JPS6223833A - Travel controller for automatic traveling farm working vehicle - Google Patents

Abstract

PURPOSE:To make smooth traveling performable, by finishing the travel of a working stroke while decelerating it up to the specified set speed at a point short of reaching the stroke end, in case of a device which travels a machine body automatically to the next working stroke on the basis of one working stroke finish detection. CONSTITUTION:In case of an automatic traveling farm working vehicle such as a self-propelled combine or the like, there is provided with each of detecting device A and B which detects a travel distance LX and a travel speed VX of a machine body, and that whether the detection distance LX by the travel distance detecting device A is reached to a deceleration starting distance LS subtracting the specified distance from a travel expected distance of one working stroke or not is judged by a travel distance comparing device C. And, when the judged result of this comparing device C is YES, that whether the travel speed VX is more than the specified set speed VS preset or not is judged by a travel speed comparing device D. And, when the judged result of this device D is YES, the travel speed VX of the machine body is controlled so as to be automatically decelerated by a travel speed controlling device E, whereby transfer to the next working stage of a paddy field or the like is smoothed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides an automatic machine equipped with a turn control means that automatically moves the machine to the next work stroke based on detection of the end of one work stroke by a stroke end detection means. The present invention relates to a travel control device for a traveling work vehicle.

[Conventional technology]

2. In this type of travel control device, in order to automatically move the aircraft to the next work stroke after the completion of one work stroke, a turn control pattern that has been standardized and written in advance (,!) is used. Based on this, the aircraft will be controlled to automatically proceed to the next work process.

And the stylized turn il, II il + pattern ni! 1. I, follow me and turn 1! If the running speed during the turn changes ・1jll ′□, then the next step after the turn is 6. Two aircraft positions [1t or desired position 1
1) "Since the car may slip more significantly, it is necessary to make the turn at a constant speed.

Conventionally: 1. In order to start a turn at a constant speed, for example, the line f'Ij, l, iii section detecting means, etc., which reaches each stroke end and detects the jump, is used to detect the end of the stroke. 7, and based on the detection operation, start the turn control (a) and change the gear shift signal of the transmission I'''1' so that the traveling speed becomes a constant speed. !■・
JJ-like operating methods were adopted.

[Problems that the invention solves 2)] This 2171'
Aiji driving work! In general, in the I-yoke, in the work process 1-, the work efficiency Eζ is reduced (↓), so that the work 'j'1. 2) As shown in 6.1 Adjust the traveling speed by 1 inch, F gear etc. will be used.21 Also, the traveling speed should be adjusted based on the situation of the work site, such as the presence of unevenness in the work site. Since you will have to manually adjust it, ・Run fv completed 1 o'clock travel i8!
In many cases, the degree is not ・γi.

However, in the conventional f-stage described in -1-, in order to control the aircraft so that it reaches the running speed f-i or a preset constant speed after reaching one working stroke end C, If the difference between the traveling speed at turn start 11; and the set speed at I+ is large, it will not be possible to achieve the desired constant speed in a short period of time. In addition, in order to avoid deterioration of work efficiency, the turn ζ for moving the aircraft to the next stroke is generally controlled so that the space required for the turn is as small as possible. There is a need.

Therefore, even if it is possible to change the running speed significantly in a short period of time, if the speed difference is large, hunting will occur in the control of the running j-I speed, causing deviation from the desired turn trajectory, resulting in poor controllability. This is an inconvenience.

The present invention has been made based on the Juki Act 1rI, which states, ``First, after completing one work process, the aircraft should be allowed to travel by itself to the next work process. The goal is to ensure that the process is carried out reliably and promptly.

