JPS58209904A - Automatic steering apparatus in transplanter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] The present invention relates to an automatic steering device installed in a transplanting machine such as a rice transplanter, and more specifically, it captures the relative position of the machine and a row of already planted seedlings, which serves as a reference for steering. When the steering sensor is in a state where it does not detect any planted seedlings, the current steering state is continued for a predetermined period of time, and then the aircraft is brought into a straight-ahead state,
A transplanted machine that aims to improve steering accuracy and riding sensation! f.

The present invention will be described in detail below based on drawings showing embodiments thereof.

FIG. 1 is a left side view of a riding rice transplanter equipped with an automatic steering device according to the present invention, and FIG. 2 is an electronic circuit diagram of the main part of the device of the present invention. It has a body-folding structure that horizontally rotates the and rear fuselage R around their connection axis,
The steering may be performed manually by rotating the steering wheel 101' or automatically by the device of the present invention.

That is, as shown in FIG. 2, a part of the drag rond 102' interposed between the pitman arm 102, which is rotated back and forth by the rotation of the steering wheel 101, and the rear fuselage R is connected to a double-acting hydraulic cylinder 92. During manual steering, the operation of the steering wheel 101 is transmitted to the rear fuselage R by prohibiting the supply and discharge of pressure oil, and during automatic steering, the solenoid 91 of the solenoid valve 91! !
Alternatively, by energizing 91r, the pressure oil flow path of the hydraulic circuit (not shown) is switched and the hydraulic cylinder 92 is operated to rotate the rear fuselage R relative to the front fuselage F and perform left or right maneuvers. It is configured so that the direction can be performed.

Steering sensors 301.30r are attached to the left and right sides of the bumper 103' of the planting section 103, respectively.

The left and right steering sensors 301.3Or have the same structure, one steering sensor 30i (or 30r) has a light emitting diode 341 (or 34r), two photodiodes 351 (or 35r), 361! (or 36r
) are used as light-emitting and light-receiving elements, respectively, and a light-emitting diode 341
! (or 34r) to Senna Box 3017 (or 30
1r), and a photodiode 35I! (or 35r), 36I! (or 36r) are respectively arranged on the left and right below the light emitting diode 341 (or 34r),
The light emitting diode 341 (or 34r) is converted into a photodiode 35I! (or 35r), 36/(or 36r), and place the light emitting diode 34I! with each light emitting and receiving surface facing forward. (or 34r) and two photodiodes 351 (or 35r), 361(
A converging lens is positioned in front of the light emitting diode 341 (or 36r), and the light emitted from the light emitting diode 341 (or 34r) is reflected by the seedlings Z that constitute the low-value seedling row closest to the aircraft. The reflected light is sent to the photodiode 35.
1 (or 35r) and 361 (or 36r). Steering Senna 301 (or 30r)
The senna box 3θ11 (or 301r) is mounted on a mounting rod 3 erected on the left (or right) side of the bumper 103'.
02/ (or 302r), the projected light is placed on the bumper 1.
03'0) The light emitting/receiving surface is mounted with its light emitting/receiving surface tilted forward so as to reliably detect the reflected light from the already planted seedlings Z located about 1.5 m ahead. Also bumper 10
A side marker 81.8r, which serves as a steering target during alignment, is provided protruding forward from each of the mounting rods 3021.302r on the left and right sides of 3' on the inside of the body.

Now, as shown in FIG. 2, a pulse oscillator 33 is connected via a key switch 32 to the positive electrode of a battery 31 whose one end is grounded to the body.
The output of is given to the light emitting diodes 341 and 34r,
The light emitting diode 341.34r is modulated and driven with a pulse of about 9.8 kHz so that the photodiodes 35/, 35r, and 361.36r can be distinguished from the light of a large-scale light or an illumination light (120 or I QOHz). Ruu light emitting diode 34I! The light emitted from (or 34r) is reflected by the already planted seedlings Z, and is transmitted to the first comparator 2, which will be described later.
Two photodiodes 351 (or 35r), 36I! whose respective cathodes are connected to a terminal @ which outputs a reference potential of 6.4V of 0. (or 36r). Photodiode 351 (or 35r).

