JPH0787809A - Steering controller of moving agricultural machine - Google Patents

Abstract

PURPOSE:To carry out automatic steering control of a moving agricultural machine such as a speed sprayer in high efficiency. CONSTITUTION:Induction sensors (22a) and (22b) for detecting a magnetic field from an induction cable arranged along a traveling passage and calculating deflection from a target of a machine body and the rate of change of the deflection and an angular velocity sensor (57) for detecting an angular velocity in lateral movement of a machine body are equipped in a fuzzy inference steering control means (47) for operating a steering control amount and carrying out steering control of a machine body by a fuzzy rule steering to the left wen the machine body is deflected to the right and the rate of change of the deflection is turned to the right or the rate of change is zero and not steering when the rate of change of the deflection is turned to the left or angular velocity is turned to the left and a fuzzy rule steering to the right when the machine body is deflected to the left and the rate of change of the deflection is turned to the left or the rate of change is zero and not steering when the rate of change of the deflection is turned to the right or the angular velocity is turned to the right.

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]

SUMMARY OF THE INVENTION Therefore, according to the present invention, there is provided an induction sensor for detecting a magnetic field from an induction cable arranged along a traveling path to calculate a deviation of a body from a target and a change rate of the deviation. It is equipped with an angular velocity sensor that detects the angular velocity when the aircraft moves to the left and right, and when the aircraft is displaced to the right and the rate of change of the deviation is to the right or there is no rate of change, steer to the left to determine whether the rate of change of the deviation is to the left or the angular rate. Fuzzy rule that the steering is not performed when the vehicle is facing left, and the aircraft is displaced to the left.When the rate of change of the displacement is left or there is no rate of change, the vehicle is steered to the right, and when the rate of change of the deviation is to the right or the angular velocity is to the right, no steering The target steering angle is determined by fuzzy inference based on the minimum required number of eight rules, which is provided in the fuzzy inference steering control means that calculates the steering control amount by the fuzzy rule do it By controlling the steering so that the steering angles are equal, it is possible to work by appropriately following the aircraft without hunting on the induction cable, especially by detecting the orientation of the aircraft faster than the angular velocity. In addition to suppressing the meandering amount in the straight part to be small, the inward cut at the trailing end part is also suppressed to be small so that the aircraft can travel properly along the traveling path and sprayed. The accuracy can be improved.

[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 a speed sprayer, FIG. 3 is a plan view of the same, and FIG. 4 is a perspective explanatory view of a driving operation unit. In the figure, (1) is a speed sprayer which is a mobile agricultural machine. Yes, an engine (3) provided in the front bonnet (2), a driving operation unit (6) provided at the substantially left center of the airframe and having a driver's seat (4) and a steering handle (5), and at the rear of the airframe. A spray nozzle (7) and a blower fan (8) that are provided to spray the chemical liquid, and front left and right wheels (9)
It is provided with (9) and rear wheels (10) and (10), and is configured to spray the chemical liquid to the surroundings while traveling.

As shown in FIG. 5, the driving force from the engine (3) is transmitted to the front and rear wheels (9) and (10) through the mission (11) and the drive shaft (12) to drive them. , Steering handle (5) or electromagnetic solenoid (1
(3) A steering electromagnetic valve (14) that is switched by a steering wheel, and steering cylinders (15) (16) that steer the front wheels (9) and the rear wheels (10). The hydraulic pump (3) interlocks with the engine (3). Each cylinder (15) (16) is hydraulically connected to 17) via the valve (14). A potentiometer-type steering angle sensor (17) for detecting the steering angle of the front and rear wheels (9, 10) is provided.

As shown in FIG. 6, the spray nozzle (7) is also provided.
Is the left and right and center 3 in the semi-arc shaped spray frame (18).
The left nozzle (7a)
The right and left and central chemical liquid valves (19) (20) (21) for adjusting the amount of spraying of each of the right nozzle (7b) and the central nozzle (7c) to increase or decrease or stopping, 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.

As shown in FIG. 7, a pair of left and right induction sensors (22a) and (22b), which are magnetic sensors, are provided on the left and right sides of the front end of the speed sprayer (1), and an induction cable (23) is laid in the orchard. ) Is detected, the sensor base (27) is fixed to the sensor mounting frame (25) which is erected upright on the front end of the machine body (24) through the vertical adjustment bolts (26) so that the vertical mounting position can be adjusted. , The sensors (22a) and (22b) are fixed to the sensor base (27) through the tilt adjusting bolts (28) so that the mounting posture can be adjusted, and the guide cables (23) laid on the road surface can be used as the center of the left and right sides. The sensor (22a) (22
When a magnetic field is generated in the cable (23) by applying an alternating current from a power source (29) connected to the cable (23) with the detection surface of b) facing, the left and right sensors measure the strength of this magnetic field. (22a) and (22b) are used for detection.