[Failure to solve the problem]

The features of the travel control device for an automatic traveling work vehicle according to the present invention include: a traveling distance βil [detection means for detecting the traveling distance 11 of the machine body; a traveling speed detecting means for detecting the traveling speed of the machine body; and a detection by the traveling distance detecting means. A travel distance determining means for determining whether the travel distance 1 has reached a predetermined distance ratio 1 (deceleration start distance) from the scheduled travel distance of one work process; A traveling speed determining means for determining whether or not the traveling speed is equal to or higher than a predetermined set speed when it is detected that the traveling speed has reached the deceleration start distance; The first stage of travel speed control automatically reduces the travel speed when it is detected that the speed is lower than the set speed.The functions and effects thereof are as follows. be.

[For production]

That is, as shown in FIG. 1, when the vehicle travels the deceleration start distance (Ls) set by the deceleration start distance setting means as a distance obtained by subtracting a predetermined distance from the scheduled travel distance for each stroke, the travel speed determination means determines that Traveling speed at that point (V×
), and if the speed is higher than the set speed (Vs), the traveling device is controlled by the traveling flil + miko stage to decelerate to the set speed, and the aircraft is stopped in a short period of time after the aircraft reaches the end of the stroke. In other words, in order to be able to decelerate to a certain speed at which a turn can be made while traveling a short distance, the vehicle completes the journey by decelerating to a predetermined set speed (Vs) before reaching the end of the stroke. .

〔Effect of the invention〕

Therefore, each stroke ends with a small difference between the travel speed set in the turn control and the travel speed at the turn start curve, and after completing one stroke, the aircraft starts traveling on the next stroke. During the short period of time before starting the turn for the first row, the running speed can be kept constant, and the running speed during work and the turn can be kept constant.
Even when the travel speed required for ll fill is significantly different, it has become possible to turn smoothly.

As a result, each traveling speed can be freely set in accordance with the respective traveling conditions, such as a traveling speed that corresponds to work efficiency or work site conditions during work, and a speed that allows the turn to be made reliably when turning.

〔Example〕

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

As shown in Figure 6, the planted stem culms of rice, wheat, etc. in the field are lifted up and harvested, and the harvested stem culms are conveyed while changing their posture to fall sideways, and the feed chain (1) receives them. A pair of left and right crawler traveling devices (formerly known as
) and (41?) are mounted on a machine body (V) equipped with the equipment to form a self-propelled combine harvester as an autonomous work vehicle.

Also, detecting geomagnetic changes in a part of the body (V) corresponding to the turning center position of the body (V), that is, the intersection of the diagonal lines connecting the front and rear ends of the left and right crawler traveling devices W (4L) and (4R). An azimuth sensor (8) is provided, which is an integral unit of a geomagnetic sensor that detects the absolute azimuth and a signal processing section that processes the detection signal, thereby configuring the azimuth detecting means.

The reaping section (2) is operated by a hydraulic cylinder (1, C),
It is configured so that it can be raised and lowered freely, and when turning to move on to the next work process after completing one process, it is raised significantly to avoid pushing down the stem culm (I()). It is.

As shown in FIGS. 2 and 6, below the reaping section (2), there is a stem culm (1) that is introduced into the reaping section (2) from the front.
Stock sensor - (
S0) is installed, and constitutes a stroke end detection means for detecting whether or not the stroke end has been reached by determining whether or not the reaping operation is in progress.

The weeding tools (51,) and (5R) at both left and right ends provided at the tip of the cutting section (2) are attached to the frame (6),
(6) In each case, the machine body (V) is moved forward (1 force), contacts the base of the stem culm (11) that is transferred to the reaping part (2), and reaches the contact position. The sensor (7) rotates to the rear of the aircraft (V) by the corresponding angle, and the sensor (7)
) is provided with tracing sensors (Sl) and (S2) consisting of a potentiometer (1?) that detects the rotation angle of and is configured to detect a control parameter for controlling the machine (V) to automatically travel along the stem culm (11) during the reaping operation based on the detected deviation amount. It is. In addition, the stem culm (11) planted in the field
is intermittently connected to the sensor hear (7), so the output signal of the potentiometer (1?) is
It will change continuously. Therefore, in order to detect the amount of deviation in the lateral direction, the potentiometer (R)
Signal processing such as averaging the output signals and detecting the maximum value per unit time is performed.