361 (or 36r), an output "laminar flow" corresponding to the amount of incident light is obtained, and each output current is fed by a buffer amplifier 37°3.
8 to AC amplifier circuits 41 and 42, amplified by each AC amplifier circuit 41 and 42, and output to band pass filters 43 and 44, respectively. Each bandpass filter 4
3.44 passes only frequencies within a predetermined range centered around 9.8 kHz, each output is given to a peak hold circuit 45.45, and each peak hold circuit 45.46 is connected to a window comparator. 20 criteria 1
172, or 6.4/2 V (=3.2 V)
With reference to the potential of , a potential corresponding to the light receiving section is obtained.

The output of one peak hold circuit 46 is inverted with respect to the reference potential of 3°2V by an inverting circuit 47, and is added to the first output of the other peak hold circuit 45 and inputted to the DC amplifier circuit 51. . The DC amplifier circuit 5
1 is an input that should provide a voltage whose potential difference with respect to a reference potential of 8.2V defines the midpoint of the window of the first window comparator 20, which will be described later. Given to terminal ■. Therefore, the photodiodes 351 (or 35r) and 361 (or 36r) are connected to the terminal (3) of the first window comparator 20.
), a signal having information related to the difference in the amount of reflected light of the already planted seedlings is input.

In addition, the output of the peak hold circuits 45 and 46 is output from the comparator 52.
．． 53 inputs, each comparator 5453
The one-power terminal of
, 3 is connected to the connection point of Ω resistor R1 and 5.1 is connected to the connection point of Ω resistor R2, 4.3 is connected to the connection point of Ω resistor R3 and 5.1 is connected to Ω resistor R4, respectively. 1 of the reference potential (6.4V) output from the terminal O of the window comparator 20 of 1
A potential slightly higher than /2 is the power of each comparator 52 and 53. The comparators 52 and 53 output a high level signal when the input power is greater than the single force, and each high level output is sent to the input 9m path 54.
55 respectively and turn this on, the site marker 81
, 8r, lamps 561 and 571.56r provided respectively.
, 57r, respectively. Further, the anodes of diodes 58 and 59 are connected to the output terminals of the comparators 52 and 53, respectively, and the connection point between the two power swords is connected to the output terminal of the comparator 52 and 53, respectively.
It is connected to the single power terminal of 1. An electrolytic capacitor 62 connected to the positive line of the battery 31 is connected to the single power terminal of the comparator 61, and is also body grounded through a series circuit of a resistor R5 and a variable resistor R6 for setting a time constant. The tenth input terminal of the comparator 61 is connected to the connection point between the multiple resistors R1 and R2, and receives a potential slightly higher than /2 of the reference potential output from the terminal O of the window comparator 20. The output terminal of the comparator 61 is connected via a resistor to the base of a transistor 63 whose emitter is body grounded, and the output terminal of the transistor 63 is
0 base via a resistor, and further connected to diodes 75 and 76 connected to terminals (2) and (2) of the first window comparator 20, respectively. transistor 63
The collector of the transistor 73 is connected to the base of a transistor 73 whose emitter is body grounded, and is also connected via a resistor to diodes 71 and 72 connected to terminals 2 and 0 of a second window comparator 21, which will be described later. The collector of 74 is likewise a diode 71.72.
2nd Windcon Valley, evening 21st
is connected to the terminal [phase] of The collector of the transistor 73 is connected via a buzzer 64 to the diodes 71, 72 and the limit switch 68.

Each of the window comparators 20 and 21 is a semiconductor device that compares a changing input voltage with two freely settable reference voltages to discriminate between them, and in this embodiment, Siemens fiTcA965 is used for each.

