JPH10108509A - Traveling controller and traveling method for automatic traveling type farm vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically travel and to perform the respective kinds of operations while detecting a magnetic field generated from the same guiding cable laid on a field. SOLUTION: A pair of magnetic field detectors 6 equipped in a farm vehicle are made offsettable from the width direction center position of a car body to the left and right, the offset position is offset to a position set beforehand or for a set amount and movement and adjustment from the position to the left and right is made possible. The magnetic field detectors 6 are arranged for plural pieces with appropriate intervals in left and right directions and they are switched and used. A traveling auxiliary device for displaying the deviation of the left and right center of the magnetic detector 6 and the position of the guiding cable 2 is provided and the magnetic field detectors 6 are attached to both front and back positions of the car body. The guiding cable 2 is laid along an operation route for performing the operation of a widest operation width among the respective kinds of the operations such as cultivation grading, soil pudding, basal fertilizer application, rice transplanting, seeding, weed control, additional manure, disease and pest control and harvesting, etc., the actual operation widths of the respective kinds of the operations are turned to a value smaller than 1/1, 1/2, 1/3, 1/4 or l of the laying interval of the guiding cable 2 and the automatic traveling is made possible only by the same laid guiding cable 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling type in which an induction cable is laid in a field, and various operations are performed by automatically traveling while detecting a magnetic field generated by applying a current to the induction cable. The present invention relates to a travel control device and a travel method for an agricultural vehicle.

[0002]

2. Description of the Related Art Conventionally, when an agricultural vehicle is automatically driven by an induction cable, a method has been adopted in which the vehicle is run with the center of the vehicle in the width direction aligned with the position of the induction cable. Also,
A magnetic field detector for detecting a magnetic field generated from an induction cable is mounted only on the front (front side) of a vehicle.

[0003]

In the above-described method of centering the vehicle in the width direction with the position of the guide cable, the vehicle always travels on the same route when the same laid guide cable is used. It was not possible to perform automatic running of work with different work widths. Further, since the magnetic field detector is mounted only in front of the vehicle, there is a problem that the error of the traveling route becomes relatively large.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and automatically drives an agricultural vehicle such as a tractor, a rice transplanter, a management machine, a combine, or the like by using only the same induction cable laid in a field. Various operations with different working widths from tilling and tilling to harvesting can be performed with low labor and high accuracy.

[0005]

In order to achieve the above object, the present invention provides: In a farm vehicle such as a tractor, a rice transplanter, a management machine, and a combine that automatically runs while detecting a magnetic field generated by flowing an electric current through the induction cable, laying an induction cable in the field, a pair of the agricultural vehicles is equipped with the above-mentioned agricultural vehicle. The magnetic field detector can be offset left and right from the center position in the width direction of the vehicle body, and the offset position can be set to a preset position or offset by a set amount, and the movement from the set position to the left and right can be finely adjusted. It is characterized by doing.

B. It is characterized in that a plurality of the magnetic field detectors are arranged at appropriate intervals in the left-right direction, and these can be switched for use.

C. It is characterized in that a driving assist device for displaying a deviation between the center of the left and right of the magnetic field detector and the position of the guide cable is provided.

D. The magnetic field detector is mounted at the front and rear positions of the vehicle body.

E. While detecting a magnetic field generated from an induction cable laid in a field, in an agricultural vehicle that automatically travels along the induction cable, in a cultivated terrain, pudding, basal application, rice planting, sowing, weed control, topdressing, pest control, harvesting Among the various works, the guide cable is laid in the field along the work path where the work with the widest work width is performed, and the actual work width of the various works is set to 1/1, 1/1 / of the guide cable laying interval.
It is characterized in that it is set to 2, 1/3, 1/4 or a value smaller than 1, and automatic running of the above-mentioned various field works is enabled only by the same laying induction cable.

[0010]

The traveling control apparatus and traveling method for an automatic traveling agricultural vehicle according to the present invention having the above configuration and means have the following operations.

[0011] The mounting position of the magnetic field detector on the agricultural vehicle is changed according to the working width of various works.
For work with a width smaller than 1, such as 3, 1/4, the work width is offset to a predetermined position by each work width.
Switch and use multiple magnetic field detectors.

[0012] For the work with the largest working width (for example, application of base fertilizer, sowing, weed control, top dressing, pest control, etc.), all the work in the field (straight and turning) is performed directly above the same induction cable for farming. This is done by running the vehicle automatically.