The output from the engine (E) is transferred to the hydraulic continuously variable transmission (9
) so as to transmit the information to the driving transmission section (10). A vehicle speed sensor (1) detects the rotation speed of the input shaft (10a) to the mission section (10).
1), and constitutes a traveling speed detecting means for detecting the traveling speed (Vx) based on the detected number of revolutions per unit time. Further, the vehicle speed sensor (11) is configured to also serve as a traveling distance detecting means for detecting the traveling distance (1, X) by integrating the number of revolutions detected by the vehicle speed sensor (11).

Also, steering clutches (12L) and (12R) that separately connect and disconnect power transmission from the transmission section (10) to the left and right crawler traveling devices (4L) and (41?), and the steering clutch (12L) when activated. , (12R), hydraulic cylinder (] 3L), (13R),
J・N and this l Yuta cylinder (1,3L), (
+31? ) for each 11 moves・l! Ruden i,? It is equipped with a nharbu (14). In Fig. 2, (16) means lifting and lowering the reaping part (2) + yt cropping oil yI rainbow link (L
A solenoid valve for operating C).

Hereafter, Vζ, the flight of the aircraft (V) is described in 11. all controls
The operation of the device (15) will be explained in detail.

First, to explain the outline of the travel control, when reaping work is performed by artificially steering the outermost part of the reaping work range with the control U7, the stock source sensor -<S0) is ONL, and then The direction sensor ( ) ( until it turns OFF)
) is repeatedly applied to the detection power (i'f (B)), and the average direction is recorded in the H1 control device (15) as the base Y-h direction (θ.) of each side of each work process table. At the same time, the vehicle speed sensor (1
Each travel distance (LL) is detected and recorded based on the detection information obtained in 1). Therefore, this reference direction (θ.) and 15 culms t? The reference direction setting means is constituted by the reaping operation for 1a of 14 separation (Lt,), and is called outer circumference teeing in I) position.

Then, as shown in Fig. 2 and Fig. 3, 6.7], the work mode I51 is selected to set whether to perform the outer circumference teaching or automatic travel (1-1). ) operation status is checked and 1, 2, S, I, CH (S(<
. ) is ON4 dog! At a certain point in the river, processing for rtif recording is performed. If the steering control star I switch (SW+) is turned on when the Takegyo Sen-1' selection switch (SW.) is in the OFF state, the state of the stock sensor 1so) is checked. .

Then, when the machine body (V) is manually operated and the V work is started, the stock sensor (S0) is turned ON and reaping control is started, and the vehicle speed sensor (II) Force of travel distance (Lx) = Start non-1.

As shown in Figure 5, 1) No. 11 stock i'
:・1! When the direction (So) turns ON, the direction sensor → I
-The current detection direction (θ) according to (8) is 11;) Note 1
#1 maintained within tolerance with respect to the 11th direction (G0). One, the copying sensor (S,)
, (S2)! While the detected aircraft deflection amount is maintained in an appropriate state, the +iii detected travel distance i'ilt (L Line 4, 1 of the work process. !
When the deceleration start distance (ls) is reached, the predetermined distance (Lu) set by formula (1) is calculated based on , t/It fabric R (Lt) and working width (1, w) δ. Check whether there is a problem or not.

In other words, in this embodiment, after finishing the work line 1ij, the machine (V) moves to the next stroke. Since the reaping section (
2) is reduced by the cutting width (1.0).

1s−1t −(1,w +I,.) −−(i)
However, in the above formula (1), (1,.) is a constant set based on the error between the actual travel distance and the calculated distance, the travel distance required for smooth deceleration, etc. In the example, the distance is set to approximately 2 m.

