JPS6374404A - Position and advance direction detector of self-propelling working machine - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides an orientation detection means for detecting the orientation of a machine body, a positional deviation detection means for detecting a positional shift in the width direction of the machine body with respect to a work process, and a work process. The aircraft is moved along the work process based on the inclination of the aircraft relative to the reference orientation determined by the reference orientation along the length direction and the detection information of the orientation detection means, and the detection information of the positional deviation detection means. The present invention relates to a travel control device for an automatic traveling work vehicle that is equipped with a travel control means for automatically traveling.

[Conventional technology]

What is the driving side of this type of autonomous work vehicle mentioned above? 10, the device includes an azimuth detection means for detecting the orientation of the machine so that the machine does not move straight in the length direction of the work stroke, but automatically travels with little deviation in the width direction with respect to the work stroke. , and positional deviation detection means for detecting positional deviation of the machine body in the width direction with respect to the work stroke, and travel control is performed based on information detected by each of these detection means.

For example, an explanation will be given of a case in which a self-propelled combine harvester performs reaping work in a so-called circular traveling mode, in which the harvester runs inward in sequence along the working path of each side located on the outer periphery of a predetermined working range. For example, a reference direction along the length direction of the first work stroke on each of the four sides located at the outermost periphery of the work range is set in advance before work starts, and each work located inside these first work strokes is set in advance. During the process, in order to avoid leaving uncut leaves, the position of the machine in the width direction, that is, the reaping position, is determined relative to the uncut stem culms planted in the field based on the information detected by the positional deviation detection means with respect to the working process. While maintaining the robot at an appropriate position, the vehicle is controlled to travel in a direction parallel to the first work stroke while reducing the work width each time it goes around the outer periphery of the work range. becomes.

Conventionally, in order to simplify the setting of the reference orientation, the reference orientation of each of the first work strokes on the four sides located at the outermost periphery of the work range is set from the second work stroke onward until the work is completed. It was designed to be used as is as the reference direction for each work process.

Incidentally, when setting the above-mentioned reference direction, the direction detected by the direction detection means is sampled by driving along the outer periphery of the working range in advance and every time the set distance is traveled, and the sampled direction is averaged. The direction of the entire length direction of the side work process is detected as the average direction, and the average direction is taught as the reference direction for each of the mutually parallel work processes of the four sides, or it is artificially set in advance before work. You will have to do something.

In addition, there are cases where the work strokes are set to be parallel to each other, and each work stroke is made to travel back and forth, so-called reciprocating mode. In that case, only one reference direction is used as the reference direction, A pair of reference orientations whose running directions are reversed by approximately 180 degrees are set.

[Problem that the invention seeks to solve]

However, in the above conventional configuration, once the reference direction indicating the length direction of the work process is set, the set reference direction is used as is until the work is completed. There was an inconvenience.

In other words, the reference orientation set before the work may be affected by setting errors, fluctuations in the working width caused by position correction in the width direction with respect to the working process by the positional deviation detection means, or the actual position of the stem culm rows planted in the field. As the work progresses, the actual direction of the work process may deviate from the initially set reference direction due to deviations in width or direction.

When the deviation in the direction of the actual work process becomes large,
The machine will be controlled so that it is oriented in a reference direction that is different from the direction of the actual working stroke, and as a result, the positional deviation in the width direction relative to the working stroke will increase, leading to the risk of leaving uncut parts. there were.

The present invention has been made in view of the above circumstances, and its purpose is to orient the aircraft in the direction of the actual work process even if the direction of the actual work process deviates from the initially set reference direction. The goal is to make it possible to drive automatically.

[Means for solving problems]

As shown in FIG. 1, the characteristic configuration of the travel control device for an automatic traveling work vehicle according to the present invention is that the orientation (θ) detected by the orientation detection means (S3) is sampled at each set distance or set time, and average orientation detection means (101) for detecting the average orientation (θmn) in the length direction of one work stroke;
And, there is provided a reference orientation updating means (102) for updating the average orientation (θmn) as a reference orientation (Xmn) for the next work process parallel to the current work process, and its functions and effects are as follows. It is as follows.

[For production]

In other words, while traveling one work process, the actual direction of that work process is detected, and in the next work process parallel to this work process, the actually detected direction of the work process, that is, the average direction, is changed to a new direction. By using this as a standard orientation, it is possible to prevent errors in the reference orientation from accumulating in each work process. In other words, the reference orientation is automatically taught and updated in each work process.

