JPS61149003A - Steering controller of automatic propelling working vehicle - 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] [Field of Industrial Application] The present invention is applicable to detection by a tracing sensor that detects the amount of lateral deviation of the machine body with respect to a traveling guideline, such as in a self-propelled combine harvester or an automatic lawn mowing vehicle. The present invention relates to a steering control device for an automatic traveling work vehicle, which includes a steering control means for automatically driving the vehicle along the guideline based on the amount of deviation.

[Conventional technology]

When this type of steering side iB device described above is applied to a self-propelled combine harvester, for example, the machine will run along the row of shell culms planted in the field as a traveling guideline. Steering control is performed by turning on and off the clutches of the left and right crawler traveling devices for a predetermined period of time. In addition, when applied to a ground work vehicle such as a lawn mowing vehicle, the boundary between treated and untreated work sites is used as a driving guideline, and steering operation at a predetermined angle is used to drive along this boundary. The steering will be controlled so that the

In the above-mentioned steering control, in order to simplify the control, the sequence of returning the traveling device to the steering neutral position, that is, the neutral position after performing a steering operation with a certain amount of steering, is performed in accordance with the aforementioned traveling guideline. By repeating this process, he was able to steer the ship.

[Problem that the invention seeks to solve]

However, the ground condition on which the work vehicle travels is not constant, and is often wet or uneven, and the slip rate of the crawler, wheels, and other traveling devices varies depending on the driving condition, and is constant regardless of the driving condition. If a steering operation is performed with a controlled amount of , the actual steering amount may not match the steering controlled amount. In addition, when the object to be worked on is recovered to the aircraft side, such as with a combine harvester, the left and right steering characteristics change due to changes in the weight of the object to be recovered, imbalance in the load, etc., and the amount of steering remains constant. In III, it was difficult to maintain optimal control performance. Therefore, the number of times the aircraft direction is corrected with respect to the traveling guideline increases, and the steering operation is repeated frequently.As a result, meandering increases, and the initial steering control performance cannot be maintained satisfactorily.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to automatically correct the steering control amount in accordance with the work ground condition and the traveling condition of the aircraft, regardless of the traveling condition. The objective is to maintain a predetermined steering control performance.

[Means for solving problems]

The characteristic configuration of the present invention is based on the steering frequency detection result for correcting the orientation of the aircraft toward the traveling guideline direction.
The present invention is provided with a steering control amount correction means that automatically corrects the steering control amount per time so that the steering frequency is reduced, and its functions and effects are as follows.

[For production]

That is, in the steering control performed based on the information of the lateral deviation amount of the aircraft relative to the traveling guideline detected by the tracing sensor, the steering control amount in each steering operation is adjusted so that the frequency of the steering operation is reduced. , the steering control amount is automatically corrected.

〔Effect of the invention〕

In other words, the amount of steering control per time is automatically corrected so that it follows the driving guideline with less steering frequency, so regardless of the work site condition, the aircraft position can be adjusted to the driving guideline with fewer steering operations. It can be returned to the position along the

Furthermore, since the number of steering operations is reduced, there is an effect that meandering of the aircraft body is also reduced. As a result, it became possible to perform steering control in an appropriate state regardless of the traveling state of the aircraft, and the control performance in steering control was significantly improved.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 1 and 4, the reaping section (1) raises and reaps the planted culms in the field, changes its posture to a sideways posture while conveying the cut culms, and transfers them to the feed chain (1). 2) and the feed chain (1)
A threshing device (3) that threshes the husks that are pinched and conveyed by the culm and sorts and collects the grains, and a pair of left and right crawler traveling devices (4)
, (4) is mounted on the machine (V) equipped with the above, to constitute a combine harvester as a working vehicle.

The lower part of the reaping part (2) has a 0111
0. A stock sensor (S@) configured as a contact switch that outputs a PF damage signal is provided to detect the start and stop of the reaping operation.

A weeding tool (6) provided at the tip of the reaping part (2)
The attachment frames (7), (7) of the weeding tools (6a), (6b) on both the left and right ends of the machine (ν) are attached to the culm that is biased forward and introduced into the cutting section (2). It consists of a sensor bar (8) that contacts and rotates the fuselage (V) backward by an angle corresponding to the contact position, and a potentiometer (R) that detects the rotation angle of the sensor bar (8). Copying sensors (St) and (St) are provided respectively, and based on the change in the output signal of the potentiometer (R), the amount of lateral deviation ( r).

To explain the detected deviation amount (γ) of the left and right scanning sensors (St) and (SZ), as shown in FIG.
Corresponding to the rotation angle change of the sensor bar (8), the detected deviation amount (γ) is divided into three zones (a), (b), (
It is designed to detect by dividing into c).