Then, the detected traveling distance (Lx) is the expected traveling distance 1Fd.
When f (1, s) is reached, the vehicle speed sensor (1iii)
11), detect the traveling speed (Vx) and calculate the speed (
When Vx) is equal to or higher than a predetermined set speed (Vs), G4[, the speed is decelerated until this set speed (Vs) is exceeded. 1 knee>, operate the shift position of the transmission (9). Note that the traveling speed (Vx) is the set speed (Vs
), there will be no deceleration operation, but if the actual running speed (Vs) is slow, it will not be necessary as it will not have a negative effect on the turn accuracy in the offset turn control explained next. There is no need to slow down.

Next, with the end of one work process, when the njr index center → J' (So) turns OFF, the left and right copying center +t (s I), (S2) turns OFF (111
Check whether the stock price sensor (So
) Precision and copying sensor (Sl), (S2) are all 0F
FL and remains in that state for a predetermined period of time (approximately 1.
5 seconds) +2 seconds have elapsed, it is determined that one working process has ended, the reaping control is ended, and the actual traveling begins. The l' axis 1t (tχ) is written as -stroke distance (1, 0) ↑O, and based on this -stroke distance (Lt) and the equation (i) above, the deceleration start distance in the next stroke is calculated as ff1lf (1 . G, l, check the status of both the copying sensor (St) and (S2).
pnza (s o ) &;l: 377 people's stem culm (
Since the configuration is such that the 0N10FF is applied by contacting the stem (II), G: 1゛ stem culm (11) can be detected using only the stock sensor (So).
It cannot be completely distinguished from the case where the stock is temporarily interrupted, and even if the stock sensor' (so) is OFF, the threshing process by the feed chain (1) described in 114I (
3) The supply of stem culms (11) to the plant may not be completed, so if the reaping control is stopped in this state, conveyance clogging may occur. It is necessary to stop the reaping control after
All sensors in contact with (so), (St), (S2
) is in the OFF state, it is better to determine that one work process has ended, because there is less time delay in determining the end of the work process, and there are fewer malfunctions.

Next, the operation of the control device (15) involved in the turn control will be described in detail.

As shown in FIGS. 4 and 5, the stock sensor (S
0) and copying sensors (St), (Sz) are turned off and a predetermined time has elapsed, the reaping section (2) is raised to interrupt the reaping operation, and the distance traveled (Lx) is counted. At the same time, the vehicle speed detected by the vehicle speed sensor (11) (V×
) to operate the shift position of the transmission (9). Then, the travel distance (Lx) is a predetermined distance (Lx) that is preset based on the width of the body (V) so that the turning of the body (V) does not push down the stem culm (11) at the end of the next stroke. 1
, a), the aircraft (
V) is set - next turning angle (θ1) (approximately 60 in this example)
The direction sensor (8)
The electromagnetic valve (1,
4) Turn ON. When the detection direction (θ) reaches the direction (α + θI) obtained by adding the second turning angle (θ1) to the reference direction (α) of the completed stroke, the electromagnetic valve (1
4) at 0FFL, decelerate until the traveling speed (Vx) reaches zero and stops traveling, and the traveling distance (1, h) during that time.
Click 1~. (Hereinafter, it will be referred to as the primary turning pattern.) After the vehicle stops traveling, wait until a predetermined time (approximately 2.0 seconds in this example) has elapsed. When the aircraft (V) has completely stopped, the transmission (9) is shifted to the reverse side. Start reversing while accelerating until it reaches a predetermined speed (Vb), and calculate the distance traveled during that time (
1, χ).

(Hereinafter referred to as a backward movement pattern) The travel distance (Lx) by the backward movement is a predetermined distance (Lx) that is set in advance.
When reaching a predetermined distance (Lc) corresponding to the distance (Lb) that the aircraft moved forward during the next turn to d), the aircraft (
V) In order to stop the drive of the right side crawler traveling device (4R) in order to direct the direction toward the next stroke starting point, the change is determined based on the direction (θ) detected by the direction sensor (8). The electromagnetic valve (14) is turned ON until the secondary turning angle (θ2) is reached, and a deceleration operation is performed until the traveling speed (Vx) becomes zero and the aircraft (V) stops. When the machine (V) stops, the reaping section (2) is lowered until the stock sensor (S0) turns ON, and is moved forward while increasing the speed until it reaches a predetermined speed (Vc), and then starts the next work. It is forced to enter the end of the stroke.