Further, a replenishment pump (31) for replenishing water is provided in the left side of the bonnet (2) in the chemical liquid tank (30) arranged on the left and the rear of the operation control section (6), The replenishment hose (31a) of the pump (31) is faced to the left side of the machine body to perform the replenishment work on the left side of the machine body. Two pump switches (32a) (32b) for turning the pump (31) on and off, It is installed on the left panel (33) on the left side of the driver's seat (4) and on the left side surface of the hood (2) so as to facilitate refueling work and improve safety.

Further, a branch / leaf sensor (34) for detecting the branches and leaves of fruit trees during traveling work to judge the spraying timing is provided at a position in front of the spray nozzle (7) and the blower fan (8). It is installed on the vehicle body cover (35) on the left side of the driver's seat (4) on the vehicle body cover (35) on the left side of the driver's seat (4) for remote control for automatic driving. An antenna (37a) for receiving a command signal to the receiver (37), a monitor lamp (38) for confirming the reception monitor state of the receiver (37), and a branch and leaf sensor (34) are attached as a three-piece integrated structure. The length of protrusion from the machine is suppressed, and maintenance is facilitated.

The branch-and-leaf sensor (34) is provided at a position behind or to the front of the left side position of the driver's seat (4) during manned driving with an operator on board.

Furthermore, alarm lamps (39a) (39b) for notifying an abnormal work state during work are provided in the driver's seat (4).
The front driving panel surface (40) and the hood (2)
It is installed on the right side of the vehicle and when the driver operates the cover (6) with the driver's seat cover, the warning lamp (3
9b) makes it possible to easily confirm the condition even with the driver's seat cover put on and improve the safety.

As shown in FIG. 8, the alarm lamp (39
a) A total stop switch (41) for stopping the drive of the engine (3) during abnormal work such as lighting of (39b),
It is installed near the alarm lamp (39b) on the right side of the bonnet (2), and is a fuel supply valve operated by the timer (43), relay (44) and switch (45) when the key switch (42) is turned on. Supply solenoid (46)
Is connected to a full stop switch (41) to release the excitation of the solenoid (46) at the time of operating the full stop switch (41) so that an abnormality due to a runaway of a controller (47) which is a fuzzy inference steering control means is detected. It is configured to be canceled from the outside of the aircraft.

As shown in FIG. 1, the steering electromagnetic valve (14) and the electromagnetic valve (48) of the electric clutch control electric cylinder for turning on and off the traveling clutch and simultaneously turning the traveling brake on and off. An engine stop motor (49) for stopping the fuel supplied to the engine (3), a power sprayer electromagnetic clutch (50) for turning on and off the drive of a chemical liquid and water pump, and the chemical liquid valve (19) A controller (47) which is a fuzzy inference steering control means including valve motors (51), (52) and (53) for controlling the opening and closing of each of (20) and (21) and configured by a micro computer for driving and controlling these. ), And the inductive sensor (22a) (2
2b), a steering angle sensor (17), and an ultrasonic obstacle sensor (54) provided at the front of the fuselage to detect an obstacle ahead.
A touch sensor (55) provided on the front of the machine body to detect contact with an obstacle, a drug residual quantity sensor (56) to detect the chemical solution residual quantity of the chemical solution tank (30), and a lateral movement of the machine body. An angular velocity sensor (57) for detecting an angular velocity is input and connected to the controller (47) so as to carry out steering following the cable (23) by the guidance of the guidance cable (23).

Further, the operation device (36) includes a traveling start and traveling stop switch, a spray changeover switch for turning on and off the electromagnetic clutch (50) for the power sprayer, and the valve motors (51) (52). A radio controlled radio receiver (37) which is provided with various valve opening / closing switches for driving and controlling the chemical liquid valves (19), (20) and (21) by driving (53) and which is connected to the controller (47). (36) is communicatively connected via the transmitting / receiving antennas (36a) and (37a) so that bidirectional communication is possible.

The present embodiment is constructed as described above, and the induction sensors (22a) (22b) for this automatic traveling are used.
FIG. 9 shows an output example of the above.

By the way, the induction sensors (22a) (2
The output value (Vd) of 2b) is the differential output value (Va-Vb) (Vd = Va-Vb) of the output value (Va) of the left sensor (22a) and the output value (Vb) of the right sensor (22b). Therefore, the relationship as shown in FIG. 10 is obtained with respect to the lateral displacement amount X of the machine body from the result of the experiment.