0 of both window comparators 20 and 21 is a 1-source terminal, which is a switch 32 that should be closed when selecting automatic steering.
It is connected to the positive electrode of the battery 31 through the. 1st
The terminal ○ of the window comparator 20 becomes 1. when a predetermined 4 voltages are applied to the power supply terminal 0. 6 for key terminal■
, 4V as the reference potential, and in addition to being connected as described above, it is grounded through a series circuit of fixed resistor R7 and variable resistor R8, and the terminal is connected to the middle of variable resistor R8. The terminal potential is applied to the terminal ■ of the window comparator 20, and the input voltage v9 to the terminal ■ defines the 1/2 width of the window (see FIG. 3).

As shown in FIG. 3, the terminal ■ of the first window comparator 20 is an input terminal to which a voltage defining the midpoint of the window should be applied, and is connected to the output terminal of the DC amplifier circuit 51, and its potential V5L is given to terminal ■.

Terminals ■ and 0 are terminals that inhibit the output operation of the window comparator 20 when set to ground potential.
2@ is connected to the connection point between the input terminal of the transistor 63 and the output terminal of the comparator 61 as described above through diodes 71 and 72, respectively, and to the base of a transistor 74 through a resistor.

Terminals ■ and 0 are the output terminals of the window comparator osho, and drive circuits 19r and 19r each include two transistors connected in Darlington via diodes 77 and 78, respectively.
19t' respectively, and when the output of the balance becomes low L novel, the solenoids 91r and 911! So that each excitation is done.

Terminals ■, ■ are terminals for inputting signals to be compared and identified, and terminals O, ! for outputting the reference voltage of 6.4V of the second window comparator 21. :Pj, connected to the connection point of two resistors R9 and R10 of equal resistance interposed between the ground level, and therefore a voltage of 3.2V is input to terminals ■ and ■. Ru.

The second window comparator 21 has a similar configuration, and terminals with the same reference numerals as the terminals of the first window comparator 20 function in the same way. In other words, the terminal ■ is a power supply terminal, and the terminal O is a terminal that emits a reference voltage of 6.4V.As mentioned above, it is grounded through the resistors R9 and RIO, and the fixed resistor R11 and the variable resistor RI2.
The intermediate terminal voltage of the variable resistor R12 is applied to the terminal (2) of the window comparator 21.

Further, the terminal O is connected to one end of the steering sensor 69 via a variable resistor RIB. The steering sensor 69 is composed of a potentiometer connected to a terminal of a hydraulic cylinder 92, and the other end is grounded via a resistor. Steering sensor 69
The output voltage V69 changes depending on the forward/backward position of the hydraulic cylinder 92 and serves as a signal representing the steering angle, but the output voltage V69 is used as a signal for comparison and identification at the terminal (2).
, I would like to give it to ■. By the way, the steering sensor 69 is set to V6 when the steering angle is 0 degrees (the aircraft is moving straight).
The oil pressure is set so that 9 = 3.2V (=6.4/2V), and when the steering is turned to the left, VS9 increases, and conversely, when the steering is turned to the right, the VO2 is decreased. It is interlocked and connected to the cylinder rond.

The variable resistor R18 is provided for fine adjustment of the steering sensor 69, and is housed in a controller installed near the driver's seat.When the steering angle is 0 degrees, VO2 is 8.2v.
It can be easily adjusted so that

The terminal I of the window comparator 21 that provides the voltage that defines the midpoint of the window is connected to the connection point between the resistor R9 and RIO, which are interposed between the terminal II and the ground, as described above.
．． A potential of 2V is applied to the terminal ■.

Terminals ■ and O are terminals that inhibit the output operation of the window comparator 21 when set to the ground potential, and as described above, are connected to the collector of the transistor 74 through the diodes 71 and 72, and to the transistor 63 through the resistor, respectively. It is connected to the collector and buzzer 64.

Output terminals 2 and 0 of the window comparator 21 are connected to drive circuits 19r and 19j' for solenoids 91r and 911 via diodes 79 and 80, respectively.

