JPS62163618A - Advance direction control system of moving agricultural machine - 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 Industrial Application This invention relates to a method for controlling the direction of movement of a mobile agricultural machine, and can be used as part of the automation of a travel control device in a motor vehicle or the like.

Conventional technology and problems to be solved by the invention Conventionally, the boundary between the unworked area and the worked area of a mobile agricultural machine is detected by an image sensor, and this detected boundary is held at a constant reference position of the image sensor. Attempts have already been made to make it possible to steer the vehicle so that the vehicle always travels along this boundary. 2 4di which converted the output signal from
Kashingin.

The boundary changes depending on the strength of the surrounding external light level and is not stable at a constant reference position, so it is unstable), (
It is difficult to travel along the boundary with steering control based on quasi-position.

Therefore, the present invention attempts to solve the problem of instability in detecting the boundary between the unworked area and the completed work area using an image sensor.

Means for Solving the Problems This invention provides an image sensor (4) that detects the boundary (3) between an unworked area (1) and a completed work area (2). ), the lj-mu boundary (3), (be1
The location is 1. depending on the strength of the external light level (6). This is a system for controlling the direction of movement of a special-purpose agricultural machine, which is characterized in that correction is performed so that the sensor (4) can be set and maintained at a substantially constant position without being affected by the movement of the sensor (4).

The action and effect of a mobile agricultural machine, for example, a combine harvester, is equipped with an image sensor (4) at any position on the body of a mobile agricultural machine, such as a combine harvester. Both the uncut area and the cut area are detected by the sensor (4), and the uncut area (1) is positioned by converting this detection signal (-) into a binary signal (5). For example, set the boundary (3) with the existing work area (2) at approximately the center of the work sensor (4) (set as the mold position, and then set the boundary (3) that is subsequently detected as this), ti standard. By matching the boundary (3) with the position, the steering control for traveling along the boundary (3) becomes a control, but when matching the boundary (3) with this reference position, the reference position of the boundary (3) is The displacement depends on the intensity of the external light level (6) simultaneously detected by the sensor (4). The conversion level of the /i signal (5) is set to the boundary (3) corresponding to the strength/weakness.
The correction is made so that the 6th position is not displaced to the base of .

In this way, the sensor (4) detects the boundary (3) between the unworked area (1) and the completed work area (2), and the position of the detected boundary (3) is sent to the sensor (4). In a method of controlling the direction of movement of a mobile agricultural machine in which steering operation along the boundary (3) is made possible by matching the set reference position, positioning is set using 1-point binary conversion No. 44 (5). The binarized signal ! '; By correcting the conversion level in (5) in accordance with the external light level (6), the boundary (3) position is always maintained at a constant knob position, thereby achieving stable steering operation. It is Uruchino who does this.

Embodiment In the illustrated example, a threshing device (7) of the combine is provided on the rear side of the machine body (8), and a traveling device (9) that runs on the soil surface is provided on the lower side of this threshing device (7). In addition, on the front side of the threshing device (7), there is a pilot's seat (10) on the right side when viewed from the f side.
A control platform (11) is provided in front of this control seat (lO), and a reaping device i! is installed on the left side in plan view. L(12) is provided.

In addition, the control platform (11) is in charge of the uncut area and the cut area of the planted culm at position a, that is, the unworked area (1) and the worked area (2).
), an image sensor (4) for detecting the boundary (3) with
A control device (13) connected to the sensor (4) to control the output signal (26) from the sensor (4) is installed in the control platform (11) near the sensor (4). In addition, this system 1 device (13) is first provided with an amplifier (14) that amplifies the output signal (26) from the sensor (4), and the input terminal of this amplifier (14) and the sensor (4) are connected. The output side of the amplifier (eye) is branched, one side is amplified by the amplifier (14), the integral value of the output part (2B) is determined, and this integral value is A/D converted. After that, it is connected to the input side of the integrating circuit (16) in order to send it to the CPU (15), and then the A/
It is connected to the input terminal of the CPU (15) via a D conversion circuit (17). On the other side, the output signal (2B) amplified by the amplifier (14) is used to position and set the boundary (3) between the unworked area (1) and the already worked area (2).
It is connected to the input side of a comparator (18) in order to convert it into a 14-coded signal (5) and send it to the CI''IJ (15), and its output side is further connected to the input side of the CPU (15). In addition, the CPU (15) sends the D/R to correct the reference voltage (27), which is the conversion level of the binarized signal (5) in this comparator (1B), in accordance with the strength of the external light level (6).
It is connected to the comparator (18) via the A conversion circuit (19).