〔Effect of the invention〕

Therefore, in each work process, a reference orientation corresponding to the actual direction of the work process can be automatically set.

As a result, it has become possible to accurately control travel without accumulating errors in the deviation of the reference orientation relative to the work process.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 6, the planted stem culms of rice, wheat, etc. in the field are raised and harvested, and while the harvested stem culms are transported, the posture is changed to a sideways posture, and the receiver is passed to the feed chain (1). A reaping section (2) and a threshing device (3) that threshes the stem culms that are pinched and conveyed by the feed chain (1) and sort and collect grains are connected to a pair of left and right crawler running bags M (4).
, (4) is mounted on the machine (V) equipped with the above, to constitute a self-propelled combine harvester as a working vehicle.

Below the reaping section (2), the reaping section (2) is arranged from the front.
) by contacting the base of the stem culm introduced into the
A stock sensor (SO) consisting of a contact switch that outputs a 10FF signal is provided to detect whether or not reaping work is in progress.

The weeding tools (5a) and (5b) at both left and right ends provided at the tip of the cutting section (2) are attached to a frame (6).

Each of (6) is biased toward the front side of the body (V) and comes into contact with the base of the stem culm introduced into the reaping part (2), corresponding to the contact position. The sensor bar (7) rotates by an angle toward the rear of the aircraft (V), and the sensor bar (
7) a copying sensor (S+) as positional deviation detection means consisting of a potentiometer (R) that detects the rotation angle of
(SZ) is provided, and constitutes a positional deviation detection means for detecting a positional deviation in the width direction of the machine body (V) with respect to the work stroke.

Incidentally, since the stem culm planted in the field comes into contact with the sensor bar (7) intermittently, the output signal of the potentiometer (R) changes intermittently.

Therefore, in order to detect the positional deviation, signal processing such as averaging the output signal of the potentiometer (R) or detecting the maximum value per unit time is performed.

In addition, as a direction detection means for detecting the direction of the aircraft (V),
A direction sensor (S3) using a geomagnetic sensor that detects absolute direction by sensing changes in the geomagnetic field is installed on the aircraft (V).
It is located at the top of the.

To explain the configuration of the fuselage (V), as shown in Fig. 2, the output from the engine (E) is transmitted to the driving mission section (9) via the hydraulic continuously variable transmission (8). A rotation speed sensor (S4) is provided for detecting the running speed and distance by detecting the rotation speed of the human power shaft (10) to the transmission section (9).

In addition, a pair of left and right steering clutches and brakes (IIL), (111?), which intermittent power transmission from the transmission section (9) to the left and right crawler traveling devices (4), (4),
This steering clutch brake (IIL), (IIR)
Hydraulic cylinder (12L), (1
2R), and this hydraulic cylinder (12L), (1
2R) are provided with solenoid valves (13L) and (13R) for the solenoid valve (13L).

(13R) to perform steering operation.

Hereinafter, the configuration of the travel control means (100) that automatically travels along the work process while causing the body (V) to follow the stem culm will be described in detail.

First, to explain the outline of traveling control, as shown in FIG.
) from ONL to OFF is repeatedly sampled by the force position sensor (S3) at set time intervals, and the average direction (θmn) n・
. , the four sides located at the outermost periphery (m = 1, 2, 3 + 4
) Reference direction (Xm1) of each first work process (n・, )
At the same time, the planting of stem culms on each side is either in a form in which the stem culms are arranged in rows along the direction of movement of the aircraft, or in a form in which the stem culms are arranged irregularly along the direction of movement of the aircraft. The location of the vehicle is stored in a memory (15) connected to a control device (14) constituting the travel control means (100) in association with the reference orientation (Xmn) of the four sides. In addition, when planting, the form is memorized, so that the form arranged in rows is memorized as row mowing, which is the reaping form, and the form where the plants are arranged irregularly is memorized as horizontal mowing, which is the reaping form. It is.

By the way, if the stem culms are sown separately, the stem culms will be arranged irregularly along the direction of movement of the aircraft, so
Reaping work will be done horizontally throughout the entire work process.

