JPS63240709A - 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 Field This invention relates to control of the direction of movement of mobile agricultural machinery.
It can be used when automatically controlling the direction of travel using a direction sensor.

Conventional technology and problems to be solved by the invention Various methods have been used to automatically control the direction of movement of mobile agricultural machinery. In cases where it is not possible to accurately set a target, attempts have recently been made to use a direction sensor that detects direction using the earth's magnetic field to perform automatic control. However, automatic control using this orientation sensor tends to cause deviations from the initially set traveling direction, and normally this deviation is corrected to maintain the predetermined direction, but when making this correction, 1. For example, if the azimuth angle detected by the azimuth sensor is greatly deviated due to disturbances in the magnetic field caused by obstacles to the earth's magnetic field or the tilt of the aircraft due to irregularities in the soil surface, it is not possible to correct this large deviance as is. It becomes difficult to accurately maintain a predetermined direction of travel through automatic control.

Therefore, the present invention aims to maintain a predetermined direction of movement stably and accurately during automatic control of the direction of movement of such a mobile agricultural machine.

Means for Solving the Problems This invention provides an azimuth angle (2) detected by an azimuth sensor (1).
In a mobile agricultural machine that performs travel control by comparing the detected azimuth angle (3) with the reference azimuth angle (3), if the detected azimuth angle (2) deviates from the reference azimuth angle (3) by more than a certain value, this detected azimuth angle (
The traveling direction control method is configured such that 2) is excluded from the correction.

Functions and Effects of the Invention A direction sensor (11 and 1, for example, a control device for calculating and processing a value detected by the direction sensor (1)) is provided at an arbitrary position of the mobile agricultural machine, and the direction sensor (1) and the control device can:
First, by detecting the earth's magnetic field, the reference azimuth (
3), and the set reference azimuth (3) and the detected azimuth (2) sequentially detected by the azimuth sensor (1).
When correcting deviations in the predetermined direction of travel, for example, the aircraft may be affected by disturbances in the magnetic field caused by magnetic obstacles or irregularities in the soil surface. The detected azimuth angle (2
) deviates from the standard azimuth angle (3) by more than a certain value, and if this large deviation is corrected as it is, there is a risk that the standard azimuth angle (3) will deviate greatly from the predetermined direction of travel. By excluding the detected azimuth (2) that deviates from 3) by more than a certain value from the correction, the reference azimuth (2) that is set for any change in environmental conditions can be adjusted.
The direction of travel according to (e) can be maintained stably and accurately through automatic control.

Embodiment In the illustrated example, there is a traveling device (5) on the lower end side of the fuselage (4) of the combine, a threshing device (6) on the upper side of this traveling device (5), and a front end side of this threshing device (6). A reaping device (7) is provided at each of the threshing devices (7), and a control device i! is provided at the front right end side of the threshing device (6) in plan view. (0) and a cockpit (9) are provided respectively.

Further, an azimuth sensor (1) for detecting the azimuth due to geomagnetism is provided at the upper end of the rear side of the cockpit (9), connected to a drive circuit (101) and an amplifier (11). A travel lever (IilD) for starting, stopping, and changing gears of the aircraft (4) is placed at an arbitrary position on the left end side of the machine, and a potentiometer f131 for detecting the position of this lever (IZ)
and.

In addition, the aircraft (
4), a steering lever (141) for left and right steering, a switch (I!;l) for detecting the action of this lever (141), and an abnormal value of the azimuth angle (2) detected by the azimuth sensor (1). A monitor lamp (IQ) is provided that lights up when a certain number of times or more continues. Also, on the input side, the direction sensor (1),
The potentiometer 03), the switch (+9), the monitor lamp (IQ, each actuator (1η (IE
A control device that connects each I and performs arithmetic processing control of these human outputs! (Icm is provided internally in the control device (8). Also, the control device (!9 is equipped with a CPU (20) that performs central arithmetic processing in the center, and two parts are installed on the input side of this CPU 2G. A/D conversion circuit 211 (2i5 and one digital input circuit (to), and two operating circuits Q on the output side)
42 and one display circuit 12e are connected respectively, and the A/D conversion circuit q1 on one side is connected to the amplifier (11) of the azimuth sensor (11), and the A/D conversion circuit on the other side (23 The potentiometer (13) is connected to the digital input circuit (2).
), the switch (19) is connected to the operating circuit +21 on one side.
0, the operating circuit G!
The actuating device that operates 41 @ (18, the display circuit a
! Connect the monitor lamps (old ones) to e.

During combine harvester work in which the standing husks are harvested by the reaping device (7) and the cut husks are threshed by the threshing device (6), the machine (4) is moved by operating the travel lever [1].
A series of operations such as starting, stopping and changing gears, and steering and turning the aircraft (4) in the left and right directions by operating the steering lever A/D are performed based on the azimuth angle detected by the azimuth sensor (1). Based on the data in (2), the aircraft (4)
In this automatic control, the data of the azimuth angle (2) detected by the azimuth sensor (1) at the time of the first start of running is processed by the drive circuit flGl. After being amplified by the amplifier (11), the analog signal is converted into a digital signal by the A/D conversion circuit e11, and sent to the CPU 091.
(1'J performs arithmetic processing and sets the reference azimuth angle (3). Also, the data of the detected azimuth angle (2) sequentially detected by the azimuth sensor (1) during subsequent driving is
It is sent to the CPU f+9) by the same action as above, and the CPU (+91) performs a matching calculation process, and if it is necessary to correct the angle for the deviation from the reference azimuth (3) CP tJ fl'l to operating circuit (2
The control output through 9 actuates the actuating device (11;
The steering lever (14) is automatically operated to steer the aircraft (4) to the left and right. Also, during these automatic controls, if the detected azimuth (2) is affected by disturbances in the magnetic field caused by magnetic obstacles such as high-voltage power lines or large structures, or by the inclination of the aircraft (4) due to uneven soil surfaces, etc. The reference azimuth angle (3)
If the value goes out of order by a certain value or more.

The data of the detected azimuth angle (2) is excluded from the angle correction by the comparison calculation process of the CPU (19), and the CPU
Control output from (19) to the actuating device (11) is not performed.

In addition, if the data of the detected azimuth (2) deviates from the reference azimuth (K) by more than a certain value and is excluded from angle correction for a certain number of times or more, The CPU (■) may output the information to the display circuit to light the monitor lamp (16) and issue a warning.

In addition, if the steering lever (14) is not manually operated even after a certain period of time has elapsed during the warning by lighting the lamp (I[i), the steering lever (14) may not be operated. If the signal of the action detection switch (Is) of 041 is not sent from the digital input circuit (2) to the CPU (1'l), the running position is The converted signal is
The travel lever (I21) detected by the calculation processing by the PU (191) is transferred from the CPUf to the operating circuit G!
4) The machine (4) may be automatically operated to the neutral position and stopped by the operation of the operating bag [f171] by the control output through the control output.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is a block diagram of the electrical circuit. In the figure, code (1) is the azimuth sensor, (2) is the detected azimuth angle,
(3) indicates the reference azimuth.

Claims (1)

[Claims] In a mobile agricultural machine that performs travel control by comparing the detected azimuth angle (2) by the azimuth sensor (1) with the reference azimuth angle (3) and corrects it, the detected azimuth angle (2) is compared to the reference azimuth angle (3). A heading control method that excludes this detected azimuth (2) from correction if it deviates from a certain value or more.