JPS63120218A - System for detecting moving position of mobile working vehicle - Google Patents

Abstract

PURPOSE:To detect an advance target point and a moving position from the azimuths of the marks provided to two front corners and one rear corner, by mounting a sensor, which detects the marks provided to the corners of a square working section to measure azimuths, to a car body. CONSTITUTION:When a car body 4 advances in parallel to the reference side of a working section, the reference interval between the marks provided to two front corners is set to a bottom side to detect the azimuth (b) at the position of a sensor 3 and a distance can be calculated from the calculation of a triangle. In the same way, since the distance can be calculated using the marks 2 of two lateral corners, the car body 4 can advance in an advance target point direction. After departure, the sensor 3 is allowed to revolve to successively detect each of the marks at three corners and the azimuth (b) thereof is measured and, by the operation of two triangles having the position of the sensor 3 as the apices thereof at each moving position, the definite distances from the advance objective point and the reference side are calculated to control a control apparatus. By this constitution, the car body 4 can be allowed to straightly advance along the reference side while the moving position thereof is being corrected.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a method for detecting the movement position of a mobile work vehicle, and can be used for automatic direction control of a combine harvester, a tractor equipped with a seedling planting machine, etc. be.

BACKGROUND ART AND PROBLEMS TO BE SOLVED BY THE INVENTION Conventionally, there has been a method of measuring the inclination of a mobile work vehicle by detecting a laser beam from a light emitter, which serves as a marker, using a light-receiving sensor that rotates around a vertical axis. For example, there was Japanese Patent Application Laid-Open No. 60-67813.

A sensor is required to detect the orientation and movement position of the machine in order to control straight movement along a straight line that is used as a movement reference in the field during tillage work using a tractor machine or seedling planting work using a seedling transplanter. Therefore, there was a need for a simple movement position detection method using a camera having a light receiving sensor as the sensor.

Means for Solving the Problems The present invention provides signs (2) located at each corner of a rectangular work area (1), and the signs (2) while rotating or reciprocating left and right while aiming at the horizontal direction. 2) and a sensor (3) that detects the azimuth angle. This sensor (3) is installed on the mobile work vehicle body (4), and while moving in the work area (1), the sensor (3) detects the azimuth angle of the By measuring each azimuth angle of the marker (2), the forward target point is detected, and the marker (2) at one rear corner is detected.
This is a system for detecting the position of a mobile work vehicle, which detects its position by measuring the azimuth angle of the vehicle.

Functions and Effects of the Invention The distance between each adjacent mark (2) of the mark m (2) at each corner of the rectangular work area (1) can be measured in advance, and one work When traveling along a planned straight line that is parallel to the reference side that is a certain distance away from the reference side of the section (1), the reference side of the starting end of the mobile work body (4) is At the position where the marker (2) between the starting ends is collimated and detected laterally, detect the azimuth angle (b) between the marker a (2) on the side and the marker (2) at the front end of the reference side. death,
The certain distance can be calculated from various calculations of a triangle whose apex is the position of the sensor (3) and the base is the reference side, and
Detect the azimuth angle of the B mark (2) located laterally adjacent to the mark (2) at the front end of the reference side, set the position of the sensor (3) as the apex angle, and set the front left and right marks (2) (2). By calculating the triangle whose base is the connecting side, we can calculate the progress target point on the side in the front left and right direction that is a certain distance away from the marker (2) at the end of the reference side on the front blur side. The moving work vehicle body (4) can start and proceed with its front and back direction facing in the direction. After departure, rotate the sensor (3) or rotate it back and forth.
Each marker (2) at the position is detected in turn and its azimuth (b) is measured, and the sensor (3) at each movement position n of the sensor (3) is detected.
) Calculate and consider the progress target point and a certain distance from the reference side by calculating the two triangles with the apex angle being n.
If the control device is controlled based on this calculation test 3t, the moving work vehicle body (4) can move straight on the planned straight line along the reference side while correcting the movement position.

In this way, the three points (2) and the sensor (3) that can detect them and measure the azimuth angle can be used to compare two triangles with apex angles and bases with known distances. The moving direction and position can be detected by simple calculations, and this can be used to control the moving work body (4) in a straight line.

Embodiment In the illustrated example, the work section (1) forms a rectangular section with signs (2) located at each corner.

The sign (2) consists of a pole (6) equipped with a light emitter (5) on its head that can project light into a projection angle range (c) exceeding 90 degrees in the left and right directions using a horizontal diffuser lens (28). The light emitter (5) is a mobile work vehicle (
4) 'A! ? It is attached to the head of an erected pole (6) so that it can be positioned at almost the same height as the sensor (3). This light emitter (5) is
It may also be configured to blink at a predetermined period. It is also possible to use a device that emits a special light beam such as a laser beam.

The sensor (3) includes a charge-coupled device 51 located at the light receiving position behind the optical axis (8) of the optical system (7) containing a telephoto lens.
A rotating part (11) is provided with a 2-beat 2-beat light receiving element (9) and has an internal camera circuit (lO), and this rotating part (
11), and a fixed part (13) rotatably bearing the vertical rotation axis (12) of 11), and the fixed part (13) is equipped with a stepping motor (14) which is rotated by the pulses emitted by the pulse generator. and a gear (15) installed on this motor shaft.
) and a gear (18) provided on the rotation shaft (12) are meshed to form a transmission structure, and the rotation angle of the rotation part (11) is approximately 300 degrees.
A control circuit section (17) for controlling the reciprocating rotation of the stepping motor (10) may be installed below the fixed section (13) in order to reciprocate within this angle. ) is the basis for measuring the azimuth (b), and is converted into the pulse count number of the pulse transmitter to calculate the rotation angle of the control circuit section (11).
7) is configured to perform calculation detection. Further, a hole (1 day) is provided in the gear (16) provided on the rotation shaft (12),
The fixed part (13) is attached to the mobile work vehicle body (4) in a predetermined posture, and the optical axis (8) of the rotating part (11) is aligned with the vehicle body (4).
A light emitting diode (13) and a light receiving element (20) that transmit vertically through the hole (18) when in a posture along the front-rear direction.
The sensor (3) is configured to self-detect this forward/backward direction, which is the measurement reference direction (a) of the azimuth (b), by a photoelectric signal generated by the azimuth angle (b). When detecting this front-rear direction, the left-right direction perpendicular to this direction is also self-detected at the same time.