Between the positive electrode line that is opened and closed by the switch 32 and the body ground, there is connected in parallel an automatic selection lamp 65 that indicates the closed circuit of the switch 32 by its lighting, and a series circuit of a normally open limit switch contact 66 and a straight forward indicator rung 67. connected. This limit switch is pitman arm 102
When the aircraft is placed facing the rotation range of the aircraft and the aircraft is moving almost straight ahead? The normally open contact 66 is closed in a narrow rotation angle range (about 1 degree) of the pitman arm, and the straight ahead indicator run 16F0 lights up to indicate that the aircraft is traveling substantially straight. Further, the positive electrode line is connected to the buzzer 64 via a limit switch 68. The limit switch 68 is disposed near the steering wheel 101, and is designed to close when the steering wheel 101 is moved forward as in the case of seedling succession.

Next, the operation of the first window comparator 2° will be briefly explained based on FIG. 3, and the operation of the second window comparator 21 will be briefly explained based on FIG.
B) is the binary output v2 of the first window comparator 2° terminal ■, ■. v14 and V5L are shown on the horizontal axis. V14 is low level when V51<8.2V-V9, high level when VS2>3.2V-V9, or v2 is high level when V51<8.2V+V9, V51>
3.2V+V9teo-L/Hel. And 8.
The range from 2V-V9 to 3.2V+V9 is called a window, 8.2V defines the midpoint, and V9 defines /2 of the width.1. This v9 is fixed at a value appropriately set by a variable resistor R8.

Figures 4 (a) and (b) show the second window comparator 2.
1 terminal ■, ■ binary output V2. V14 is shown with the output V69 of the steering sensor 69 plotted on the horizontal axis.

V14 is low level when V69<3.2V-V9, high level when V69)8.2V-V9, and ■2 is high level when V69<12V+V9, V69
>8.2 V-V becomes low level at 9, 8.2
The range of V-V9 to 8.2V+V9 (7) is called a window, and 8.2V defines the middle point, and V9 defines 1/2 of the range. Fixed value.

V61 changes depending on the relative position between the aircraft and the already planted seedlings Z,
Further, VO2 also changes depending on the steering condition. In other words, the first wind comparator 20 has V2 or V14 at a low level depending on the relative positional relationship between the aircraft and the planted seedlings Z, and the M2 wind comparator 21 has V2 or V14 at a low level depending on the steering condition detected by the steering sensor 69, and the solenoid 91r or 9
11! is energized, resulting in steering to the right or left, and if VS2 or VO2 is within the window, that is, in the range of 12V-■9 to 12'V+V9, steering control is performed. Steering is not performed as a dead zone.

The first window comparator 20 is the steering sensor 3043
1. Operates when 0r detects already planted seedlings. The second window comparator 21 is configured to operate when no planted seedlings are detected for a predetermined period of time. This is intended to improve steering accuracy by differentiating the mode of steering control between when a seedling is detected and when a seedling is not detected.

Therefore, the input signal V5 of the first window comparator 20
1 is information representing the relative position between the planted seedlings and the aircraft,
It has a @ taste, but I will explain this. light emitting diode 3
The light 1 emitted from 41 (or 34r) is reflected by the already planted seedlings Z and passes through the photodiode 351 (or 35r).
, 36/' (or 36r), but the planted seedlings Z receive both photodiodes 351, 367' (or:
Located in front of the center of (5r, 36r), to the already planted seedlings Z,
If the received light 1 of the reflected light is equal, the output level of the DC amplifier circuit 51 is V51 i;! 3.2V (6
, 4/2V). Regarding the left sensor 30e, the planted seedlings are deviated to the left (or right) side of the machine from the center front of both photodiodes 351, 31 [that is, the machine is deviated to the right (or left) from the row of already planted seedlings. ], the amount of light received by the photodiode 35!! (or 361) on the left side (or right side) increases, and the position V51 becomes higher (or lower) in proportion to its eccentric position. The same applies to the right sensor 30r.

