JPH07108123B2 - Strike control system for agricultural machines - Google Patents
Strike control system for agricultural machinesInfo
- Publication number
- JPH07108123B2 JPH07108123B2 JP62192986A JP19298687A JPH07108123B2 JP H07108123 B2 JPH07108123 B2 JP H07108123B2 JP 62192986 A JP62192986 A JP 62192986A JP 19298687 A JP19298687 A JP 19298687A JP H07108123 B2 JPH07108123 B2 JP H07108123B2
- Authority
- JP
- Japan
- Prior art keywords
- area
- boundary
- strike control
- maximum value
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012937 correction Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 11
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000347881 Kadua laxiflora Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Description
【発明の詳細な説明】 産業上の利用分野 この発明は、農作業機等の走向制御方式に関するもの
で、農作業時において自動的に走向制御を行う際等に利
用できる。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a strike control system for agricultural work machines and the like, and can be used for automatically performing strike control during agricultural work.
従来の技術、および発明が解決しようとする問題点 農作業機等による作業時に未作業域と既作業域との境界
をイメージセンサによって検出を行い、この検出された
境界をイメージセンサの基準位置に合致させることによ
り、常にこの検出境界に沿った走向制御が行えるような
ものが既に一部において試みられているところである
が、このような走向制御において検出境界が基準位置か
らずれた場合、このずれた領域の画素数によって方向修
正出力のON時間を設定して方向を制御するようにしてい
るので、もし検出境界の蛇行が大きくこれによるずれの
画素数が大きいときは方向修正出力のON時間も大きくな
って、農作業機等の機体の左右方向への振れが大きくな
ってハンチングを起こす恐れがある。Conventional technology and problems to be solved by the invention When working with an agricultural work machine, etc., the boundary between the unworked area and the already worked area is detected by the image sensor, and the detected boundary is matched with the reference position of the image sensor. By doing so, some parts have already been attempted so that the strike control can always be carried out along this detection boundary.However, in such a strike control, when the detection boundary deviates from the reference position, this deviation occurs. The direction correction output ON time is set according to the number of pixels in the area to control the direction.Therefore, if the detection boundary meanders greatly and the number of deviation pixels is large, the direction correction output ON time also increases. As a result, the shunting of a machine such as an agricultural work machine in the left-right direction may become large and hunting may occur.
そこでこの発明は、このようなイメージセンサによる未
作業域と既作業域の境界検出による走向制御時に、この
検出境界の蛇行が大きい場合に起きる機体の左右方向へ
のハンチングの問題点を解消しようとするものである。Therefore, the present invention intends to solve the problem of hunting in the left-right direction of the airframe that occurs when the meandering of the detection boundary is large during the strike control by detecting the boundary between the unworked area and the already-worked area by the image sensor. To do.
問題点を解決するための手段 この発明は、イメージセンサ（１）による未作業域
（２）と既作業域（３）の境界（４）検出を行う走向制
御装置において、該イメージセンサ（１）の基準位置
（イ）からずれた画素数により方向修正出力のON時間を
設定するとき、このON時間の最大値（ロ）を決め前記の
ずれが最大値（ロ）を越えるときは総てこの最大値
（ロ）により方向修正出力させる農作業機等の走向制御
方式の構成とする。Means for Solving Problems The present invention relates to a strike control device for detecting a boundary (4) between an unworked area (2) and an already worked area (3) by an image sensor (1). When setting the ON time of the direction correction output by the number of pixels deviated from the reference position (b) of, determine the maximum value (b) of this on time, and if the deviation exceeds the maximum value (b) A strike control method is used for agricultural work machines that output a direction correction based on the maximum value (b).