The work for memorizing the reference orientation (Xmn) and the planting shape will be referred to as outer circumference teaching hereinafter. Also, since the stock sensor (SO) is ONL, O
The length of one work process is determined by repeatedly sampling the orientation (θ) detected by the orientation sensor (S3) at set time intervals until FF and calculating the average orientation (θmn). It constitutes an average azimuth detection means (101) for detecting an average azimuth (θmn) in the direction.

Thereafter, when the steering control is activated, the first steering control means for row mowing and the second steering control means for horizontal mowing are operated to control the stems for each work stroke along each side. Culm planting is automatically selected according to the form, and detected by the copying sensors (Sl) and (S2) so that the position in the width direction of the machine body (V) is maintained at an appropriate position for the work process. Steering control is performed based on the information, and the aircraft (ν) is oriented in the reference direction (
The direction sensor (S3
) The steering is controlled based on the tilt of the aircraft, which is the difference between the detected orientation (θ) and the reference orientation (Xmn), and the direction is sequentially changed approximately 90 degrees every time one work process is completed. The vehicle will be driven automatically while controlling the turns.

However, the first work stroke (n
・1) In the subsequent steps, the direction detected by the direction sensor (S3) (
θ) is sampled at every set time, and as one work process is completed, the sampled detection direction (
reference orientation updating means (102) for automatically updating a reference orientation (Xmn) for the next work process (n+1) parallel to the current work process (n) by calculating an average direction (θmn) obtained by averaging θ); is provided.

Next, the reference orientation updating means (102) will be explained in detail while explaining the operation of the control device (14).

As shown in Figure 3, the work mode selection switch (
A basket. ) is determined, and the operation status of this switch (!Jo) is determined.
When is in the ON state, processing for outer circumference teaching is started. The work mode selection switch (SW).

) is in the OFF state, the steering control start switch (SW
+) is turned on, the state of the stock stock sensor (SO) is determined.

Then, when the machine (V) is manually operated to start reaping work, the stock sensor (SO) is turned on,
Driving control for automatic driving is started.

That is, as the stock sensor (So) turns ON, the detected orientation (θ) of the orientation sensor (S3) is compared with the reference orientation (Xmn), and the reference orientation closest to the detected orientation (θ) is determined. A reaping format stored in correspondence with is selected, and steering control by the first or second steering control means according to the selected reaping format is started, and the average direction detecting means (101) operation is started, and sampling of the detected orientation (θ) by the orientation sensor (s3) is started.

Upon completion of one work process, the stock sensor (So)
When OFF, the sampled detection direction (θ
), the average direction (θmn) of the current work process (n)
is calculated, and its value is expressed as 4 sides (m・1.2.3.4
), and after replacing it with the reference direction (Xmn), turn control is performed based on the turn pattern stored in advance in the memory (15), and the direction of the next work process is approximately 90 degrees. change direction.

Therefore, with the completion of one work process mentioned above, the average direction (θmn) of the current work process (n) is changed to the next work process (
The reference orientation updating means (102) is configured by the process of replacing the reference orientation (Xmn) with respect to the reference orientation (Xmn).

Thereafter, the above-described process is repeated until the final stroke or the steering control is stopped, thereby automatically performing the reaping work in a predetermined range.

Next, the control operation of each part will be explained.

The turn control is performed, for example, after moving forward a set distance from the time when the stock sensor (So) turns OFF, the reference direction (Xmn) of the current work stroke and the reference direction (Xm+ + + of the next work 1 ζ stroke) After turning a predetermined angle smaller than the intersecting angle with n) in the direction of the next work process, stopping once, and moving straight back a predetermined distance, the remaining angle obtained by subtracting the predetermined angle from the intersecting angle is The direction sensor (S3
) and the travel distance detected by the rotational speed sensor (S, ), the machine (V) executes a series of preset sequences while controlling the vehicle (V) for the next work process. It is designed to automatically run toward the starting end.

To explain the first steering control means 411, this first steering control means is a steering control means for causing the aircraft to travel along stem culms planted in rows with respect to the traveling direction of the aircraft. Therefore, the copying sensor (Sl),
(sz) is given priority over the azimuth control that corrects the deviation in the orientation of the aircraft with respect to the azimuth (θ) detected by the azimuth sensor (S3) and the reference azimuth (Xmn). be. In other words, when the position in the width direction determined based on the detection information by the copying sensors (S,), (S,) is within the appropriate position range, azimuth control is performed to correct the orientation of the aircraft. It's Nishide. Therefore, in the steering control by the first steering control means, there is a high possibility that the reference direction (Xmn) will deviate from the direction of the actual working process, that is, the average direction (θmn).