As shown in FIG. 11, the output value (V
When d) is input, the lateral shift (Vx) with respect to the steering reference, and the aircraft direction (ΔVx), which is the rate of change of this deviation (Vx), are calculated, and the deviation (Vx) and the aircraft direction are calculated. The steering amount (ΔVs) is calculated by fuzzy inference from (ΔVx) and the angular velocity (ω), and the steering control is performed. Now, the cable guidance sensor (22a) (2a) (2)
2b) output is Vd, moving average value of Vd is Vdm, Vd
When the offset amount of m toward the airframe center is Voff, the rate of change of Vd is ΔVd, the actual steering angle is Vsr, the steering amount that is a control amount is ΔVs, and the target steering angle is Vsg, the deviation from the target of the airframe ( Vx) is Vx = Vd− (Vdm + Voff) The direction (rate of change of deviation) (ΔVx) of the body is ΔVx = ΔVd, and six fuzzy rules based on Vx and ΔVx from the following rules 1 to 6 and angular velocity (ω) ) Is used to perform fuzzy inference using fuzzy rules based on Vx and ω of rules 7 and 8.

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. Rule 7 If the vehicle is off to the right and the angular velocity is to the left, do not steer. Rule 8 If the vehicle is shifted to the left and the angular velocity is to the right, do not steer.

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 induction sensor output value when the center of the machine body and the induction cable (23) 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 machine weight changes depending on the amount of the liquid chemical in the tank (30), and moreover, the uniform liquid spraying is required. It is optimally used for a speed sprayer (1) under various conditions.

Particularly in this case, the direction of the airframe is detected earlier than the angular velocity (ω), the amount of meandering at the straight line portion is reduced, and the inward cut at the turning end portion is suppressed to be small, thereby enabling the automatic traveling speed range. Can be expanded to improve workability.

FIG. 12 shows the induction sensors (22a) (22)
The sensor base (27) of b) is attached to the sensor mounting frame (2
5) The motor (58) is fixed to the rotary screw shaft (59) of the motor (58) via a connector (60), and the motor (58) adjusts the vertical mounting position of the sensors (22a) (22b). It is configured as follows.

[0025]

As is apparent from the above embodiments, the present invention detects the magnetic field from the induction cable (23) arranged along the traveling path to detect the deviation (Vx) and deviation of the airframe from the target. Induction sensor (22) for calculating the rate of change (ΔVx)
a) (22b) and an angular velocity sensor (57) that detects the angular velocity (ω) when the aircraft is moving left and right, and the aircraft is displaced to the right, and when the rate of change of the deviation is to the right or there is no rate of change, it is left. Steering to the left and the change rate of deviation to the left or the angular velocity to the left is a non-steering fuzzy rule, and if the aircraft has shifted to the left and the change rate of deviation is to the left or no change rate, steer to the right and shift It is provided in the fuzzy inference steering control means (47) for controlling the steering of the airframe by calculating the steering control amount by the fuzzy rule that the steering is not steered when the rate of change is rightward or the angular velocity is rightward. Fuzzy inference is performed by the minimum required eight rule numbers to determine a target steering angle (Vsg), and steering control is performed so that the actual steering angle (Vsr) becomes equal, and hunting is performed on the induction cable (23). To generate This makes it possible to perform work properly following the aircraft, and in particular it detects the orientation of the aircraft faster than the angular velocity (ω) to suppress the meandering amount in the straight part to a small amount, and at the end of the circulation. It is possible to suppress the inward incision to be small, to allow the vehicle to properly travel along the traveling path, and to improve the spraying accuracy, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is a control circuit diagram.

FIG. 2 is an overall side view.

FIG. 3 is an overall plan view.

FIG. 4 is a perspective explanatory view of a driving operation unit.

FIG. 5 is an overall plan view.

FIG. 6 is a rear explanatory view of the chemical liquid spraying section.

FIG. 7 is an explanatory view of mounting the inductive sensor.

FIG. 8 is an electric circuit diagram.

FIG. 9 is an explanatory diagram showing an output example of the inductive sensor.

FIG. 10 is an output explanatory diagram of the inductive sensor.

FIG. 11 is a flowchart.

FIG. 12 is another mounting explanatory view of the inductive sensor.

[Explanation of symbols]

 (22a) (22b) Induction sensor (23) Induction cable (47) Control circuit (control means) (57) Angular velocity sensor (Vx) Deviation (ΔVx) direction (change rate of deviation) (ω) Angular speed

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B62D 1/28 9142-3D

Claims (1)

[Claims] 1. An induction sensor for detecting a magnetic field from an induction cable arranged along a traveling path to calculate a deviation of a body from a target and a rate of change of the deviation, and an angular velocity when the body moves left and right. A fuzzy rule that is equipped with an angular velocity sensor and steers to the left when the airframe shifts to the right and the change rate of the shift is to the right or no change rate, and to steer to the left when the change rate of the shift is to the left or the angular velocity is to the left. And the aircraft is shifted to the left and the change rate of the shift is left or there is no change rate, steer to the right, and when the change rate of the shift is to the right or the angular velocity is to the right, no steering is performed. A steering control device for a mobile agricultural machine, which is provided in fuzzy inference steering control means for calculating a control amount to control steering of a machine.