JPS6253124B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION According to the present invention, a third sensor for detecting characteristic values at the boundary between uncultivated land and cultivated land is attached to a tilling device, and the detection results of characteristic values of uncultivated land and characteristic values of cultivated land can be compared. Based on the detection result, it is determined whether the characteristic value detected by the third sensor is a characteristic value of a predetermined boundary part,
The present invention relates to a tiller provided with a control mechanism that automatically changes the position of the tiller in the lateral direction of the tractor with respect to the tractor so as to detect a characteristic value of a predetermined boundary.

In this type of device, a third sensor determines whether or not a characteristic value of a predetermined boundary is detected based on the detection results of a sensor that detects characteristic values of uncultivated land and a sensor that detects characteristic values of cultivated land. We try to obtain standard values for judgment, but in uncultivated land,
Disturbances such as puddles and grass are likely to occur, which causes the above-mentioned reference values to fluctuate, resulting in the inconvenience of detecting a boundary that deviates from the true boundary and forcing the tilling device to follow it far from the true boundary. It was hot.

In order to improve the above-mentioned disadvantages, it is desirable to detect characteristic values of uncultivated land from as wide a range as possible to dilute fluctuations in standard values caused by disturbances, but in this case, it is necessary to install a large number of sensors on the uncultivated land side. , a problem arises in which production costs increase.

The present invention has been made in view of the above-mentioned circumstances, and allows the tilling device to follow the boundary to efficiently perform tillage work even if the boundary is located on either the left or right side of the machine body. It is an object of the present invention to make effective use of the configuration for this purpose and to be able to detect characteristic values of uncultivated land in a state where it is less susceptible to the effects of the above-mentioned disturbances.

The characteristic structure of the present invention for achieving the above object is as follows:
In the above-mentioned tiller, the third sensor is attached to both the left and right sides of the tiller, and the third sensor selected alternatively detects the characteristic value of the boundary part, and the third sensor detects the characteristic value of the boundary part. A second sensor is provided on both left and right sides located outside the side of the aircraft, and a second sensor located on the cultivated land side sandwiching the selectively selected third sensor detects characteristic values of the cultivated land. The remaining second and third sensors located on the cultivated land side are configured to detect characteristic values of uncultivated land, and this configuration provides the following effects.

That is, a third sensor is attached to both the left and right sides of the tilling device, and the characteristic value of the boundary is detected by the selectively selected third sensor, and the third sensor is installed laterally outward of the machine body than both third sensors. Of the left and right second sensors, the second sensor located on the cultivated land side detects the characteristic value of the cultivated land, and the remaining second sensor located on the uncultivated land side is used for detecting the boundary area. Since the remaining third sensor detects the characteristic values of the uncultivated land and activates the control mechanism, plowing work can be carried out efficiently regardless of whether the border is located on the left or right side of the machine.

In particular, in the present invention, the characteristic values of the uncultivated land are detected by the second sensor located on the uncultivated land side and the third sensor, which is not used for detecting the boundary, so that the uncultivated land can be The characteristic values of uncultivated land can be detected from a wide range without the need for a separate detection sensor, and the characteristic values of uncultivated land can be detected while being less susceptible to disturbances while avoiding increases in production costs. There is.

Next, embodiments of the present invention will be described in detail based on the drawings.

A tilling device 2 is attached to the rear of the tractor 1 so as to be able to swing up and down, and is configured to transmit power from the tractor 1 side to the tilling device 2. has been configured.

The tilling device 2 has a link mechanism 3 attached to the tractor 1.
It is attached via a parallel quadruple link mechanism 6 to a bracket 5 which is attached to the bracket 5 via a hydraulic cylinder 4 so as to be able to move up and down. A cylinder 8 is interposed, and the tilling device 2 is configured to be able to change its drive position laterally with respect to the tractor 1.