Therefore, when V51 is 3.2V, it is in an ideal running condition, and when it is higher than this, the tree is farthest from the row of already planted seedlings, and when looking at the left (or right) side sensor 301 (or 30r), If you are in a situation where you are off to the right (or left) from the row of planted seedlings, and the shift is large, and if the shift is smaller than 8.2■, the aircraft is too close to the row of planted seedlings, and the shift is to the left (or left). When looking at the sensor 301 (or 30r) on the transmission side, the sensor 301 (or 30r) is deviated to the left (or to the left) from the row of already planted seedlings, and the smaller the deviation, the greater the deviation.

In this way, VF) 1 includes information indicating the position of one plant in relation to the row of already planted seedlings, but there is a limit to the production range of the steering sensor 30β (or 3Or). However, as described below, as long as the automatic steering switch is performed while the aircraft is moving straight and Seedling Z is detected by the sensor, the steering control will not become uncontrollable. .

The device of the present invention is used and operates as follows: automatic steering is possible after one or more rounds of planting have been completed and a row of already planted seedlings has been formed.

If the row of planted seedlings is currently on the left side of the aircraft, manually steer the steering wheel 101 to make the left steering sensor 301 follow the row of planted seedlings, and close the automatic steering loss switch 32 to automatically Lamp 65 lights up.

Then, the photodiode 351 (
, or 361), when the light emitted by the light emitting diode 341 and reflected by the existing seedlings is absorbed, the peak hold circuit 4
The output of 5 (or 46) is the 4th rank according to the amount of received light, and when this becomes higher than the -manual power of comparator 52 (or 53), a high level signal is output to switch circuit 54 (or 55) to turn it on. S-U/P56! ! (or 571), 5
6r (or 57r) 61 lights up. At this time, comparator 6
1 is at a high level, the terminal ■ of the first window comparator 20.

◎ is at a high level, and the transistor 74 is turned on and the terminal ■ of the second window comparator 21 is turned on.

(2) The window comparator 21 at the halo level is prohibited from operating.

Under these circumstances, when the aircraft is able to travel straight, the limit switch 66 is turned on and the straight travel indicator lamp 67 lights up. This allows the driver to switch to automatic steering at t6.
In a state where J is functional, you can reap what has become, and you can be confident that the aircraft will not proceed in an unexpected direction!
Knowing that it is now possible to change to S steering by 17I, the steering wheel 101 is moved forward at this point. Then, the limit switch 68 turns on, and if the row of already planted seedlings exists on the left, the steering sensor 301! Automatic steering is performed by the first window comparator 20 using the signal from the windshield.In other words, if the aircraft deviates to the right (or left) for some reason, the light emitting diode 341! The photodiode 351 (or 3
The amount of light received by 61) is 361! (or 351)
The amount of light received by the DC amplifier circuit 5 is larger than that of the received light 1.
1's output potential V51 becomes larger (or smaller) than 3.2V, the window moves to the high (or low) voltage side, C14 (or C2) becomes low level, and solenoid 911 (or 91 r,) is excited, the aircraft corrects its traveling direction to the left (or right), and the aircraft returns to the state following the already planted seedling row. In this way, on the left (or right) side While steering control is being performed by the steering sensor 301 (or 30r), the light emitting diode 34r (or 341) is turned on because the other steering sensor 30r (or 30/) & 3 planted seedlings are not present.
The light emitted from the photodiodes 35r and 36r (
or 351, 361), and therefore the photodiodes 35r, 36r (or 351, 3
61) does not have any effect on the output of the photodiode 35/, 36/ (or 35r, 36r) of the steering sensor 30/(or 30r) which is controlling the other steering. do not have.

Thus, the photodiode 351 (or 35r).