[0013] Also, 1/2, 1 / of the maximum width work
For work with a width of 3, 1/4, etc. (for example, tilling, sowing, rice planting, harvesting, etc.), straight running is automatically performed along the same guide cable, and turning is performed by a driver's steering wheel operation. . In a work with a narrow work width, the vehicle travels automatically not only directly above the induction cable but also in an offset state.

[0014] Also, in a work with a narrow work width, when the driver turns by the steering wheel operation and enters the next step, due to a deviation between the left and right center of the magnetic field detector displayed on the travel assist device and the position of the guide cable, Positioning is easily performed.

[0015] Since the magnetic field detector is mounted at the front and rear positions of the vehicle body, the error of the traveling route of the vehicle does not increase.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

In FIG. 4 to FIG. 8, reference numeral 1 denotes a field, and an induction cable 2 is laid (buried) in the field 1, and a current flows from the transmitter 3 to the induction cable 2 to generate a magnetic field. While detecting the magnetic field, the agricultural vehicle 4 including the working machine 5 such as a tractor, a rice transplanter, a management machine, and a combine automatically travels. The above-mentioned induction cable 2 is connected to the field 1 along a work path where a work having the widest work width is performed among various works such as tilling, ground shaving, basal fertilization, rice planting, sowing, weed control, top dressing, pest control and harvesting. Is laid.

The laying of the guide cable 2 is carried out at the time of maintenance of a field base, construction of a culvert, and the like.

An induction cable 2 in a field due to land subsidence or the like
Also, play is provided at appropriate intervals so that the wire is not disconnected even if the cable is pulled.

The agricultural vehicle 4 is provided with a pair of left and right magnetic field detectors 6 and 6 composed of coils for detecting a magnetic field from the induction cable 2. Reflectors a to h and a to l for confirming (recognizing) the position of the agricultural vehicle 4 are provided on the outer peripheral portion of the field 1. And agricultural vehicle 4
The work machine 5 travels in the field 1 along the guide cable 2 in the order of the circles (（) to perform the work.

The magnetic field detector provided in the agricultural vehicle 4 is configured as shown in FIGS.

FIG. 1 (a) is a view similar to a conventional one.
The magnetic field detectors 6, 6 are provided at the center of the vehicle body in the width direction of the agricultural vehicle 4 via support portions (rails) 7 in front of the agricultural vehicle 4. FIGS. 1B and 1C show that the magnetic field detectors 6 and 6 are provided along the supporting portion 7 so as to be offset left and right from the center position in the width direction of the vehicle body, and the offset position is set to a preset position. Alternatively, the position is offset by a set amount, and the movement from the set position to the left or right is detected by the detection position fine adjustment device 13.
This is done by the following.

FIG. 1D shows that the magnetic field detectors 6 and 6 can be offset to the left and right at the front of the agricultural vehicle 4 and the magnetic field detectors 6a and 6a can be offset to the left and right at the rear of the agricultural vehicle 4. It is provided in. FIG. 1 (e) shows a pair of magnetic field detectors 6b, 6b arranged in front of the agricultural vehicle 4 at appropriate intervals in the left-right direction, and one or two of them are used as a detector switching device. 6c.

FIG. 2 shows an example of a configuration in which the magnetic field detectors 6, 6 are provided so as to be offset to the left and right. A pair of pulleys 9 are provided at both left and right ends of a support (rail) 7 extending in the left-right direction from the vehicle body.
And an endless wire 10 between the pulleys 9 and 9.
And the endless wire 10 is rotated forward and reverse by a motor 11. The endless wire 10
, Magnetic field detectors 6, 6 are mounted via a mounting base 6d, and engagement projections 6e formed on the mounting base 6d are selectively engaged with a plurality of engagement recesses 8 formed on a support portion 7 for positioning. It is supposed to be.

The support 7 is provided with a guide 1 mounted on the vehicle body.
2 fine adjustment device (laterally moving cylinder) that is supported by 2 and the hinge part is attached to the vehicle body so as to be movable left and right.
13, and moves in the left-right direction by the expansion and contraction of the lateral movement cylinder 13. The support portion 7 is supported by a hinge 14 at a position supported by the lateral movement cylinder 13 so as to be rotatable in the left-right direction. The support portion 7 is rotated left and right manually by an electric cylinder, a hydraulic cylinder, or manually. I have.