発明の作用、および効果 農作業機等の機体の任意位置に設けたイメージセンサ
（１）によって未作業域（２）と既作業域（３）の境界
（４）の検出を行い、この検出信号を該機体の任意位置
に設けた走向制御装置に送って演算処理を行い、この演
算により該境界（４）と該イメージセンサ（１）の基準
位置（イ）とのずれの修正を必要とする領域内にある画
素数によって、該機体の方向修正出力のON時間を設定し
該境界（４）と該基準位置（イ）とを合致させる方向修
正を行い該境界（４）に対する走向制御を行うのである
が、この方向修正出力のON時間の設定の際に、予め該イ
メージセンサ（１）の検出領域より狭い範囲でずれの修
正領域の最大値（ロ）を設けて修正領域を制限すること
により、該境界（４）の蛇行が非常に大きく修正領域が
この最大値（ロ）を越えるような場合でも、方向修正出
力のON時間の設定をこの最大値（ロ）の範囲までで止め
ることができるので、該機体の左右方向への振れが大き
くなってハンチングを起こすような恐れもなく、該境界
（４）に対する的確かつ円滑な走向制御を行いうるもの
である。Action and effect of the invention The boundary (4) between the unworked area (2) and the already worked area (3) is detected by the image sensor (1) provided at an arbitrary position of the machine body such as an agricultural work machine, and this detection signal is detected. A region which needs to be corrected by correcting the deviation between the boundary (4) and the reference position (a) of the image sensor (1) by sending it to a strike control device provided at an arbitrary position of the machine body to perform a calculation process. Depending on the number of pixels inside, the ON time of the direction correction output of the aircraft is set, the direction correction is performed to match the boundary (4) with the reference position (a), and the strike control for the boundary (4) is performed. However, at the time of setting the ON time of the direction correction output, by setting the maximum value (b) of the deviation correction area in advance in a range narrower than the detection area of the image sensor (1), the correction area is limited. , The meandering of the boundary (4) is very large Even if exceeds the maximum value (b), the ON time setting of the direction correction output can be stopped within the range of this maximum value (b), so the shake of the aircraft in the left-right direction becomes large. Accurate and smooth strike control can be performed on the boundary (4) without fear of hunting.
実施例 なお図例において、農作業機等コンバインの機体（５）
下端部の左右側に刈取土壌面を走行する一対のクローラ
を配置した走行装置（６）と、この走行装置（６）の上
方側に刈取られた穀稈を脱穀する脱穀装置（７）と、こ
の脱穀装置（７）の該機体（５）の進行方向前方側に立
毛穀稈を刈取って該脱穀装置（７）まで移送する刈取装
置（８）と、また該脱穀装置（７）の前側部にて平面視
右端側に該機体（５）の操作を行う操作装置（９）と操
作席（10）とを各々設ける。また該操作装置（９）の任
意位置に立毛穀稈の未刈取領域と既刈取領域つまり未作
業域（２）と既作業域（３）との境界（４）を検出する
イメージセンサ（１）を該機体（５）の進行方向に向け
て設け、このセンサ（１）と接続して該センサ（１）か
らの検出信号によって該機体（５）の進行方向を修正制
御するための演算処理を行う走向制御装置（11）を該操
作装置（９）に内装して設ける。またこの制御装置（1
1）には中央に中枢的演算処理を行うCPU（12）を配し、
このCPU（12）から該センサ（１）を作用させる駆動回
路（13）を経て該センサ（１）に接続し、該センサ
（１）と該センサ（１）の検出信号を受けて増幅する増
幅回路（14）とを接続し、該増幅回路（14）とこの増幅
された信号の積分値を求める積分回路（15）とを接続
し、この積分回路（15）の積分値をA/D変換させるA/D変
換回路（16）を経て該CPU（12）へ接続する。また同じ
く該増幅回路（14）からこの増幅された信号を２値化す
る比較回路（17）へ接続し、この比較回路（17）から該
CPU（12）へ接続する。また該CPU（12）からD/A変換回
路（18）を経て比較のための基準電圧を発生する基準電
圧回路（19）へ接続し、この電圧回路（19）と該比較回
路（17）とを接続する。また該CPU（12）から操作回路
（20）を経て該機体（５）を左右方向に舵取する電磁バ
ルブ（21）へ接続する。Example In the example shown in the figure, the machine body of a combine such as an agricultural machine (5)
A traveling device (6) in which a pair of crawlers that travel on the cutting soil surface are arranged on the left and right sides of the lower end, and a threshing device (7) above the traveling device (6) for threshing cut culms. A reaping device (8) for cutting a napped culm forward to the forward direction of the machine body (5) of the threshing device (7) and transferring it to the threshing device (7), and also in front of the threshing device (7) An operation device (9) for operating the machine body (5) and an