JPS63309105A - Automatic controller of paddy working machine - Google Patents

Abstract

PURPOSE:To accurately determine a work end position, by measuring the distance to a levee with a levee sensing means at a position where a working machine is turned 90 deg. to a forward direction in carrying out butt turning. CONSTITUTION:A controlling part 19 senses the distance to a levee 12 with a levee detecting sensor 13 to judge whether the distance attains a preset turning distance (M) or not. When the distance is judged to be the turning distance (M), a rice transplanting robot 1 is turned by front back steering actuators 10 and 11. When the robot 1 is judged to be turned 90 deg., a distance (L) to the levee 12 in the direction at right angles to the forward direction is measured by the levee detecting sensor 13. When the robot 1 is judged to be turned 180 deg., a planting part 7 is lowered by an actuator 23 for vertically moving the planting part and a planting clutch is simultaneously connected by an actuator 25 for the planting clutch to start planting work.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial usage meter The present invention relates to an automatic control device for rice field working machines such as rice transplanters and water-filling straight-sliding machines. Related to automatic control devices for working machines that perform measurements and judgments.

(b) Conventional technology Traditionally, rice field work equipment, such as rice transplanters, leaves one stroke in the final stroke for planting the headland, and the end position was determined by the operator's visual intuition. .

→ Problems that the invention aims to solve By the way, with the rice transplanter mentioned above, the end position of the planting operation is determined by the operator's intuition, so the remaining distance is inaccurate and it is difficult to maintain a constant number of planting rows. This also led to a decrease in work efficiency.

(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,
A ridge detection means 13 for detecting the distance to the ridge 12 is disposed in front, and a # control means 19 and a direction detection means 15 for detecting the traveling direction of the machine 5 are disposed on the machine body. When making a headland turn, the control means 19 is configured to measure and determine the distance to the ridge 12 based on the signal from the ridge detection means 13 at a position where the aircraft muzzle is 90 degrees with respect to the traveling direction. It is characterized by the fact that

(E) Operation Based on the above-mentioned configuration, the paddy field working machine 1 works and works on the ridge 12.
When the paddy field work machine 1 makes a headland turn,
The control means 19 controls the paddy field work machine 1 to move at a speed of 90 degrees with respect to the direction of movement.
At the position where the gun is muzzled, the ridge detection means 13 detects the ridge 12.
Measure the distance to. Then, the paddy field work machine 1 continues the turning operation, completes the turning at a position rotated 180 degrees with respect to the direction of movement, and performs the next stroke operation from that position.

Q→ Examples Examples of the present invention will be described below with reference to the drawings.

A rice transplanter, for example, a rice transplanting robot 1 that performs rice transplanting work unmanned, has a body 5 supported by front wheels 2 and rear wheels 3, as shown in FIG. The planting section 7 is connected and supported so as to be swingable in the left-right direction and the up-down direction. A planting part shift actuator 9 is disposed between the parallel link and the fixed side of the body 5, and is configured to adjust the horizontal position of the planting part 7. In addition, the aircraft R
A front wheel steering actuator 10 for steering the front wheels 2 is provided in the section.
A rear wheel steering actuator 11 for steering the rear wheels 3 is further provided at the rear of the fuselage 5. A ridge detection sensor 13 for detecting the ridge 12 is disposed at the tip of the fuselage 5, and a direction sensor 15 configured by a magnetic sensor or the like for detecting the direction of travel is disposed at the center of rotation of the fuselage 5. It is 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 protruding in the direction of the plant. Seedling row detection sensors 17, 17 each consisting of a light receiving section are provided.

As shown in FIG. 2, the rice-transplanting robot 1 is equipped with a control section 19, and the control section 19 has 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 # control section 19 is connected to the ridge detection sensor 13, the direction sensor 15, the left and right seedling row detection sensors 17, 17, and the axle rotation sensor 21 via an input interface 2o, and further has an output interface The planting section shift actuator 9, the front and rear wheel steering actuators 10.11, the phase section vertical movement actuator 23, the planting section clutch actuator 25, and the planter clutch control actuator 26 are connected via 22. .

Next, the operation of this embodiment will be explained along the flowchart shown in FIG.

The rice planting robot 1 performs planting work following the rows of already planted seedlings,
At this time, the control unit 19 detects the distance to the ridge 12 by the ridge detection sensor 13, and if the distance is not preset, the turning distance (
M) is determined (Sl). If the control unit 19 determines that the turning distance is not the turning distance (M), the rice planting robot=p l~1 continues the planting work (82), and also judges that the turning distance is the turning distance gi (M). In this case, the control unit 19
The planting clutch is set to 0FFL by the planting clutch actuator 25 to stop the planting work. Furthermore, the control section 19 causes the planting section 7 to be raised by the planting section vertical movement actuator 23 (33), and the front/rear wheel steering actuator 1
0.11, the front wheels 2 and rear wheels 3 are steered to turn the rice transplanting robot 1 (S4). Based on the signal from the direction sensor 15, the control unit 19 determines whether or not the aircraft 5 has muzzled 90 degrees from the direction of travel (S5). If it has determined that the muzzle has muzzled 90 degrees, the ridge detection sensor Measure the distance (L) to the ridge 12 in the direction perpendicular to the direction of travel (S
6). Then, Rice Ue Robot J-1 continued its calving movements (
S7), the control unit 19 determines whether or not the aircraft 5 has made a 180 degree turn based on the signals from the azimuth C and -I 15.S8
), when it is determined that the plant has been rotated 180 degrees, the planting part 7 is lowered by the planting part vertical movement actuator 23, and the planting clutch is connected by the planting clutch actuator 25 to start the planting work (S9). ).

Next, the case where a suitable planting position is determined based on the distance fil (L) to the ridge 12 measured by the ridge detection sensor 13 when turning by 90 degrees will be explained with reference to the flowchart in FIG.

The rice planting robot 1 performs planting work following the rows of already planted seedlings,
At this time, the control unit 19 detects the distance to the ridge 12 by the ridge detection sensor 13, and the control unit 19 detects the distance to the ridge 12 using the ridge detection sensor 13,
Determine whether or not I (M) has occurred (SIO). If the control unit 19 determines that the nodal distance (M) is not reached, the rice-transplanting robot 1 continues the planting work (Sll), and if it determines that the nodal distance (M) is reached, the rice-transplanting robot 1 continues the planting operation. Part 19
The planting clutch is set to 0FFj by the planting clutch actuator 25 to stop the planting work. Furthermore, the control unit 19 raises the planting unit 7 using the planting unit vertical movement actuator 23 (512), and steers the front wheels 2 and rear wheels 3 using the front and rear wheel steering actuators 10.11 to move the rice transplanting robot 1. (S13). Then, the control unit 19 determines whether or not the aircraft 5 has turned by 90 degrees from the heading direction based on the signal from the direction sensor 15 (314). If it is determined that the aircraft has turned by 90 degrees, the ridge detection sensor 13 determines the heading direction. A distance of 1 m (L) to the ridge 12 in the orthogonal direction is measured (S15). Then, the control unit 19 controls the distance (
I am trying to judge whether L) is suitable as a planting position.316)
, if it is judged to be appropriate, that is, 2 m l <
When L + 21 < ml, the number of planting rows n in the next step is determined by calculating n 1 = L + 21 - ml, and when L + 21 = ml, n =
Decided to be m.

(See Figure 5). In addition, m is the number of planters of the rice transplanting robot 1, and l is the distance between rows. For example, if the rice planting robot 1 is planting 4 rows, that is, the number of planters m = 4, and the remaining distance (L + 21) = = 51, = (L + 2J m)
l=61 41=2, that is, only two rows are planted in the next process (S17).

On the other hand, if it is determined that the distance # (L) is not appropriate as the planting position, that is, if L+24≧2ml, then n =
m is determined (818). Then Tamurohot 1
1j Exercising action e continuation (S 19), 11113 part 1
9 indicates that the aircraft 5 is oriented to 1 based on the signal from the direction sensor 15.
If it is determined that the machine 5 has been turned 80 degrees or not, it is determined whether the machine 5 is in the planting position 521), and if it is determined that it is in the planting position, it is determined that the planting part is The planting unit 7 is lowered by the vertical movement actuator 23, and the planting clutch is connected by the planting clutch actuator 25 to start planting the previously calculated n rows (S22). In addition, when the control unit 19 determines that the machine body 5 is not at the end of planting position, the planting part up and down actuator 23 lowers the planting part 7, and the planting clutch actuator 25 connects the planting clutch to complete the planting. Planting work of planter m is started (S23).

Next, a case where the rice transplanting robot 1' is equipped with a seedling storage device will be described with reference to FIGS. 6 and 7 (al and bl).

The rice-transplanting robot 1' has ridge detection sensors 13a and 13b on its body 5, which detect ridges 12 in a direction perpendicular to the direction of movement.
Two seedling stop devices 27 are provided at the lower part of the seedling table 16 for each seedling guide round on both front sides, and the seedling stop devices 27 are arranged on the back side of the seedling table 16. Then, the seedling stop device 27 is turned on by a signal from the control section 19.

The solenoid 29 turns OFF and the solenoid 29 turns ON.
, and a return spring 31.

Next, the operation of this embodiment will be explained with reference to the flowchart of FIG.

fI! The 1Itjs unit 19 measures the distance to the ridge 12 in the direction orthogonal to the direction of travel using the ridge detection sensors 13a and 13b when the aircraft 5 starts turning, and uses the data XA,
, XB, read tr (31) (see Figure 9).

Then, the rice transplanting robot 1' continues to rotate (S2), and when the muzzle is finished, the control unit 19 again controls the ridge detection sensors 13a and 13.
b, measure the distance to the ridge 12 in the direction perpendicular to the direction of travel, and read the data XA2°XB2 (S
3) (see Figure 9). Then, the control unit 19
Compare IXA and XA2 with XB and X82.S4) If XA2 x XA1 and XB2 x (S5). Furthermore, the control unit 19 compares the data xA and xBl (S6), and if it is determined that XA<XB, the distances to the ridge 12 glLGXA and L (S7)
When determining that A, > XB1, the distance to ridge 12 is
B, (S8).

Then, the control unit 19 compares the distance glL with the distance l between planter arms x the number of rows m (S9), and if the distance glL is 2 ml or less, that is, m l > L - m l,
It is determined how many times the distance gtL is the distance I between planter arms (510). That is, in the case of (m-1)I>L-ml, the control unit 19 controls the seedling stopping device 2 of the first row from the ridge side.
Turn on the solenoid 29 of No. 7 and push the stopper 30 into the mat seedlings on the seedling stand 16 to stop the supply of seedlings (S
ll). Also, if (m −2) l> L−m l, the field 1
(S12), the control unit 19 turns on the solenoid 29 of the seedling stop device 27 from the ridge side to the second row, and pushes the stopper into the mat seedling on the seedling table 16 to stop the supply of seedlings (S13) . In the same way, gradually reduce the number of planted rows,
l) In the case of L-ml (S14), the control unit 19 turns on the solenoid of the seedling stop device 27 from the ridge side to the m-1th row, and pushes the stopper into the mat seedling on the seedling table 16. The supply of seedlings is stopped (S15). As a result, the rice-transplanting robot i' plants the number of rows other than those for which the supply of seedlings was stopped by the seedling stop device 27, and the control unit 19 collects the distance data to the ridge 12 using the ridge detection sensors 13a and 13b. A reading process is performed (816). and,
When the distance data from the ridge detection sensors 13a and 13b changes, that is, when turning is started at the edge of the ridge (3
17), the control unit 19 turns off the solenoid 29, and the stopper 30 is pushed back by the spring 31 and retreats from the seedling guide surface of the seedling stand 16 (318). As a result, the rice-transplanting robot 1' completes all the planting operations when the rice-transplanting robot 1' completes the final process by planting the entire number of rows (m).

In this way, the seedling storage device M27 is connected to the ridge detection sensor 13.
Operate based on signals from a and 13b: If this is done, the irregular number of rows at the end of planting can be automatically adjusted to improve operability.

Although the above-mentioned embodiment has been explained using a rice transplanting robot as an example, the present invention is not limited to this, and a normal rice transplanting machine may be used.

(g) As described in detail, according to the present invention, there is a ridge 1 in front of the fuselage 5.
A ridge detection means 13 for detecting the distance to the rice field machine 1 is disposed, and a control means 19 and a direction detection means 15 for detecting the traveling direction of the machine body 5 are disposed on the machine body 5. At the time of rotation, the control means 19 is configured to measure the distance to the ridge 12 based on the signal from the ridge detection means 13 at a position where the fuselage 5 is at a muzzle angle of 90 degrees with respect to the traveling direction. The work end position is detected by the ridge detection means 13, and the work end position can be accurately determined.

Furthermore, if the control means is configured to determine the work end position and the number of work threads in the next stroke based on the distance to the ridge, the number of work threads can be made constant and work efficiency can be improved.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a rice transplanter according to the present invention, and FIG.
The figure is a block diagram showing the control section, and FIG.
It's Chiard. Further, FIG. 4 is a flowchart showing the operation of another embodiment, and FIG. 5 is a plan view showing the operation. FIG. 6 is a plan view showing still another embodiment, and FIGS. 7(al) and (b) are side sectional views showing different states of the seedling stopper. It is a flowchart showing the operation of the embodiment, and FIG. 9 is a plan view showing the operation. 1.1'...Paddy field work machine (rice transplanter), 5...Machine body, 10.11...Work Machine turning actuator, 1
2...Round, 13, 13a, 13b-Round detection means
, 15... Orientation detection means, 19... Control means (part).

Claims (2)

[Claims] (1) In a paddy field work machine which is equipped with an actuator for turning the work machine and whose movement direction is controlled by actuating the actuator, a ridge detection means for detecting the distance to the ridge is disposed in front of the machine body, Further, the machine body is provided with a control means and a direction detecting means for detecting the traveling direction of the machine body, and when the paddy field working machine turns a headland, the machine body is controlled at a position where the machine body has turned 90 degrees with respect to the direction of travel. An automatic control device for a paddy field working machine, characterized in that the means is configured to measure and determine a distance to a ridge based on a signal from the ridge detection means. (2) The automatic control device for a paddy field working machine according to claim 1, wherein the control means is configured to determine the work end position and the number of work lines for the next stroke based on the distance to the ridge.