Then, for example, the working width is 7.2 m, 3.6
m, 2,. When performing each operation of 4 m and 1.8 m, the offset amount is 0 m, 0.9 m, 1.8 m, 2.4 m,
Although it is necessary to change to five steps of 2.7 m, by providing the engagement recess 8 a in accordance with these offset amounts,
Accurate positioning of the offset amount becomes possible. If it is desired to adapt to a working width other than the above,
May be adjusted by moving the support portion 7 laterally while expanding and contracting the support.

FIG. 3 shows a travel assist device for displaying a deviation between the left and right centers of the magnetic field detectors 6, 6 (vehicle 4) and the position of the guide cable 2. In this device, a signal shaper 15 is provided in each of the magnetic field detectors 6 and 6, and the signal shaper 15 is compared by a signal comparator 16 and controlled by a control device 17;
8 is displayed. Then, the display device 18 displays a shift between the left and right centers of the magnetic field detectors 6 and 6 and the position of the guide cable 2, and the driver can see and correct the shift.

In the working examples shown in FIGS. 4 to 8, the actual working width of each work (working machine 5) is set to 1/1, 1/2, 1/3, 1/4 or 1 of the installation interval of the guide cable 2. The value is set to a smaller value, and the automatic traveling of the work in various fields is enabled only by the same laying guide cable 2.

The field 1 shown in FIG. 4 to FIG. 8 is a paddy field of 30 m from the center of the ridge to the center of the next ridge. FIG. 4 shows the management work for weed control, top fertilization, pest control and the like. In this case, four corners are swirled with a working width of 7.2 m. In this case, the magnetic field detectors 6, 6 are mounted without offset. In addition, the start and stop of the spraying of the working machine 5 is performed by receiving the light emitted from the photoelectric sensor 19 and reflected by the reflection plates a to h at the light receiving unit of the photoelectric sensor 19.
Electromagnetic valve attached to work machine 5 (in case of spraying liquid agent)
Alternatively, it is performed by ON / OF of a motor (in the case of spraying particulate matter). For example, in the process, the spraying is started at the position of the reflector c or h, and the spraying is stopped at the position of the reflector d or g. Further, for example, in the turning section, the spraying from the boom on the turning center side is stopped at the position of g, and the suspension of the spraying from the boom is released at the position of f.

FIG. 5 shows a case of spraying up to four corners with a working width of 7.2 m in management work such as weed control, top dressing, pest control, etc., in sowing and basic fertilizer spraying (application). Work machine 5
Is started and stopped in the same manner as described above, and after the vehicle 4 is stopped at the positions of the reflectors b, d, f, and h, the steering is fixed and the vehicle is moved backward. At the position of the reflectors i, j, k, l, the reverse movement is stopped, and then the spraying is started and moved forward. After the spraying is started at the position k in the process, for example, the photoelectric sensor 19 receives the light at the position f. In this case, the spraying is incorporated in the program in advance so that the spraying is continued.

FIG. 6 shows a case where the working width is 1.8 m in the tilling work, the rice planting (six-row planting) work and the like.
FIG. 7 shows a case where the work is performed with a work width of 2.4 m in rice transplanting (8-row planting) or the like. FIG. 8 shows a case of working with a working width of 1.8 m in the harvesting (six-row cutting) work. In FIGS. 6 to 8, the magnetic field detectors 6, 6 are often offset, and only the straight traveling portion has the induction cable 2.
Automatic traveling is performed along. In the turning section, the driver turns by operating the steering wheel while looking at the display device 18.

FIG. 9A shows a case where the working width of the working machine 5 is equal to the buried interval of the guide cable 2. FIG.
(B), the working width of the working machine 5 is １ ／ of that of the induction cable 2.
Is shown. FIGS. 10 (a) and (b)
The case where the working width of the working machine 5 and the burying interval of the guide cable 2 are not an integral multiple is shown.

[0033]

As described above, according to the traveling method and traveling control device for an automatic traveling agricultural vehicle of the present invention, the following effects can be obtained.

[0034] Automatic running of various tasks can be performed only with the same guide cable, so that costs can be reduced. Since the agricultural vehicle can travel straight without the driver's operation, fatigue during long-time work can be reduced. . In a work in which the center marker cannot be used because the work width is wide, the work can be performed without setting a pole or the like in place of a marker, thereby saving labor.