operation seat (10) are provided on the right end side in plan view of each section. An image sensor (1) for detecting an uncut area and a cut area of the raised culm, that is, a boundary (4) between the unworked area (2) and the worked area (3) at an arbitrary position of the operating device (9). Is provided so as to face the traveling direction of the machine body (5), and arithmetic processing for connecting to the sensor (1) and correcting and controlling the traveling direction of the machine body (5) by a detection signal from the sensor (1) is performed. The running control device (11) is provided inside the operating device (9). This control device (1
The CPU (12) that performs central processing is arranged in the center of 1),
Amplification which is connected to the sensor (1) from the CPU (12) via a drive circuit (13) for operating the sensor (1), and which receives and amplifies the detection signal of the sensor (1) and the sensor (1) A circuit (14) is connected, the amplification circuit (14) is connected to an integration circuit (15) for obtaining an integrated value of the amplified signal, and the integrated value of the integration circuit (15) is A / D converted. It is connected to the CPU (12) via the A / D conversion circuit (16). Similarly, the amplifier circuit (14) is connected to a comparison circuit (17) for binarizing the amplified signal, and the comparison circuit (17) outputs the converted signal.
Connect to CPU (12). Further, the CPU (12) is connected to a reference voltage circuit (19) for generating a reference voltage for comparison via a D / A conversion circuit (18), and the voltage circuit (19) and the comparison circuit (17) are connected to each other. Connect. Further, the CPU (12) is connected to an electromagnetic valve (21) for steering the machine body (5) in the left-right direction via an operation circuit (20).
コンバイン作業において、刈取装置（８）を刈取土壌面
に摺接させて操作装置（９）に設けたイメージセンサ
（１）を走向制御装置（11）の駆動回路（13）によって
駆動して、立毛穀稈列の未作業域（２）と既作業域
（３）との境界（４）をその明暗によって検出しながら
刈取を行うのであるが、この刈取に際して該センサ
（１）の検出信号を走向制御装置（11）に送り、この制
御装置（11）の増幅回路（14）によって増幅された信号
を二つに分岐させて、その一方側の信号を積分回路（1
5）によって積分を行いこの積分された信号をA/D変換を
行ってCPU（12）に送込み、もう一方側の信号を比較回
路（17）へ送りこの比較回路（17）において、該CPU（1
2）からD/A変換を行い基準電圧回路（19）によって発生
させた基準電圧との比較によって、該センサ（１）の検
出信号による該境界（４）の明暗を２値化しこの２値化
信号（ハ）を該CPU（12）に送込む。また該CPU（12）に
送込まれたこれらの各信号の演算処理によって、該境界
（４）を検出した２値化信号（ハ）と該センサ（１）の
基準位置（イ）とがずれた領域の画素数（ニ）を算出
し、この算出値により方向修正出力のON時間を設定し、
該CPU（12）からこのON時間により操作回路（20）へ出
力信号を送りこの操作回路（20）によって電磁バルブ
（21）を作用させて、該境界（４）と該基準位置（イ）
とを合致させるべく該機体（５）の左右方向の修正によ
る方向制御を行う。なおこの方向修正時に該制御装置
（11）に、予め該センサ（１）の検出領域の全画素数
（ホ）より狭い範囲でずれに対する修正領域の画素数
（ヘ）の最大値（ロ）を設けて修正領域を制限すること
により、該境界（４）の蛇行が非常に大きく修正領域が
この最大値（ロ）を越えるような場合でも、方向修正出
力のON時間の設定をこの最大値（ロ）の範囲に止めるこ
とができるので、該機体（５）の左右方向への大きな振
れによるハンチングを防止することができる。In combine operation, the reaping device (8) is brought into sliding contact with the surface of the reaping soil, and the image sensor (1) provided in the operating device (9) is driven by the drive circuit (13) of the strike control device (11) to raise the pilo The boundary (4) between the unworked area (2) and the already-worked area (3) of the grain culm is cut while detecting the light and darkness. At the time of this cutting, the detection signal of the sensor (1) is driven. The signal amplified by the amplifier circuit (14) of the controller (11) is branched into two, and the signal on one side of the signal is sent to the integrator circuit (1).