On the other hand, since the second steering control means is a steering control means when the row of stem culms is unclear with respect to the direction of movement of the aircraft, the direction control is performed by the following sensor (Sl), ( S
This is done with priority over the steering control performed based on the detected information in 2). In other words, the direction sensor (S
3), when the difference between the detected orientation (θ) and the reference orientation (Xmn) is within the set range, the copying sensor (51),
Steering control is performed based on the detected information in (52).

Based on the flowchart shown in FIG. 4, the above-mentioned average direction detection means (101) will be explained as follows: 7. The stock sensor (So) is ONL. % OFF, while controlling the steering with the first steering control means or the second steering control means, every time a preset time elapses, the direction sensor (S3) detects the Direction (
θ), and each time the number of samples reaches a predetermined value, the sampled values are averaged to obtain an interval average, and the interval average value is stored in the memory (15). Then, as the stock sensor (SO) turns off, the sampling of the detection direction (θ) is stopped, and the average of all the stored section average values is calculated, so that Average direction (
θmn).

[Other actual flow side]

In the above embodiment, the average direction detecting means (101) detects the detected direction (
θ) is sampled, but
Sampling may be performed for each set distance. In that case, it can be determined whether the vehicle has traveled the set distance based on the information detected by the rotation speed sensor (S4).

Furthermore, in the above embodiment, the reference direction (Xm
In n), although the case where the planting of the stem and culm is taught together with the morphology by the outer circumference teaching has been exemplified, it may be artificially set without the outer circumference teaching.

Furthermore, in the above embodiment, the reaping work in a predetermined range is performed in a round-trip mode in which the reaping work is carried out in a roundabout manner along the outer periphery of a rectangular work range while changing direction by approximately 90 degrees on the four sides. However, it may be set to a shape other than a rectangle, such as a trapezoid or a triangle.Also, a format in which parallel work strokes are made to travel back and forth while alternating 180 degree direction changes in the work width direction may be used, depending on the work format. The specific configuration can be changed in various ways.

Further, in the above embodiment, the present invention is applied to a self-propelled combine harvester, but for example, it can be applied to various types of vehicles that automatically travel along the work process, such as an autonomous lawn mowing work vehicle or a tillage work vehicle. Of course, the present invention can be applied to the above-mentioned working vehicle, and the specific configuration of each part for automatic driving can be changed in various ways depending on the configuration of the working vehicle to which the present invention is applied. It is not limited to.

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 by the reference numerals.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for an automatic traveling work vehicle according to the present invention, FIG. 1 is a functional block diagram showing the configuration of the present invention, FIG. 2 is a block diagram showing the overall configuration of the control system, and FIG. The figure is a flowchart showing the operation of the control device.
The figure is a flowchart of the average direction detection operation, FIG. 5 is an explanatory diagram of the work process, and FIG. 6 is a schematic side view of the combine harvester. (V)... Aircraft, (Sl), (sz)...
... Positional deviation detection means, (S3) ... Orientation detection means, (Xmn) ... Reference direction, (θmn)
...Average direction, (θ) ...Detection direction,
(100)... Travel control means, (101)...
. . . Average direction detection means, (102) . . . Reference direction updating means.

Claims (1)

[Claims] direction detection means (S_3) for detecting the direction of the aircraft (V);
Positional deviation detection means (S_1) and (S_2) for detecting the positional deviation of the machine body (V) in the width direction with respect to the work stroke, and a reference direction (Xmn) along the length direction of the work stroke and the direction detection means (S_3). ), and the inclination of the aircraft (V) with respect to the reference orientation (Xmn) determined by the detection information of
Traveling of an automatic traveling work vehicle equipped with a travel control means (100) that automatically travels the machine body (V) along a work route based on the detection information by the positional deviation detection means (S_1) and (S_2). A control device that samples the detected orientation (θ) by the orientation detection means (S_3) every set distance or set time, and detects the average orientation (θmn) in the length direction of one work process. The detection means (101) and its average direction (θmn) are used as reference direction (X) in the next work process parallel to the current work process.
A travel control device for an automatic traveling work vehicle, which is provided with a reference orientation updating means (102) for updating the reference orientation as mn).