine is Vof
When the rate of change of f and Vd is ΔVd, the actual steering angle is Vsr, the steering amount which is the control amount is ΔVs, and the target steering angle is Vsg, the deviation (Vx) from the target of the aircraft is Vx = Vd− ( Vdm + Voff) Fuzzy inference is performed using the following six fuzzy rules, where the direction of the body (ΔVx) is ΔVx = ΔVd.

Rule 1 If the vehicle is deviated to the right and turned to the right, steer to the left. Rule 2 If it is off to the right and straight,
Steer to the left. Rule 3 If it's shifted to the right and it's facing to the left,
Do not steer. Rule 4 If it is offset to the left and faces to the right,
Do not steer. Rule 5 If it is off to the left and straight,
Steer to the right. Rule 6 If it is shifted to the left and is facing the left,
Steer to the right.

When the steering amount (ΔVs) is calculated by synthesizing the output fuzzy sets obtained from the respective rules,
From the steering amount (ΔVs), the target steering angle (Vsg) (Vsg
= Vsr + ΔVs) is calculated, and the actual steering angle (Vsr)
The steering control is performed so that is equal to the target steering angle (Vsg).

In this case, Vx = Vd-Vdo Vdo Vx = Vd- (Vdm +) instead of the output value of the induction sensor when the center of the machine body and the induction cable (26) match.
Voff) is because I wanted to reduce the number of rules while maintaining the resolution of fuzzy inference.

Thus, this automatic steering control is used in an orchard with a lot of ups and downs and sloping land, and the weight of the machine changes depending on the amount of the chemical liquid in the tank (6), and the uniform dispersion of the chemical liquid is required. The conditions are optimally used for the speed sprayer (1) that changes variously.

[0018]

As is apparent from the above-described embodiments, the present invention provides the moving agricultural machine (1) with the induction sensors (25a) (25b) for detecting the magnetic field from the induction cable (26) arranged along the traveling path. ) And the inductive sensor (25
a) Steering control provided with fuzzy inference control means (35) for inputting a deviation (Vx) from the target and a direction (ΔVx) of the airframe detected by (25b) In the device, the aircraft is shifted to the right, and when it is facing right or is in a straight state, it steers to the left and when it is facing to the left, it does not steer, and when the aircraft is offset to the left, it turns to the left. The fuzzy inference control means (35) is provided with a fuzzy processing means for calculating a control amount according to a fuzzy rule that steers to the right when the vehicle is traveling or is in a straight traveling state and does not steer when facing the right. Therefore, by inputting the deviation (Vx) from the target of the airframe and the direction (ΔVx) of the airframe based on the detection of the induction sensors (25a) (25b), the fuzzy inference is performed by the minimum required six rule numbers. A steering operation is performed so that the target steering angle (Vsg) is determined and the actual steering angle (Vsr) is equalized, and the work is performed by appropriately following the airframe without causing hunting in the guide cable (26). In an orchard with a lot of undulations and slopes, the weight of the aircraft changes drastically depending on the amount of chemical liquid in the tank.
In addition, a remarkable effect can be obtained such that it can be optimally used for the steering control of the speed sprayer (1) which requires uniform spraying of the chemical liquid.

[Brief description of drawings]

FIG. 1 is a control circuit diagram.

FIG. 2 is an overall side view.

FIG. 3 is an explanatory plan view of the whole.

FIG. 4 is a rear explanatory view of the chemical liquid spraying section.

FIG. 5 is an explanatory diagram showing an output example of an induction sensor.

FIG. 6 is an output explanatory diagram of the inductive sensor.

FIG. 7 is a flowchart.

[Explanation of symbols]

 (1) Speed sprayer (mobile agricultural machine) (25a) (25b) Inductive sensor (26) Inductive cable (35) Control circuit (control means) (Vx) Deviation (ΔVx) direction

Claims (1)

[Claims] 1. A mobile agricultural machine is equipped with an induction sensor for detecting a magnetic field from an induction cable arranged along a traveling path, and the deviation of the machine body from the target and the direction of the machine body detected by the induction sensor are input. In a steering control device equipped with fuzzy inference control means for controlling the steering of the airframe, when the airframe is displaced to the right and is facing the right or is in a straight state, steering to the left and turning to the left The control amount is calculated by the fuzzy rule that the steering is not operated and the fuzzy rule that the vehicle is deviated to the left and steers to the right when the vehicle is facing left or straight and when the vehicle is facing the right it is not steering. A steering control device for a mobile agricultural machine, characterized in that the fuzzy processing means is provided in the fuzzy inference control means.