JPH034305A - Steering controller - Google Patents

Abstract

PURPOSE:To execute a correct steering control by changing the comparison objective value of an azimuth signal from a magnetic azimuth sensor according to a reference azimuth signal by the degree of a definite value and executing a storage with the azimuth of the machine body as a reference when a grain culm in the middle of carrying after harvesting is detected. CONSTITUTION:At the time of a row harvesting work, based on the detections by right side and left side sensors 19 and 20, at the time of a middle dividing work, based on the detection only by the sensor 19, and further, at the time of the harvesting work of a falling riceplant, based on the detections by the sensor 19 and the second sensor 21, the automatic steering of the device body is executed. For the side harvesting and the harvesting work of a scattered planting, the steering control is executed based on the detection by an azimuth sensor 22. A comparison objective value thetac of the azimuth signal detected by the sensor 22 is changed by the degree of the definite value with a comparison objective changing means according to a reference azimuth signal thetaM, the comparison area of the thetaM and thetac is made proper, and the steering control is correctly executed based on the thetac and thetaM. By the on-action of a grain culm sensor 43 to detect the course of the carrying of the harvesting grain culm, the detecting signal of the sensor 22 is stored as the reference value, and the automatic steering is executed by the reference signal and the detecting signal of the sensor 22.

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial Application Field" The present invention is applicable to, for example, combine harvest operations, such as horizontal mowing or bulk harvesting, where the direction of travel cannot be accurately detected using a culm contact type mechanical sensor. The present invention relates to a steering control device that performs steering control of an aircraft under working conditions based on detection by a magnetic orientation sensor.

``Prior art'' In a means for controlling the steering of an aircraft based on the detection of this type of magnetic azimuth sensor, the reference azimuth angle (θM) and the azimuth angle (θ) detected by the azimuth sensor are -When a difference occurs in the ura, the aircraft's steering control is performed to eliminate this difference.

[Problems to be solved by the invention] However, if the azimuth angle (θ) detected by this type of magnetic azimuth sensor is between 3/2π and 2π (3/2π≦θ≦2
π) or between 0 and π/2 (0≦θ≦π/2), this control reference value (θMl is between 0 and π/2 (0≦02≦π/2) or 3/ Between 2π and 2π (3
/2π≦02≦2π), the azimuth angle (θ)
If control is continued in such a way that θ is greater than or equal to 2π or less than 0, there will be a drawback that the difference between the reference value (θ, ) will further increase and the control itself will become impossible. Ta.

In addition, when trying to set the reference azimuth (θ11) at the start of mowing with this kind of steering control, there is a problem that the timing is difficult and lacks accuracy (and it is difficult to set the reference azimuth (θ11) at the beginning of mowing). When corrected, the reference azimuth angle (θ
There was the trouble of having to reconfigure M).

[Means for Solving the Problems] Accordingly, the present invention provides a structure in which steering control of an aircraft is performed based on a comparison between an azimuth signal detected by a magnetic azimuth sensor and a reference azimuth signal, in which the magnetic azimuth sensor A comparison quadrant changing means is provided for changing the comparison target value of the azimuth signal detected by a constant value according to the reference azimuth signal value.

Further, the steering reference setting means stores the detection signal of the orientation sensor as a reference value by turning on the husk sensor that detects the transportation of the reaped grain culm, and the stored reference value is detected by the rear orientation sensor. and a steering control means for automatically steering the aircraft based on the detected signal.

Furthermore, a manual steering control means for performing manual steering operation of the aircraft, and a control interruption for interrupting automatic steering control and canceling the stored reference value based on the azimuth sensor when the manual steering is turned on. and a steering reference resetting means for re-memorizing the detection signal of the azimuth sensor as a reference value when the manual steering is turned on to off.

