JPH07123807A - Steering controller for rice transplanter - Google Patents

Abstract

PURPOSE:To enable transplanting operations by properly controlling the machine body steering in no need of a line marker. CONSTITUTION:The transplanter is provided with a direction sensor 46 detecting the transplanting direction and an angular velocity sensor 47 detecting the change rate in the body-moving direction and is steered based on the detections of the direction sensor 46 and the angular velocity sensor 47.

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 rice transplanter, which is equipped with a seedling table and a planting claw to continuously perform seedling work.

[0002]

2. Description of the Related Art In rice planting work by a rice transplanter, a line is drawn on the rice field by a line drawing marker for the next run.
When running in the next stroke, the steering control of the aircraft is performed with this line as the target.

[0003]

However, in the case of using such a marker, since the line cannot be seen at a deep water depth (even if the front side marker moves in accordance with the adjacent planting line), the operator As a result of the work relying on the intuition, there was a problem that the worker was tired, the line was not in time, or the planting seedlings were bent.

[0004]

Therefore, the present invention comprises an azimuth sensor for detecting the planting direction of a rice transplanter and an angular velocity sensor for detecting the changing speed in the moving direction of the rice planter. By controlling the steering of this machine based on the detection, it is possible to run the rice transplanter exactly along the target planting route without the influence of the depth of water without the need for setting the muscle pulling marker. Therefore, it is possible to perform rice planting work with excellent planting accuracy by constantly maintaining stable and stable row spaces and planted seedlings without relying on human power.

[0005]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a control circuit diagram, FIG. 2 is a side view of a passenger rice transplanter,
FIG. 3 is a plan view of the same. In FIG. 3, (1) is a traveling vehicle that is a rice transplanter on which an operator rides. The engine (2) is mounted on the vehicle body frame (3), and the front of the mission case (4). The front wheel (6) for traveling paddy fields through the front axle case (5) and the rear wheels (8) for traveling paddy field through the rear axle case (7) at the rear of the mission case (4). . On both sides of the bonnet (9) covering the engine (2), etc., a spare seedling stand (1
0) is mounted, the mission case (4) and the like are covered by a vehicle body cover (12) on which an operator rides through step (11), and a driver's seat (13) is attached to the upper portion of the vehicle body cover (12), A steering handle (14) is provided at the rear of the hood (9) in front of the driver's seat (13).

Further, (15) in the figure is a planting section equipped with a seedling table (16) for planting 6 rows, a plurality of planting claws (17), etc. A rotary case (21) for supporting the seedling stand (16) on the planting case (20) via the lower rail (18) and the guide rail (19) so as to be slidable left and right, and rotating at a constant speed in one direction.
The planting case (20) to support the case (2
The planting claws (17) and (17) are attached to the tips of the pair of claw cases (22) and (22) which are arranged symmetrically with respect to the axis of rotation of 1).

Further, a support frame (2) is provided on the front side of the planting case (20) via a rolling fulcrum shaft (23).
4) is provided, and the support frame (24) is connected to the rear side of the traveling vehicle (1) through the elevating link mechanism (27) including the top link (25) and the lower link (26), and the link mechanism (27) is provided. An elevating cylinder (28) for elevating the planting part (15) via a lower link (26) is connected to the lower link (26) to drive and move the front and rear wheels (6) and (8), and at the same time reciprocally slide left and right. The seedlings for one strain are taken out from the seedling mounting table (16) to be picked up by the planting claws (17), and the seedlings are continuously planted.

Further, in the figure, (29) is a main transmission lever, and (3
(0) is a sub-shift lever for planting up / down and work traveling gear shifting, (3
1) is a planting sensitivity adjusting lever, (32) is a main clutch pedal, (33) and (33) are left and right brake pedals, and (3)
4) is a center float for leveling two lines, (35) is a side float for leveling two lines, and (36) is a side fertilizer applicator.

Further, as shown in FIGS. 4 to 5, the engine (2) is mounted on the pair of left and right body frames (3) and (3), and the steering shaft (3) of the steering handle (14) is mounted.
7) is erected on the upper surface of the deceleration case (38), the rear side of the vehicle body frame (3) is fixed to the front side of the deceleration case (38), and is provided on the lower surface of the steering case (39) below the deceleration case (38). L-shaped steering arm (4
0) is connected to the knuckle arm (41) of the front wheel (6) via the steering rod (42), while the hydraulic steering cylinder (43) is connected to the L-shaped other end of the steering arm (40). It is configured to control the steering of the airframe by connecting to the.

As shown in FIG. 1, an automatic switch (44) for automatically controlling the rice transplanter and the auxiliary shift lever (3).
0) A planting switch (45) for detecting the on / off state of a planting clutch (not shown) in the mission case (4) by operation
And a magnetic bearing sensor (4) for detecting the bearing of the traveling vehicle (1).
6), a gyro (47) that is an angular velocity sensor that detects the moving change speed of the traveling vehicle (1) in the left-right direction, a vehicle speed sensor (48) that detects the traveling speed of the traveling vehicle (1), and the front wheels (6 ) Steering sensor (4
9) is connected to the steering control controller (50) and the left and right steering solenoids (5) of the electromagnetic hydraulic switching valve that expands and contracts the steering cylinder (43).
1) (52) and a panel display device (5) for displaying the course correction direction of the traveling vehicle (1) on the operation panel surface (53a) with an arrow.
The controller (50) is connected to the output of the vehicle (3), and the traveling vehicle (1) based on the detection of the direction sensor (46) and the gyro (47).
It is configured so that the traveling direction correction direction of the traveling vehicle (1) can be displayed and the traveling vehicle (1) can travel along a predetermined planting direction depending on the left and right angular velocities.