[0035] In rice planting and sowing operations, seedlings can be planted or sowed straight, so that work accuracy is improved, and post-work such as weed control, topdressing, pest control, and harvesting can be easily performed. . . In the tilling and slashing work, the overlapping width of the work can be minimized, so that the work efficiency can be improved. . During rectilinear operation, materials such as fertilizers, seedlings, and pesticides can be supplied, so that the operation efficiency can be improved.

[0036] Since the pesticide spraying operation can be performed without the driver getting on the vehicle, the pesticide exposure to the driver can be eliminated. . In the harvesting work, the conventional technology can detect the crop row and perform automatic straight running, but with the conventional technology, it solves the problem that malfunction when there is a streak between streaks, it could not be used for sowing crops can do.

[Brief description of the drawings]

FIGS. 1 (a) to 1 (e) are explanatory views of a mounting state and a use state of a magnetic field detector with respect to an agricultural vehicle.

FIG. 2 is a front view of an example of a state in which a magnetic field detector is attached to an agricultural vehicle.

FIG. 3 is a block diagram of a device for displaying a deviation between a vehicle and a laid cable.

FIG. 4 is an explanatory diagram of weed control, top dressing, and pest control work in a field (four corner turning spraying = actual working width of 7.2 m).

FIG. 5 is an explanatory diagram of base fertilizer application / dispersion / weed control / top fertilization / disease and insect pest control work (four corners spraying = actual work width 7.2 m).

Fig. 6 During tillage and rice planting (6 steps) work (actual work width 1.8)
It is explanatory drawing of m).

FIG. 7 is an explanatory diagram of a rice transplanting (8-section) operation (actual operation width of 2.4 m).

Fig. 8 At the time of harvesting (6 cutting) (actual working width 1.8m)
FIG.

FIG. 9 is an explanatory diagram of a state where the magnetic field detector is not offset with respect to the agricultural vehicle (a) and a state where the magnetic field detector is offset (b).

FIGS. 10 (a) and (b) are work explanatory diagrams in a state where a magnetic field detector is offset with respect to an agricultural vehicle.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Field 2 Guidance cable 3 Transmitter 4 Agricultural vehicle 5 Work machine 6, 6a, 6b Magnetic field detector 6c Detector switching device
6d Mounting base 6e Engagement protrusion 7 Support part (rail) 8 Engagement concave part 9 Pulley 10 Endless wire 11 Motor 12 Guide 13 Detecting position fine adjustment device (lateral movement cylinder) 14 Hinge 15 Signal shaper 16 Signal comparator 17 Control device 18 display device 19 photoelectric sensor ah, al reflection plate

Continued on the front page (72) Inventor Koichi Tozaki 1-40-2 Nisshin-cho, Omiya City, Saitama Prefecture Inside the Biological Specified Industrial Technology Research Promotion Organization (72) Inventor Tomohiko Ichikawa 1-40-2 Nisshin-cho, Omiya City, Saitama Prefecture Biology System specific industrial technology research promotion organization

Claims (5)

[Claims] 1. An agricultural vehicle such as a tractor, a rice transplanter, a management machine, a combine, or the like, which automatically runs while laying an induction cable in a field and detecting a magnetic field generated by applying a current to the induction cable. The pair of magnetic field detectors mounted on the vehicle can be offset left and right from the center position in the width direction of the vehicle body, and the offset position can be set to a preset position or offset by a set amount and moved from the set position to the left or right. A travel control device for an automatic traveling agricultural vehicle, characterized in that the vehicle can be fine-tuned. 2. A traveling control device for an automatic traveling agricultural vehicle according to claim 1, wherein a plurality of said magnetic field detectors are arranged at appropriate intervals in the left-right direction, and are used by switching between them. 3. A traveling control device for an automatic traveling agricultural vehicle according to claim 1, further comprising a traveling assist device for displaying a deviation between a center of the magnetic field detector and a center of the induction cable. . 4. A travel control device for an automatic traveling agricultural vehicle according to claim 1, wherein said magnetic field detector is mounted at a front and rear position of a vehicle body. 5. An agricultural vehicle that automatically travels along an induction cable while detecting a magnetic field generated from the induction cable laid in a field, comprising: cultivating tilling, substituting, applying base fertilizer, rice planting, sowing, weed control, and topdressing. Of the various operations such as pest control, harvesting, etc., lay an induction cable in the field along the work path where the widest operation is performed.
/ 1, 1/2, 1/3, 1/4 or a value smaller than 1 to enable automatic running of the above-mentioned various work in the field by using only the same laying induction cable. How to drive the vehicle.