A support arm 10 is provided to protrude laterally outward from each end of the frame 9 of the tilling device 2, and the support arm 1
A second sensor S2 for detecting the characteristic value of the cultivated land _E2 is provided at a position laterally outward from each of the tilling devices 2, and a third sensor _S2 is provided at a position corresponding to the end of the tilling device 2. ₃ is installed, and the second and third sensors S ₂ and S ₃ located on the uncultivated land E ₁ side are connected to two sensing sections 11 and 1 according to the driving conditions during tilling work.
The first to _third sensors S ₁ , S ₂ , _{S 3 are} combined as a set and the sensors S ₁ ,
Based on the detection information from S ₂ and S ₃ , the tilling device 2 is automatically repositioned in the lateral direction of the machine relative to the tractor 1, and tilled by following the boundary L between the uncultivated land E ₁ and the cultivated land E ₂ . The control mechanism 12 is configured to perform the work. Next, the control mechanism 12 will be explained.

That is, the first to third sensors S ₁ , S ₂ , S ₃
Each of them is equipped with a light projecting part and a light receiving part, and projects a light beam of a specific wavelength such as infrared rays, and depending on the amount of light received relative to the reflected light from the ground, cultivated land _E2 tends to be reflected diffusely, uncultivated land _E1 In view of the fact that the amount of light received is significantly reduced compared to the above, the uncultivated land E ₁ and the cultivated land E ₂ as well as the location corresponding to the boundary between the two are _{discriminated} . _S2 , _S3
The detection information from is input to the arithmetic circuit 13, and the average value ((A+C)/2) of the amount of light received by the first sensor _S1 (A) and the amount of light received by the second sensor _S2 (C) is input.
and the amount of light received (B) detected by the third sensor _S3 , and the comparison result is input to the command circuit 14, and based on the command signal from the command circuit 14, the electromagnetic valve V for the hydraulic cylinder 8 is operate,
The third sensor _S3 is the first and second sensor
The tilling device 2 is configured to change its horizontal position to a state where it receives the amount of light corresponding to the average value detected by S ₁ and S ₂ and to follow the boundary L described above.

The first sensor S ₁ has a built-in calculation section 15 which inputs the detected characteristic values (a) and (b) from both sensing sections 11 and 11, respectively, and calculates the average value (a+b/ 2) and its average value (a+b/
2) is configured to be input to the arithmetic circuit 13 as the amount of light received (A) detected by the first sensor _S1 .

Note that the present invention is not limited to the type that includes the sensors S ₁ , S ₂ , and S ₃ that detect the boundary between uncultivated land and cultivated land using reflected light from the ground, as in the above embodiment; By using ultrasonic waves, or in view of the level difference between uncultivated land and cultivated land, a large number of rocking pieces configured to be able to swing independently are arranged side by side in the lateral direction of the aircraft, and these rocking pieces are It can also be applied to a type equipped with a sensor that follows the ground surface and detects boundaries based on the difference in displacement between adjacent rocking pieces.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the power cultivator according to the present invention; FIG. 1 is a partially omitted side view of the riding power cultivator, FIG. 2 is a plan view of the main parts, and FIG. 3 is a block diagram showing the control system. be. DESCRIPTION OF SYMBOLS 1... Tractor, 2... Tilling device, 12... Control mechanism, _S2 ... Second sensor, _S3 ... Third sensor.

Claims (1)

[Claims] 1. A third sensor _S3 that detects characteristic values at the boundary between uncultivated land and cultivated land is attached to the tillage device 2, and detects the characteristic values of the uncultivated land and the characteristic values of the cultivated land. The tractor 1 determines whether or not the characteristic value detected by the third sensor _S3 is a characteristic value of a predetermined boundary portion based on the result, and detects the characteristic value of the predetermined boundary portion.
The tiller is equipped with a control mechanism 12 for automatically changing the position of the tiller 2 in the lateral direction of the machine body, and the third sensor _S3 is attached to both the left and right sides of the tiller 2, and 3rd sensor S ₃ selected
In addition to detecting the characteristic value of the boundary part, second sensors S ₂ and S ₂ are provided on both the left and right sides located laterally outward of the aircraft body than the third sensors S ₃ and S ₃ , and The characteristic values of the cultivated land are detected by the second sensor S ₂ located on the cultivated land side with the third sensor S ₃ sandwiched between them, and the remaining second sensor S ₂ and third sensor S ₃ located on the uncultivated land side detect the characteristic values of the cultivated land. A tiller characterized in that it is configured to detect characteristic values of uncultivated land. 2. The tiller according to claim 1, wherein the second sensor _S2 and the third sensor S are sensors that detect the brightness of ground reflected light.