JPS63294703A - Automatic controlling apparatus of paddy field working machine - Google Patents

Abstract

PURPOSE:To perform the work of the last stroke along a levee, by operating an actuator for steering the front and rear wheels based on a signal transmitted from a direction sensor when the number of transplanting strokes reaches a prescribed number and adjusting the direction of a transplantation machine to the standard direction. CONSTITUTION:Actuators 10, 11 for steering the front and rear wheels are attached to the front and rear parts of a machine body 5. Levee-following sensors 13, 13 to detect a levee 12 are attached to the front and rear parts at a side of the machine 5. The machine 5 is also provided with a direction sensor 15 and seedling-row detection sensors 17, 17. When the transplantation machine 1 reaches a turning point B, the controlling part 19 finishes the levee- following operation of the levee-following sensor 13, turns the transplantation machine 1 from the standard direction by 180 deg. and starts the operation from the point C. In the above process, the controlling part 19 detects the discrepancy between the moving direction and the standard direction by the direction sensor 15 and adjusts the moving direction of the machine by controlling the actuators 10, 11.

Description

[Detailed Description of the Invention] (a) Industrial Application The present invention relates to an automatic control device for rice field working machines such as rice transplanters and salt water direct sowing machines, and more specifically, an automatic control device for working machines during straight-ahead work. Regarding.

(B) Conventional technology A paddy field working machine that travels and works by following the trajectory of an existing work has been known. Work is performed by controlling the direction of the machine or controlling the swing of the working part so that the machine passes the trajectory, following the trajectory of the previous work.

(c) Problems to be solved by the invention By the way, since the above-mentioned rice paddy work machine performs only copying work along the trajectory of the existing work from the start to the end of the work, small undulations in the trajectory of the existing work are gradually amplified. This caused large undulations, and as the work progressed, the stripes became larger.
In the final work process, it sometimes became inconsistent with the ridges.

(b) Means for solving the problem The present invention aims to solve the above-mentioned problems. For example, as shown in FIGS. 1 and 2,
and rotation number detection means 19 for detecting the number of work strokes, and when the number of work strokes reaches a predetermined number, the work is started based on a signal from the direction detection means 15. This is characterized in that the paddy field working machine 1 travels in a direction that matches the reference direction by operating the machine steering actuator 10.

(e) Operation Based on the above-described configuration, the paddy field work machine 1 detects the trajectory of the completed work by the detection sensor 17, and runs along the trajectory of the completed work.
do the work. When the number of rotations detecting means 19 detects that the number of working strokes has reached a predetermined number, the rice paddy work machine 1 operates the front wheel steering actuator 10 based on the signal from the direction detecting means 15 to align with the reference direction. Carry out the work by driving in the direction you want.

(F) Examples Examples of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the rice transplanter 1 has a body 5 supported by front wheels 2 and rear wheels 3, and is movable in the left-right direction via a parallel link (not shown) at the rear of the body 5. The planting portions 7 are freely connected and supported. A planting part shift actuator 9 is disposed between the parallel link and the fixed side of the body 5, and is configured to be able to adjust the lateral position of the planting part 7. Further, a front wheel steering actuator 10 for steering the front wheels 2 is provided at the front part of the fuselage 5.
A rear wheel steering actuator 11 for steering the rear wheels 3 is further provided at the rear of the fuselage 5. Further, ridge tracing sensors 13, 13 for detecting the ridges 12 are disposed at the front and rear sides of the fuselage 5, and the fuselage 5 also includes an orientation sensor configured by a magnetic sensor or the like to detect the direction of travel. 15 are arranged. Further, the planting section 7 has a seedling stand 16, a plurality of planting rods, and a float (both not shown), and the floats on both sides of the body 5 have a plurality of light emitting sections projecting in the transverse direction. Seedling row detection sensors 17, 17 each consisting of a light receiving section are provided.

Then, as shown in FIG. 2, the rice transplanter 1
The control unit 19 is equipped with a central processing unit (CPU).
), a ROM that stores a program for controlling the CPU, and a RAM (both not shown) serving as a main storage device. Further, the ridge tracing sensor 13, the direction sensor 15, the seedling row detection sensor 17, the ridge tracing setting potentiometer, and a meter 21 are connected to the control unit 19 via an input interface 20, and an output interface 22 The planting portion shift actuator 9 and front and rear wheel steering actuators 10.11 are connected via the planting portion shift actuator 9.

Next, the operation of this embodiment will be explained with reference to FIGS. 3 to 5.
Explain along the chart.

Before starting work, the operator controls the rice transplanter 1 and the ridge 12 using the ridge tracing potentiometer 21 at point A (see Figure 6).
Set the reference distance (j) to (Sl). Then, the rice field [*1 starts traveling and planting, and the control unit 19 measures the distance a <tl> between the rice transplanter 1 and the ridge using the rear ridge tracing sensor 13 (S2), the distance Ha, and the above-mentioned distance Ha. Compare the reference distance I with S3), 1 If >1 (34), steer the front wheels 2 to the left by the front wheel steering actuator 10 to approach the ridge 12 and reduce I, (35), l, < In case 1, the front wheel 2 is steered to the right by the front wheel steering actuator 10 to move away from the ridge 12! , is increased (S6).