5) Integrates, A / D-converts the integrated signal and sends it to the CPU (12), and sends the signal on the other side to the comparison circuit (17) where the CPU (1
By performing D / A conversion from 2) and comparing with a reference voltage generated by a reference voltage circuit (19), the brightness of the boundary (4) by the detection signal of the sensor (1) is binarized and this binarization is performed. The signal (C) is sent to the CPU (12). Further, by the arithmetic processing of each of these signals sent to the CPU (12), the binarized signal (c) that has detected the boundary (4) and the reference position (a) of the sensor (1) are deviated. Calculate the number of pixels in the area (d), set the ON time of the direction correction output by this calculated value,
An output signal is sent from the CPU (12) to the operation circuit (20) according to the ON time, and the electromagnetic valve (21) is operated by the operation circuit (20) to make the boundary (4) and the reference position (a).
The direction control is performed by correcting the lateral direction of the machine body (5) so that At the time of this direction correction, the controller (11) is set in advance with the maximum value (b) of the number of pixels (f) in the correction area with respect to the deviation within a range narrower than the total number of pixels (e) in the detection area of the sensor (1). Even if the meandering of the boundary (4) is so large that the correction area exceeds this maximum value (b) by limiting the correction area by providing the correction area, the ON time of the direction correction output is set to this maximum value ( Since it can be stopped within the range of (2), it is possible to prevent hunting due to a large lateral swing of the machine body (5).
図はこの発明の実施例を示すもので、第１図は側面図、
第２図は一部の斜面図、第３図は作用図、第４図は電気
回路のブロック図である。 図中、符号（１）はイメージセンサ、（２）は未作業
域、（３）は既作業域、（４）は境界を示す。FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view,
FIG. 2 is a partial perspective view, FIG. 3 is an operation diagram, and FIG. 4 is a block diagram of an electric circuit. In the figure, reference numeral (1) indicates an image sensor, (2) indicates an unworked area, (3) indicates an already worked area, and (4) indicates a boundary.
Claims (1)
（２）と既作業域（３）の境界（４）検出を行う走向制
御装置において、該イメージセンサ（１）の基準位置
（イ）からずれた画素数により方向修正出力のON時間を
設定するとき、このON時間の最大値（ロ）を決め前記の
ずれが最大値（ロ）を越えるときは総てこの最大値
（ロ）により方向修正出力させる農作業機等の走向制御
方式。1. A strike control device for detecting a boundary (4) between an unworked area (2) and an already-worked area (3) by an image sensor (1), from a reference position (a) of the image sensor (1). When setting the ON time of the direction correction output by the number of shifted pixels, determine the maximum value (B) of this ON time, and when the above deviation exceeds the maximum value (B), the direction is always determined by this maximum value (B). A strike control method for agricultural work machines, etc. that outputs corrections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62192986A JPH07108123B2 (en) | 1987-07-31 | 1987-07-31 | Strike control system for agricultural machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62192986A JPH07108123B2 (en) | 1987-07-31 | 1987-07-31 | Strike control system for agricultural machines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6437208A JPS6437208A (en) | 1989-02-07 |
| JPH07108123B2 true JPH07108123B2 (en) | 1995-11-22 |
Family
ID=16300330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62192986A Expired - Fee Related JPH07108123B2 (en) | 1987-07-31 | 1987-07-31 | Strike control system for agricultural machines |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07108123B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4709672B2 (en) * | 2006-03-22 | 2011-06-22 | 株式会社メッツ | Electrocardiograph electrode |
-
1987
- 1987-07-31 JP JP62192986A patent/JPH07108123B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6437208A (en) | 1989-02-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |