JPS62163116A - Turn controller for work truck - Google Patents

Abstract

PURPOSE:To avoid the deterioration of the working efficiency of a work truck by controlling the truck body so that it has no big shift from a work subject even in case the truck body has a shift from a proper position in the width direction of the truck body after a turn. CONSTITUTION:A solenoid valve 14 is actuated to turn the truck body to the left and one of two copying sensors S1 and S2 is turned on for start of the reaping control. Thus the drive of a left crawler driver 4L is stopped for a prescribed time t1 in case a root sensor S0 is not turned on before a work truck travels a set distance Le from start of its forward movement after a reaping part 2 is moved down. The truck body is turned repetitively until the sensor S1 or S2 is turned on in case it is not turned on after a turn of the truck body.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is designed to automatically move an aircraft to the next work stroke in a direction intersecting the previous work stroke after the completion of one work stroke. Accordingly, the robot is moved forward while turning at a predetermined angle toward the next work stroke, then moved backward a predetermined distance toward a location before the next work stroke, and further turned at a predetermined angle in the direction along the next work stroke, and then moved forward again. The present invention relates to a turn control device for a work vehicle equipped with a running control means.

[Prior Art] Such a turn control device for a working vehicle is used to perform so-called circular mowing, in which the working vehicle is turned K degrees, for example, □ degrees every time one working stroke is completed.

By the way, conventionally, the above-mentioned turns have been stored in advance as a fixed running pattern, and the aircraft is automatically turned based on the running pattern.

Incidentally, the above-mentioned running pattern is different from that after turning [Problem to be solved by the invention] However, as mentioned above, since the running pattern is constant, for example, when a combine harvester, which is an example of a working vehicle, is turned in a field with soft mud, If this occurs, the traveling device will slip, and the position in the width direction of the machine body after the turn will deviate from the appropriate position with respect to the work target.

The aircraft would deviate greatly from the work target, and it would take a lot of time to correct the aircraft to the work target side, and as a result, there would be a large number of unprocessed parts, which could lead to a decrease in work efficiency (No. (See Figure 3).

The purpose of the present invention is to suppress a decline in work efficiency by suppressing the aircraft from deviating significantly from the work target even if the aircraft's widthwise position after a turn deviates from the appropriate position. It is in the point of doing.

[Means for Solving the Problems] [Means for Solving the Problems] The characteristic configuration of the present invention is that if the next work process is not entered before the set distance has been traveled after the forward movement is started again, the previous work process cannot be started. The present invention is provided with forced turning travel control means for turning in a direction corresponding to the rearward direction of movement in the working process.

[Function] In other words, if the machine does not enter the next work process even if the machine moves forward a set distance after a turn in order to enter the next work process, it is determined that the machine has deviated from the work target, and
The machine is turned in a direction corresponding to the backward direction of movement in the previous work stroke, that is, toward the work target side.

〔Effect of the invention〕

Therefore, even if the position in the width direction of the aircraft deviates from the proper position after a turn, the position of the aircraft will be corrected from the moment the machine is cut off unless it starts the next work process. It is possible to shorten the time required for correction, and to suppress the occurrence of unprocessed parts as much as possible, thereby making it possible to suppress a decrease in work efficiency.

〔Example〕

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

As shown in Figure 448, the planted stem culms of rice, wheat, etc. in the field are raised and harvested, and while the harvested stem culms are transported, the posture is changed to a sideways posture, and the reaping is passed to the feed chain pile. (2) and a threshing device (3) that threshes the stem culms that are pinched and conveyed by the foot chain (1) and sorts and collects the grains. ) equipped with
V) K is installed to constitute a self-propelled combine harvester as a working vehicle.

Further, an orientation sensor (8) can be provided on the upper part of the fuselage ffl, which is an integral unit of a geomagnetic sensor that detects the absolute orientation by sensing changes in the earth's magnetic field and a signal processing section that processes the detection signal. be.

The reaping section (2) is driven by a hydraulic cylinder (LC) K so that it can be raised and lowered, and after completing one stroke, it is raised greatly when turning to move on to the next operation stroke, and the cutting section (2) is moved up and down to remove the stem culm. (This is so that it doesn't overwhelm the river.

As shown in FIGS. 1 and 8, below the reaping section (2), there is a stem culm (9) that is introduced into the reaping section (2) from the front.
Stock head sensor 4j (S
o), and is configured to detect whether the end of the stroke has been reached by determining whether or not the reaping operation is in progress.

Attachment of the weeding tools (5L) and (SR) on both left and right ends provided at the tip of the reaping section (2) is done using the frame fil.
, fi+, respectively, have a body (■ which is biased forward and comes into contact with the base of the stem culm (6) introduced into the reaping part (2), and has a corner corresponding to the contact position). The machine (■) is equipped with a copying sensor (Sl) and (S2) consisting of a sensor bar (7) that rotates rearward and a potentiometer (R) that detects the rotation angle of the sensor bar (7). (See Figure 6)
, the amount of lateral deviation of the machine body fVl with respect to the stem culm (6) is detected, and based on the detected deviation amount, the machine body (v) moves along the stem culm (6) during the reaping operation. It is configured to run automatically. In addition, since the stem culm (river) planted in the field comes into contact with the sensor bar (7) intermittently, the output signal of the potentiometer fR1 changes intermittently. In order to detect the amount of deviation in the lateral direction, signal processing such as averaging the output signal of the potentiometer (R) or detecting the maximum value per unit time is performed.

The output from the engine (Kl) is transferred to the hydraulic continuously variable transmission (9
) to reach the driving mission section +101. And the mission part (10)
A vehicle speed sensor (ll) is provided to detect the traveling speed ('v→) and the traveling distance (Lx) by detecting the rotational speed of the input shaft (10a) to the vehicle.

Also, steering clutch brakes (12L), (12R), which separately connect and disconnect power from the transmission section (10) to the left and right crawler traveling devices (4L), (4R), and the steering clutch brake (12L). , (12R), and an electromagnetic bar that operates the hydraulic cylinders (13L) and (13R) separately. There is a rep of 0. In addition, in Figure 1,
(I5) is an electromagnetic pulp for operating a hydraulic sill (LC) for raising and lowering the reaping part (2).

Hereinafter, various IIJm means for causing the aircraft (v) to automatically travel to the next work stroke in a direction intersecting the previous work stroke after completing one work stroke will be explained.

As shown in Fig. 4, when reaping work is carried out by manually maneuvering the outermost part of the reaping work range, the period from when the stock source sensor ($) is turned ON until it is turned OFF is shown. The orientation detected by the orientation sensor (8) at is repeatedly sampled, and the average orientation is set as the reference orientation (θ
a), (θb), (θc)+(θd), and the button in the control device fl is set to be stored. Also, upon the completion of one work stroke, it is moved forward while turning at a predetermined angle toward the next work step, then retreated a predetermined distance toward a location in front of the next work step, and then turned at a predetermined angle in the direction along the next work step. The turning ground control means θ head is configured such that a running pattern for moving the vehicle forward again after the vehicle has been cleared is stored in the control device (I).

Note that, hereinafter, the reaping work for memorizing the reference orientation will be referred to as outer circumference teaching.

Then, in order to cause the aircraft to automatically travel along the travel pattern after the work stroke is completed, the steering clutch brake (12
L), (12R) and the traveling transmission (9) are configured to be automatically operated.

Next, the control means for automatically driving the aircraft based on the travel pattern is rewritten. If the next work process is not entered before the aircraft travels a set distance after starting the forward movement, it will move backward in the direction of travel in the previous work process. The forced turning travel control means (101) for turning in the corresponding direction will be described in detail.

As shown in Figures 1 and 4, the operating state of the work mode selection switch (SWO), which sets whether to perform the outer circumference teaching or automatic driving, is checked, and if the switch (SWO) is in the ON state, If so, the process for performing the outer circumference teaching is executed. Further, when the steering control start switch (SWl) is turned on while the work mode selection switch (SW ρ is in the OFF state), the ON-OFF state of the stock sensor (milk) is checked.

When the machine is manually operated to start reaping work, the stock sensor (tortoise) is turned on and reaping control is started.

When the reaping control ends, that is, when one work stroke ends, turn control is activated to move the machine to the next next work stroke in a direction that intersects with the previous stroke.

In addition, to determine the end of one work process, the stock sensor (
The status of both the shi and copying sensors (Sl) and (S,) are checked by the +m plant base sensor (♀ is configured to contact the introduced stem culm (6) and turn 0N10FF). Therefore, only this stock Senna (T) has a stem culm (6
) is temporarily interrupted, so all sensors (So), (Sl), (S2) that are in contact with the stem culm (6) introduced from the front of the fuselage (v) This is because malfunctions are less likely to occur if it is determined that each work process has been completed when all of them are in the OFF state.

Specifically, as shown in FIG.
S, , ) and copying sensor (S, ), (both times are OF
When the F state is reached, the stock sensor (head) and copying sensor (
S, ), (S,) at the predetermined period (50ms)
It is determined whether the number N of repeated checks has reached a set number of times (j ton) corresponding to the predetermined elapsed time (/, j seconds), and all sensors ( Turn control is started only when Ren, (S,), and (♀ continue to be in the OFF state.

In addition, the stock sensor (S,,) is still a copying sensor (!1lq
), (S,) is in the ON state, reset the number of times (5) to check the status of the stock sensor ($) and copying sensor (S,), (S,) to zero, Until all of the stock sensor (ji) and copying sensor (phantom, (♀) are in the OFF state and this state continues for a predetermined time or more,
Reaping 11J will continue.

Next, to explain the turn control, as shown in FIG. 2, FIG. 3, and FIG. When the time period has elapsed, the reaping section (2) is raised to interrupt the reaping operation, and the reaping operation is started to measure the travel distance (Lx), and at the same time, the reaping section (2) is raised so that the reaping operation is started and the travel speed (Vx) becomes the predetermined speed (Va). Vehicle speed detected by vehicle speed sensor (II) (V
The transmission (9) is operated based on x).

Then, when the traveling distance (Lx) reaches a predetermined distance (La), the aircraft is set to the left direction, which is the direction of the next work stroke.
The electromagnetic bar I leg is configured to stop driving the left side crawler traveling device (4L) based on the quality of the direction (θ) detected by the direction sensor (8) so as to turn until the next turning angle (θ) is reached. θ4) is activated.

When the detection direction (θ) reaches the direction (QH#) which is the addition of the next turning angle (go') to the reference direction (α) of the previous process where the work was completed, the electromagnetic pulp (14) is turned off.
L, decelerate until you stop traveling, and use 1 for traveling during that time.
1511 (Lb) (hereinafter referred to as the -th turning pattern).

When the set time (2.0 seconds) has elapsed after the traveling stop, the transmission (9) is operated to the reverse side to set the predetermined speed (Vb).
The vehicle is driven backward while increasing the speed until K is reached, and the traveling distance (Lx) during that time is measured (hereinafter referred to as a backward movement pattern).

The travel distance (Lx) due to the backward movement is a predetermined distance (Ld)
Klif J - When the distance M (Lc) corresponding to the distance added to the distance traveled forward (Lb) during the next turn is reached, the right crawler traveling device (4R) is moved to orient the aircraft in the direction along the next work stroke. Said direction sensor to stop driving?
(Based on the detected orientation (θ) by 81, the electromagnetic pulp (I4) is operated until the detected orientation (θ) matches the reference orientation (β) of the next work process, and the speed is decelerated until the traveling is stopped.

When the machine is stopped, the reaping section (2) is lowered and moved forward while increasing the speed until it reaches a predetermined speed (Vc), thereby turning on the stock sensor (kiln) and starting the next work process. Automatic traveling of the vehicle is started based on the reaping control (hereinafter referred to as a secondary turning pattern).

By the way, in the secondary turning pattern, if the aircraft does not enter the next work stroke while traveling the set distance after turning at a predetermined angle in the direction along the next work stroke and starting forward again, the aircraft will not move forward in the next work stroke. The forcible turning traveling control means (101) K determines that the stem culm is largely deviated from the stem culm.
The position of the aircraft is corrected by turning it in a direction that corresponds to the direction of movement in the previous work stroke. As mentioned above, if the stock head sensor (pin) does not turn ON until the cutting distance (2) has been lowered and started moving forward and the set distance 111cLe> has been traveled, the left claw 2 travels. In order to stop driving the device (4L) for a predetermined time (tl) or more, the electromagnetic pulp (14) is activated to turn the machine to the left, and the left and right copying sensors (S, ), (S) are activated. The reaping control is started by turning on either of the left and right copying senna (S) and (♀) after turning the aircraft.
If it is not turned on, the aircraft will repeatedly turn until it is turned on.

In addition, as mentioned above, the direction taken out sequentially at the turn of the aircraft (■) from among the reference directions (θa), (θb), (θC), and (θd) stored in advance in the control device 09) is used as the current direction. Turn control is performed by replacing the bearing (α) and the next stroke bearing (β).

[Another example]

In the embodiment described above, the machine body (V) performs the reaping work by rotating counterclockwise, but may also perform the harvesting work by rotating clockwise.

[Brief explanation of drawings]

The drawings show an embodiment of the turn control device for a working vehicle according to the present invention, and FIG. 1 is a block diagram showing the configuration of the control system.
Fig. 2 is an explanatory diagram showing the movement of the aircraft during a turn, Fig. 3 is an explanatory diagram showing the movement of the aircraft after a turn, Fig. 4 is a 70-chart showing the overall operation of the control device, and Fig. 5 6 is an explanatory diagram of the copy sensor, FIG. 7 is a schematic diagram showing the running order, and FIG. 8 is an overall side view of the combine harvester. Ka...Turn travel control means, (101)...
... Travel control means for forced turning.

Claims (1)

[Claims] After completing one work stroke, in order to automatically move the machine to the next work stroke in the direction that intersects with the previous work stroke, as the work stroke ends, the machine moves forward while turning at a predetermined angle toward the next work stroke, and then moves forward to the next work stroke. Turn travel control means (1
00), if the vehicle does not enter the next work stroke while traveling the set distance after starting to move forward again, the vehicle will turn in a direction corresponding to the backward direction of the previous work stroke. Forced turning travel control means (
101) A turn control device for a working vehicle.