Further, in the case of l, = 1, the control unit 19 uses the front ridge tracing sensor 13 to determine the distance jlil(12) between the rice transplanter 1 and the ridge 12.
37), compare the distance 12 with the reference distance gl/(38), and if l is >1 (39), steer the front wheel 2 to the left by the front wheel steering actuator 10 and move the front wheel 2 to the ridge 12. 12 becomes smaller L (310), 1 < l
In this case, the front wheel 2 is steered to the right by the front wheel steering actuator 10 to move away from the ridge 12 and make the wheel 12 larger (8
11). Also, if 12=1, f111JI! 1 part 1
9 reads the direction with the direction sensor 15, stores it in a memory (not shown), and sets it as a reference direction (312). and,
When rice transplanter 1 reaches rotation point B (see Figure 6), (31
3) The control unit 19 finishes the ridge tracing work by the ridge tracing sensor 13, reverses the rice transplanter 1 by iso degrees from the reference orientation, and starts the planting work from the 180° reversed position C (see FIG. 6). resume. Then, the rice transplanter 1 uses the seedling row detection sensor 17 to perform planting work following the already planted seedling row, and at this time, the control unit 19 uses the orientation sensor 15 to determine whether the advancing direction matches the reference orientation or not. (314). and,
If the traveling direction matches the reference direction, the control unit 19 fixes the front wheel steering actuator 10 (315).

For example, if the heading of the rice transplanter 1 deviates from the reference heading at point D (see Figure 7), the control unit 19 operates the front wheel steering actuator 10 to align the heading with the reference heading. (516).

Furthermore, the control unit 19 determines whether the already planted seedling row has passed through the center gate of the sensor 17 based on the signal from the seedling row detection sensor 17 (317), and if it has passed through the center gate, The planting part shift actuator 9 is fixed to hold the planting part 7 in that position (818). Further, when the read seedling row is passing to the right of the center gate of the seedling row detection sensor 17 (S19), the control section 19 shifts the planting section 7 to the right side using the planting section shift actuator 9 and The planted seedling row is located at the center gate of the seedling row detection sensor 17 (S
20). Furthermore, when the row of already planted seedlings passes to the left of the center gate of the seedling row detection sensor 17, the control unit 19 shifts the planting section 7 to the left side using the planting section shift actuator 9, so that the row of already planted seedlings is replaced with the seedlings. It is located at the center gate of the row detection sensor 17 (S21).

Then, by the same operation as described above, the rice transplanter 1 performs the planting work, turns 180 degrees in the ridge 12 #4, and further performs the planting work. Then, the control unit 19 determines whether or not it is time to end the turn based on the signal from the azimuth sensor 15.
22), if it is determined that it is the end of the turn, it is determined whether the next stroke is the preset stroke start or not (323), and if it is determined that it is not the n stroke start, the stroke is incremented (323).
324). In addition, if the next stroke is the n stroke mouth, the control unit 1
Step 9 resets the process to O process (525), and fixes the planting section 7 in a row aligned with the row of already planted seedlings (32).
6). Then, the control unit 19 fixes the rear wheel steering actuator 11 and sets the rear wheels 3 in a straight-ahead state (827).
Furthermore, based on the signal from the direction sensor 15, it is determined whether the traveling direction matches the reference direction or is reversed by 180 degrees (
328).

When the heading is good, the control unit 19 fixes the front wheel steering actuator 10 and causes the rice transplanter 1 to travel in the current heading (329), and when correcting the heading, the control unit 19 fixes the front wheel steering actuator 10. The forward direction of the aircraft 5 is corrected by steering the front wheels 2 (330). If it is determined in step 322 that it is not the end of the turn, the control unit 19 determines whether or not it is the 0 stroke entrance (331), and if it is determined that it is the O stroke entrance, it performs the operations described in steps 826 and below, and If it is determined that it is not the process entrance, the above steps S22 to 8
Leave the routine up to 31.

(G) As described in detail, according to the present invention, the rice transplanter 1, which is equipped with the front and rear wheel steering actuators 10.11 and which plants rice plants following the rows of already planted seedlings, is configured to control the traveling direction of the machine body 5. It is equipped with an orientation sensor 15 that detects the number of planting strokes, and a rotation number detection means (control unit 19) that detects the number of planting strokes, and when the number of planting strokes reaches a predetermined number, the front - Since the rear wheel steering actuator 10.11 is activated and the rice transplanter 1 travels in a direction consistent with the reference direction, the undulations of the existing work trajectory are removed every predetermined number of work strokes, and the undulations at the start and end of the work are adjusted. Can you match the work lines?

Moreover, if the ridge tracing sensor 13 is provided on the body 5621 side,
At the start of work, the rice transplanter 1 travels so as to maintain a constant distance between the ridge 12 and the machine body 5 based on the ridge tracing sensor 13, and the rice transplanter 1 travels so as to keep the distance between the ridge 12 and the machine body 5 constant.
be able to perform work in accordance with

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a paddy field working machine according to the present invention. FIG. 2 is a professional diagram showing the control section. Further, FIGS. 3 to 5 are flowcharts showing the operation of the present invention. Furthermore, FIGS. 6 and 7 are plan views showing the operation of the present invention. 1...Paddy field working machine, 10.11...Vehicle steering actuator, 15...Direction detection means,
17... detection sensor (seedling row detection sensor), 19...
Rotation number detection means.

Claims (1)

[Claims] (1) A paddy field work machine that is equipped with an actuator for steering the work machine and a detection sensor that detects the trajectory of the previous work, and is controlled to follow the trajectory of the previous work based on the signal of the detection sensor. and a rotation number detection means to detect the number of work strokes, and when the number of work strokes reaches a predetermined number, the vehicle steering actuator is activated based on a signal from the direction detection means. An automatic control device for a paddy field work machine, characterized in that when activated, the paddy field work machine travels in a direction consistent with a reference direction.