That is, the sensor bar (8) is shifted away from the culm row (H) from the state in which it returns to the front side of the fuselage (V) to the state in which it is rotated to the rear side by a predetermined angle. A shallow tracing zone (a) is defined as the state, and a fuwata zone ( b), and the state in which it is rotated further rearward than this dead zone (b) is defined as a deep tracing zone (c) in which it enters too far into the culm row (H).

Then, the output of the potentiometers (R) and (R) of the copying sensors (St) and (SZ), that is, the detected deviation t
(r) is the three zones (a), (b),
Based on which zone of (c) the left and right crawler traveling devices (4), the left and right clutches (9) of (4) are disengaged, and the detected deviation amount (γ) is Copy steering control is performed so that the vehicle is within the dead zone (b).

To disengage the clutches (9), (9), the hydraulic cylinder (11) that pulls and operates the operating lever (10) of the clutch (9) is activated by the electromagnetic valve (12).
The left and right solenoids (12a) and (12b) of the electromagnetic valve (12) are configured to perform N operation.
), the steering control amount per disengagement operation of the clutch (9) is adjusted by controlling the ON time (P) of the clutch (9).

Further, the output from the engine (E) is transmitted to the transmission section (M) via the transmission (13) and is configured to drive the crawler traveling devices (4), (4). Vehicle speed sensor (S,
) by the crawler traveling device (4).

(4) By measuring the number of rotations (n), the traveling speed and traveling distance are detected. ·and,
When the stock sensor (S,) is in the ON state, that is, when the cutting operation is in progress, a row of cut husk culms is located on the outer side of the machine body (V), and a row of uncut husks is located on the front side. The row of shell culms adjacent to the row of planted shell culms in the field (
Using H) as a travel guideline, the deviation amount (r) detected by the left and right scanning sensors (St), (St) is adjusted as described above so that the aircraft (V) travels along this culm row (H). The clutch (9
) and (9) to control the steering,
During the steering control, the clutches (9), (9
), the steering control amount per time, that is, the ON time (P) of the electromagnetic valve (12) for disengaging the clutches (9) and (9) is automatically determined. It is corrected.

Hereinafter, the means for correcting the steering control amount by the control device (G) will be explained based on the flowchart shown in FIG. 2 and the explanatory diagram shown in FIG. 3.

First, when the stock sensor (So) changes from the OFF state to the ON state and steering control is started, the ON time (P) of the electromagnetic valve (12) is set in advance according to a standard standard. The time (Po) is initialized, and the steering operation measurement frequency (N) is reset to "0".

Then, based on the detected deviation amount (γ), the clutch (
9), when the left solenoid (12a) of the electromagnetic valve (12) is turned on, the number of times (N) detected deviation amount (γ) of the left side scanning sensor (S,) is in the dead band zone (b). Add sequentially until the number is within the range. Thereafter, the detected rotation speed (n) of the vehicle speed sensor (S,) is adjusted to the right side copying sensor (
Measure S2) until the detected deviation amount (γ) deviates from the dead zone (b), and detect the ON time (P) at a predetermined value (α) based on the measured rotational speed (n). Correct by adding (N).

Note that when the steering frequency (N) is "0", a predetermined value (β) smaller than the predetermined value (α) is set as the ON time (P).
If the steering frequency (N) is not "0", the predetermined value (α7m) is further smaller than the small predetermined value (β).
) to prevent over-correction.

However, the predetermined values for each addition and subtraction are set so that α>β>α7m, and m is a constant.

Then, the detected deviation amount (γ
) returns to within the dead zone (b), and the detected rotational speed (
nI) becomes equal to or higher than the detection rotation speed (n2) until the left scanning sensor (S+) returns to the fuwazai zone (b) again, that is, the frequency of steering operations in the left and right direction becomes the lowest. The above operation is repeated to correct the steering control amount, that is, the ON time (P) of the electromagnetic valve (12).

[Brief explanation of drawings]

The drawings show an embodiment of the steering control device for an automatic traveling work vehicle according to the present invention, and FIG. 1 is a block diagram of the steering control system;
FIG. 2 is a flowchart of the steering control amount correction, FIG. 3 is an explanatory diagram of the operation of steering control, FIG. 4 is an overall side view of the combine harvester, and FIG. 5 is an explanatory diagram of the scanning sensor. (H)... Steering guideline, (V)...
... Aircraft, (S+), (S2) ... Copying sensor, (r) ... Detection deviation amount, (N) ...
... Steering frequency, (P) ... Steering control amount.

Claims (1)

[Claims] The guideline (
H) A steering control device for an automatic traveling work vehicle comprising a steering control means for automatically driving a machine body (V) along a traveling guideline (H), the steering control device correcting the direction of the machine body (V) in the direction of the traveling guideline (H). Steering control amount correction means for automatically correcting the steering control amount (P) per time based on the steering frequency (N) detection result so that the steering frequency (N) is reduced. A steering control device for an autonomous driving work vehicle equipped with