When none of the 36e (or 36r) can capture the reflected light from the already planted seedlings, the outputs of the comparators 52 and 53 become low level and the capacitor 62 starts discharging.
For a predetermined period of time, the steering state in which no planted seedlings are detected is continued, and as will be described later, the steering state is not changed to the straight-ahead state. When this low level time 1 continues for a time (about 2 to 3 seconds) determined by the capacitor 62, resistor R5, and variable resistor R6, the output of the comparator 61 becomes low level.
The terminals ■, ■ of the first window controller 7c, 1/-20 are at a low level, and the window comparator 20 is disabled, and the transistor 74 is turned off, and the terminals ■, ■ of the second window comparator 21 are turned off. is at a high level, the window comparator 21 operates, and the output potential V69 of the steering sensor 69 is within the window.
In other words, the C
Solenoid 19r or 191 is excited by setting solenoid 2 or C14 to a low level. At this time, the transistor 63 is turned off due to the low level output of comparison -610, and the transistor 73 is turned off.
is turned on and the buzzer 64 sounds. This is indicated in the fifth ward.
If the already planted seedlings are meandering, the sensor 30
1 (or 30r) cannot catch the planted seedlings, and if the aircraft is moved straight ahead, there is a risk that the planted seedlings and the aircraft will be separated by a large distance. If the steering condition is maintained at that point, the aircraft will yaw, and the steering sensor 301 (or 30r) will detect the meandering already planted seedlings. I will do it. Furthermore, if no planted seedlings are detected for a predetermined period of time, the enclosure is moved straight after a predetermined period of time has elapsed, which prevents the device from traveling in an unexpected direction when it reaches a headland or the like.

In this way, in the device of the present invention, even if the already planted seedlings Z cannot be detected, the machine does not immediately go straight ahead, but after a predetermined period of time has passed, the machine goes straight ahead. Even in such a case, there is no need to perform unnecessary steering control and cause hunting, and the already planted rows of seedlings meander as shown in FIG.

Even in the case where the C1 body is not moved in an unexpected direction, the C1 body can be smoothly steered to follow the row of already planted seedlings.

Furthermore, if the automatic steering is performed by detecting already planted seedlings,
Since No. 1 from the steering sensor 69 is not used, the hysteresis of this sensor 69 can be ignored, vibration of the aircraft body is eliminated, and a comfortable ride is obtained.

As described in detail above, the present invention is a transplanting machine that detects the relative positional relationship between the already planted seedlings and the machine body using a steering sensor, and runs the transplanter following the rows of already planted seedlings based on the detection result of the steering sensor. In the automatic steering device, when the steering sensor does not detect any planted seedlings, the current steering state is continued for a predetermined period of time, and then the system is set to go straight. ``Freezing clarity is significantly improved, unnecessary hunting can be prevented, and a comfortable riding experience at °C can be obtained.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and Fig. 1 shows the device of the present invention, with an incision on the left side of a riding field W1 covered with moss, Fig. 2 shows the electronic circuit diagram of the main part, and Fig. 3 shows the device of the present invention. , (b)), Figure 4 (
A) and (B) are respectively operation theories of the window comparator-J
Figures A and 5 are explanatory diagrams of the operation of the device of the present invention.20
21...Window comparator, 301.3Or...
・Steering sensor, 33...Pulse oscillator, 341, 34
r...Light emitting diode, 34M, 35r, 361
! , 36r--photodiode, 41.42...
- AC amplifier circuit, 45. 46... Peak hold circuit, 47... Inverting circuit, 51... DC amplifier circuit, 52
．． 53.61... Comparator, 64... Buzzer, 69...
・Steering sensor, 91jF, 91r... solenoid,
92...Hydraulic cylinder. Patent Applicant Yanmar Agricultural Machinery Co., Ltd. Agent Patent Attorney Nobue Kono 3 Figure 4 [Isometric Figure 5]

Claims (1)

[Claims] (2) In an automatic steering device for a transplanter, which detects the relative positional relationship between the already planted seedlings and the machine body using a steering sensor, and causes the machine to travel along the row of already planted seedlings based on the detection result of the steering sensor.
An automatic steering device for a transplanter, characterized in that when the steering sensor is in a state where it does not detect any planted seedlings, the current steering state is continued for a predetermined period of time, and then the machine body is brought into a straight-ahead state. .