The control circuit section (17) is composed of a CPU that also performs arithmetic processing to control the charge accumulation time of the light receiving element (9), convert the charge transmission signal into two receivers, and detect the light emitter (5). ing.

The mobile work vehicle body (4) is a rotary type tillage work machine (2).
1) is attached to the tractor (22), and the sensor (3) is installed at the tip of a mounting arm (24) that protrudes laterally from the front end of the bonnet (23) in which the engine of the tractor (22) is housed. The rotation range (d) of the 8 rotating parts (11) on which the fixed part (13) is attached is
) The tractor (22) is positioned in a rotation range (d) of about 300 degrees from the left side of the lateral direction line (e) passing through the core to the right longitudinal direction line (e). Wheels (25),
Rear wheel (2B), steering wheel (27), cockpit (28)
etc. are arranged.

Fig. 5 explains the linear position detection function when the sensor (3) is attached to the mobile work vehicle body (4,) and the plowing work is performed sequentially from the =- side in a field in a rectangular work section (1). do.

The signs (2) are placed at each of the four corners (G), (C), (S), and (N), causing each light emitting device (5) to emit light.
Distance jt (m) between (g) and (h), and position (g)
The distance #(L) between and (nu) is actually measured and known. The mobile work vehicle body (4) is located on the − side (
It is assumed that the plowing work is carried out by turning back and forth along G) (N), and parallel to the side (G) (N) that is distance # (a) from the line (G) (N), Senna (3) on the line (le)
), when plowing along the forward optical axis (8), the position (o) of the sensor (3) at this starting end of the movement is located on the left-right direction line (e) that the sensor (3) self-detects. Detect the light emission from the marker (2) at position N (g), measure the azimuth angle (E) of the marker (2) at position N (g), and measure the azimuth angle (E) of the marker (2) at position N (g).
) Known distance #(Q,) and angle (E) at (nu)
From this, it can be calculated and detected using a=2/9E. After starting, in order to detect the target point (force) in the forward direction of the mobile work vehicle body (4) at the position shown in the figure, the rotating sensor (3) is used to detect the azimuth angle (A) of the left and right signs (2) in the forward direction. and CB),
It is sufficient to orient the aircraft in a direction such that & / l) = -A/-, B, but since it is unknown whether the heavy body (4) is along the m-triangular constant line (ru), Direction line (E)
Assuming a similar point (Y) on sides (G) and (NU) in a direction orthogonal to , angle (C) = right angle - angle (A), and side (C) and side (a) tanc.

Also, the distance fil) is known and the side (d) = C11)-
(e), so the angle CD ) = tan-'(
'/4), the correct angle (D
)and.

It compares the measured value of the azimuth angle (D) of the sensor (3) to detect whether it is at the correct position, that is, the position of the distance M(a) in this case, and then calculates the calculated angle (D) and the measured azimuth angle. (
Control the control device of the mobile work vehicle (4) so as to match I! If you carry out the pulling operation, you will be able to return to the planned straight line and move forward while maintaining the correct movement position. In addition, these calculation controls are performed using the C of the sensor (3).
This is done by the control circuit section (17) made up of PU.

When turning around and proceeding in the opposite direction, select the position (su) (nu).
The sign (2) is the front left and right sign (2), and the place and (chi) are
The mark (2) is used as the - side rear mark (2).

As shown in the example, by forming a rectangular section (1) with each corner at a right angle by a sign (2), triangular calculation of the direction position becomes easy, and quick calculation and control of the work vehicle body (4) are possible. However, even in irregularly shaped fields, rectangular work sections (1) can be formed therein by signs, and the work can be applied using a mobile work vehicle (4) that automatically controls straight movement.

Also, the azimuth of the two markers in front and one marker in the rear, that is,
Linear pressure #(a) If (b) is accurately measured and corrected at each acceleration step, stable guidance will be possible during ridge making and seedling planting work, and the driving effect of the work vehicle body (4-) for unskilled ATs will be improved. It is large, and unmanned operation is also a major issue.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a partial side view, Fig. 2 is a plan view thereof, Fig. 3 is a partial side sectional view, and Fig. 4 is a plan view. FIG. 5 is an action diagram. In the figure, code (1) is a rectangular work area, (2) is a sign,
C7)) indicates a sensor, and (4) indicates a mobile work vehicle body.
Patent applicant name: Iseki Agricultural Machinery Co., Ltd. Representative: Masaaki Iseki Figure 3

Claims (1)

[Claims] A sign (2) located at each corner of the square work area (1);
A sensor (3) that detects the sign (2) and measures its azimuth while turning or reciprocating left and right while aiming in the horizontal direction.
), and this sensor (3) is connected to the mobile work vehicle body (4).
The forward target point is detected by measuring the azimuth angles of the markings (2) at the two front corners while moving through the work area (1), and detects the azimuth angle of the marking (2) at the rear corner. A moving position detection method for a mobile work vehicle, characterized in that the position is detected by measuring the position of the mobile work vehicle.