"Function" According to the present invention, for example, the azimuth angle (θ) detected by the magnetic azimuth sensor is between 3/2π and 2π (3/2π).
2π≦θ ≦2π) or between 0 and π/2 (0≦θ
≦π/2), this reference value (θ & 11 is O
and π/2 (0≦02≦π/2) or between 3/2π and 2π (3/2π≦θ, ≦2π), a constant value (2π ) to change the azimuth (θ) between -1/2π and 0 (-1/2
π≦θ≦0) or between 2π and 5/2π (2π≦θ
≦5/2z) and change the comparison quadrant, the comparison target relationship of the azimuth angle (θ) to this reference value (θM) becomes thicker (in the appropriate range without being different), and the reference value The purpose of this invention is to extremely easily and accurately perform steering control in which the azimuth angle (θ) matches the azimuth angle (θM), thereby improving control accuracy.

In addition, when detecting culms that are being transported after harvesting, the orientation of the aircraft at this time is stored as a reference value, and the reference value is accurately and automatically set when the orientation of the aircraft stabilizes. .

Furthermore, based on this azimuth sensor (during automatic steering control, if the aircraft's orientation is changed by manual steering operation, automatic steering control is interrupted, memory of the reference value is canceled, and manual operation is resumed). When the direction is interrupted and automatic steering is started, the changed direction is automatically stored as a new reference value to perform accurate steering control.

"Example" Hereinafter, an example of the present invention will be described in detail based on the drawings. Figure 1 is a control circuit diagram, Figure 2 is an overall side view of the combine harvester,
Figure 3 is a plan view of the same, and (1) in the figure shows the running roller (
2) is a truck frame on which the above-mentioned truck frame [11] is installed, (3) is a machine base installed on the truck frame [11], (4) is a feed chain (5) stretched on the left side, and a handling cylinder (6) and a processing cylinder (
7) is a built-in threshing section, (8) is a reaping section equipped with a cutting blade and a culm conveying mechanism, etc., and (9) is a straw removal cheno (101).
(12) is a driver's cab equipped with a driver's seat (13) and a driving operation part (14);
5) is located at the rear right side of the aircraft base (3) and the engine (16
), and (17) is the engine part (
15) A grain tank disposed at the front to collect grains from the threshing section (4); (1B) is a discharge auger that takes out the grains in the grain tank (17) to the outside; reaping,
It is configured to perform threshing work.

As shown in FIG. 4, the reaping section (8) is equipped with a right sensor (19), which is a contact-type culm sensor that senses the position of the rice and guides the machine along the row, and a first left sensor ( 2
0) and a second sensor (21) on the left side, the right sensor (19) measures the leftmost row position of the front cutting row, and the first left sensor (20) measures the third and fourth rows from the oldest side. A second sensor (21) on the left side is provided to detect the position of the leftmost row (second and third rows from the leftmost side), and these sensors (19), (20), and (21) Based on the detection, the steering control of the machine body during row cutting, mid-splitting, or lodging work is appropriately performed.

In addition, a magnetic azimuth sensor (22) is installed on the upper surface of the grain tank (17) to detect the traveling direction, which is the azimuth angle of the aircraft.As shown in FIG. is detected by a small magnetic sensor coil (22al) made of high magnetic permeability alloy, and is detected by an oscillator (22al).
3), a frequency multiplier circuit (24), and a phase variable circuit (24).
5), the coil (22) includes a filter circuit (26
)・AC amplification circuit (27)・synchronous rectification circuit (28)・DC amplification circuit (29) The azimuth angle (θ) is calculated based on the analog output voltage TE,l (E,l).