This embodiment is constructed as described above, and its operation will be described below with reference to the flow chart of FIG.

When the automatic switch (44) is turned on, the outputs from the direction sensor (46) and the gyro (47) are input to the controller (50), the planting clutch is turned on,
As shown in FIG. 6, when the planting work of the first stroke (L1) is performed on one side of the field and the planting work of the first stroke (L1) is completed and the planting clutch is disengaged, the first stroke (L1) The average value (α0) of the azimuths of the traveling vehicle (1) sequentially read by the azimuth sensor (46) during the eye work is calculated, and the average value (α0) of the azimuths is used as the target planting value for the next stroke and thereafter. The direction (α) is stored and set in the controller (50). That is, the first stroke (L1) is not controlled because the azimuth average value that is the reference value of the azimuth sensor (46) is calculated.

When the traveling vehicle (1) turns 180 degrees at the end of the movement of the first stroke (L1) to reverse the posture of the machine body, the target planting direction (α) of the second stroke (L2) is 180 degrees opposite to the azimuth average value (α0) (α = α0-1
Set to 80) and turn on the planting clutch again 2
During the planting work of the stroke (L2), a deviation (α2 = α-α1 ≠) is generated between the azimuth (α1) detected by the azimuth sensor (46) during the work and the target azimuth (α). 0) occurs (the angular velocity (ω) also fluctuates), this deviation (α2)
Correction value (α3 = −α2) in the direction for correcting the straight line correction and returning to the direction straight (ω = 0) with respect to the fluctuation output (+ ω, −ω) of the angular velocity detected by the gyro (47). The value (ω1 = −ω, + ω) is calculated, and only when the correction directions of the correction values (α3) and (ω1) are the same direction, the display of the correction direction corresponding to the correction value (α3) is displayed on the panel surface ( 53a), and the solenoids (51) and (52) are excited to control the steering of the traveling vehicle (1) so as to correct the azimuth corresponding to the correction value (α3). ) When the correction direction of (ω1) is the reverse direction, steering control is not performed.

During such planting work (during the same stroke), even if the planting clutch is once disengaged and then re-entered, it is regarded as a temporary stop and the steering control is continued, and the work is stopped at the seedling joint or headland. When the gyro (angular velocity sensor) (4
7) Drift correction is performed, and it becomes 0 due to the influence of ambient temperature.
Correct the fluctuation of the points.

Also, after the second stroke (L2), each stroke (L2)
Each time the aircraft attitude is reversed by 180 degrees at the end of the movement (~ Ln), the target planting direction (α4) is set to be 180 degrees opposite to the previous stroke target planting direction (α) (α4 = α ± 180). Then, the steering control along the target planting direction (α4) is performed.

The target value (α4) at the end of each stroke is set to 1
When setting the 80-degree reverse direction, the 180-degree reverse direction of the azimuth average value (α0) detected during each stroke may be used as the update value. Further, with respect to the azimuth (α) and the angular velocity (ω) detected by the azimuth sensor (46) and the gyro (47), the fuzzy means is used to output the correction direction and the correction speed of the traveling vehicle (1) to steer the vehicle. It may be configured to perform control.

[0017]

As is apparent from the above embodiments, the present invention is a direction sensor (46) for detecting the planting direction of a rice transplanter.
And an angular velocity sensor (47) for detecting the changing speed of the moving direction of the present machine (1), and steering control of the present machine (1) based on the detections of the direction sensor (46) and the angular velocity sensor (47). Therefore, it is possible to make the rice transplanter run exactly along the target planting route without being affected by the depth of water without installing the muscle pulling marker. , It is possible to perform rice planting work with excellent planting accuracy by always maintaining stable and stable row spaces and planted seedlings without relying on human power.

[Brief description of drawings]

FIG. 1 is a steering control circuit diagram.

FIG. 2 is an overall side view of a rice transplanter.

FIG. 3 is an overall plan view of a rice transplanter.

FIG. 4 is a side view of the traveling vehicle.

FIG. 5 is a plan view of the traveling vehicle.

FIG. 6 is an explanatory diagram showing a traveling state.

FIG. 7 is a flowchart.

[Explanation of symbols]

 (1) Traveling vehicle (this machine) (46) Direction sensor (47) Gyro (angular velocity sensor)

Claims (1)

[Claims] 1. A direction sensor for detecting a planting direction of a rice transplanter, and an angular velocity sensor for detecting a changing speed of a moving direction of the machine, and the steering of the machine based on the detection of the direction sensor and the angular velocity sensor. A steering control device for a rice transplanter, which is configured to perform control.