(Hereinafter, it will be referred to as a secondary turning pattern.) In the above secondary turning pattern, the stock sensor (S0
) is turned on, the reaping control described above will start the next work process so that the machine (V) automatically travels along the stem culm (II) and then performs the reaping work.

By the way, in the turn control described above, the intersection angle of each stroke, which is the difference between the reference bearing (α) of the stroke that has finished traveling and the reference bearing (β) of the next stroke, is an angle other than the standard 90 degrees. However, as shown in equations (ii) and (iii) below, in order to ensure that the orientation of the aircraft (V) after the end of the turn matches the reference direction (β) of the next stroke, The rotation angle (θI), (/7□) of each next rotation is
The turning angle is automatically set based on the reference directions (α) and (β) of the two intersecting strokes, and thus constitutes a turning angle setting means.

0゜−γ・・・・・・(11)θ2
-β-T = β-θ, (iii) where: T-reference turning angle (160 degrees in this example).

In other words, in the - next turn, the detected orientation (θ) is based on the reference orientation (α) for that journey (i.
The vehicle will be rotated until it matches the angle (α + 60) that is the sum of Therefore, no matter what the intersection angle of each stroke is, the turn can be made so that the direction of the aircraft (V) after the turn matches the direction of the next stroke. In addition, the backward movement distance (Lc) is expressed as − l at the time of the next turn); linear distance (
1, h), so even if the forward distance (1, h) at the next turn changes, it will not be affected by slips during turning or the weight of the treated stem culm (I+). The (+"7) position in the width direction of the aircraft (V) entering the firing stroke after the next turn does not deviate significantly from the appropriate state for the next stroke.

[Another example]

In the above embodiment, an example was shown in which automatic setting is performed by outer circumferential teaching to configure the means for setting the direction and each travel distance (Lt). Good too.

[Brief explanation of the drawing]

The drawings show embodiments of the present invention; FIG. 1 is a functional block diagram showing the configuration of the present invention, FIG. 2 is a Bockock diagram showing the configuration of the control system, and FIG. 3 is an overall operation of the control device. Flowcharts 1 to 4 are flowcharts showing the operation of the control device in turn control, FIG. 5 is an explanatory diagram showing the movement of the machine during a turn, and FIG. 6 is a schematic side view of the combine harvester. (V)... Airframe, (8)... Orientation sensor, (11)... Running speed detection means, (So
)... Stroke end detection means, (Lx)...
・Distance traveled, ([,1)...- Planned distance traveled for one trip, (Lu)...Predetermined distance, (LS)
・・・・・・Deceleration start pressure ρill, (V×)・・・・・・
- Traveling speed, (Vs)...Setting speed.

Claims (1)

[Claims] Travel control of an automatic traveling work vehicle equipped with a turn control means for automatically traveling the machine body (V) to the next work stroke based on detection of the end of one work stroke by the stroke end detection means (S_0) A device comprising: a traveling distance detecting means for detecting the traveling distance (Lx) of the aircraft body (V); a traveling speed detecting means (11) for detecting the traveling speed (Vx) of the aircraft body (V); A travel distance determining means for determining whether the detected travel distance (Lx) has reached a deceleration start distance (Ls) that is a predetermined distance (Lu) less than the scheduled travel distance (Lt) of one work process, the travel distance; The travel distance (Lx) is determined by the determination means to be the deceleration start distance (Lx).
s), the traveling speed (V
x) is equal to or higher than a predetermined set speed (Vs); A traveling control device for an automatic traveling work vehicle, comprising: a traveling speed control means that automatically reduces the traveling speed (Vx) when detected.