Also, the unworked area (1) and the worked area (
2) Connect a luminescent lamp (20) that lights up when the ratio of l:l is reached from the CPU (+5) to the luminescent lamp (20) via the output ink face (21), and A display (22) for externally displaying the binary signal (5) and the monkey external light level (6) is connected to the CPU (+5). There is also a cut-off switch (23) for changing the display on the display (22), and for checking the lighting position of the light emitting lamp (20) by changing the 12-value conversion signal (5). measurement switch (24) and input interface (2) respectively.
5), connect to the CPU (+5).

In the reaping work of a combine harvester, the reaping device (12) is brought into sliding contact with the reaping soil surface to reap the planted culms. After that, the image sensor (4) installed on the control platform (+1) is positioned so that it can move straight in the direction of the cutting row of the husks, and then the image sensor (4) installed on the control platform (+1) is placed in the uncut area of the husks of the husks and the area of the already cut area, that is, the uncut area. Boundary (3) between work area (1) and existing work area (2)
), and the output signal from the sensor (4) at this set position (26
) is sent to the control device (13) connected to the sensor (4), and the output signal (28) amplified by the amplifier (14) of this control device (13) is branched, and the -blade side is connected to an integrating circuit. The signal integrated by (1B) is sent to CPU (15)
The other blade side sends the binary signal (5) converted by the comparator (18) to the CPU (15), and these signals are processed by the total CPU (+5). , the measurement switch (24) sequentially binarizes Shinso (5
) to extract the level at which the light emitting lamp (2o) lights up, and at this lighting position, the indicator (22)
is turned off (+) as appropriate with the gongka switch (23).
After confirming the displayed values of the conversion level of the digitized signal (5) and the external light level (6), the reaping work is started. In addition, during harvesting, the CPU (15) corrects the reference voltage (27) that is the conversion level of the binarized signal (5) in accordance with the strength of the external light level (6). The boundary (3) is always maintained at a constant reference position of the sensor (4) and the aircraft (8)
It is possible to accurately control the direction of the cutting progress.

Also, the binarized signal for the - times detected by the sensor (4) (
5) into an appropriate number of groups consisting of a certain number of parts - '3 L For each group, the ratio of the signals of the unworked area (1) - (If A is large, the calculated value is set to 1, and the ratio of the signal of the unworked area (1) is set to 1, If the ratio of the signals in 2) is large, the calculated value is set to 0, and the detection is performed multiple times at regular intervals, and the same group division is calculated for this detection result, and the number of times of this multiple group division calculation value is determined. The accuracy of the control of the reaping direction of the machine body (8) may be further improved by performing calculations based on totals.

[Brief explanation of drawings]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is a 4L side view showing the operation, FIG. 3 is a block diagram of the electric circuit, and FIG. 4 is a waveform diagram showing signals. In the figure, (1) is an unworked area, (2) is an already worked area, and (3) is an unworked area.
) is the boundary, (4) is the image sensor, (5) is the binarized signal, (6) is the external light level figure

Claims (1)

[Claims] Image sensor (4) that detects the boundary (3) between unworked area (1) and completed work area (2) Binarized signal (5) by input
is corrected so that the reference position of the boundary (3) can be set and maintained at a substantially constant position of the sensor (4) without being affected by the intensity of the external light level (6). Direction control system.