By the way, as shown in FIG. 1, the system is equipped with a steering control circuit (30) which is a control means for automatic steering control of the aircraft, and detects whether the aircraft is shifted to the left or right at the first sensor (20). Left and right sensors (31) (32), and first and second sensor switches (331) that detect the location zone positions of "0" to "3" in the right sensor (19).
F34) and “0” to the second sensor (21)
The first and second sensor switches (351 (361) detect the location zone position of "3", and the fit steering switch (37) performs fine left/right adjustment of the steering direction of the aircraft.
Row cutting terminal (38al, middle splitting terminal (38b) - horizontal cutting terminal (38c), lodging terminal (38d) chi (391 + 40
+, an automatic steering switch (41), a manual priority switch (42), a culm detection switch (43) which is a culm sensor that detects when the reaped culm is being transported, and a vehicle speed sensor (44).
and the magnetic direction sensor (22) are input connected to a control circuit (30). Side clutch solenoids (4) are used for important operation of the left and right side clutches that control the aircraft
51 (461) and the automatic steering lamp (47), the control circuit (30) is connected as an output, and each of the sensors (191 (
Based on the detection of 201 (211 (221)), automatic steering control of the aircraft is performed as appropriate.

The present embodiment is constructed as described above, and its operation will be explained below based on the flowcharts shown in FIGS. 6 to 9 and the output characteristic diagram of the magnetic orientation sensor shown in FIG. 10.

In normal row cutting work, it is based on the detection of the right sensor (19) and the first left sensor (20), and in the middle cutting work, it is based on the detection of only the right sensor (19). During the rice harvesting work, automatic steering of the aircraft is performed based on the detection of the right sensor (19) and the second left sensor (21), while these sensors (19)
1+201 [In 211, the steering control of the aircraft is performed based on the detection of the direction sensor (22) in horizontal mowing work orthogonal to the planting row where proper steering is not possible, or in the reaping work of rose planting. , it was designed to tighten.

The procedure for such horizontal mowing work will be explained in the order of steps f51, . . . in the flowcharts of FIGS. 6 to 9. Note that FM in the flowchart is a memory necessity flag, and when it is necessary to memorize or rememorize the reference value (θM), it is set as 1 fFM=11, and in other cases, it is set as O (FM=01. Also, FL is a flashing flag, and indicates when the automatic steering lamp (47) needs to be flashed without automatic operation until the reference value (θ) is rememorized even though it is in automatic mode. O(FL・
0). Furthermore, FR is a priority flag, which indicates when it is necessary to perform control based on the right sensor (19) in priority over the direction sensor (22).
PR・0).

(Sl) A storage necessity flag fFM) that requires storage of the reference value (θM) is set to 1 (FM=l+).

(Sl) Cancel when the previous reference value (θ2) is stored.

(S3) Determine whether the flashing flag (FL) that blinks the automatic steering lamp (47) is 1 or 0.
).

(S41 When FL=1, the automatic steering lamp (47) blinks (S5) The first O output from the direction sensor (22)
As shown in the figure, the azimuth angle (θ) is calculated from the output voltage ft,
(calculation) θ = tan-'f related to on/off of cl
Ex-Em) / fEy-Ea) fO≦θ≦2π)E
8 is an analog reference voltage (S6) ~ [515] The threshing switch (39) is on, the reaping switch (40) is on, the automatic steering switch (
41) is on, the classification switch is on (selection switch (3)
8) is the horizontal mowing terminal (switched to 38cl), the culm sensor (43) is on, the fit steering switch (37) is off, the manual priority switch (42) is off, and the machine direction is also set. The automatic steering lamp (47) is turned on when the conditions are stable and satisfactory for work. At this time, the lamp (47) is blinking (when PL=ll, P
Change to lighting operation as L.0.

(S161~(3181 and FM・1 reference value (θM
), the azimuth angle (θ) calculated by the calculation formula is stored as the reference value (θ1.I) (θ2
・θ) and FM・0.

(S19) to (S251) Based on the relationship between the current value (θ1) (θ1・θ) and the reference value (θ2) that is subsequently read, the comparison quadrant of the current value (θ1) is changed and the comparison value (θ
C).

(1) θ when 0≦θ2≦π/4 and 3/2π≦01≦2π. =θ, changed to -2π (S231(2) 3/2
θ when π≦θ2≦2π and 0≦θ, ≦rr−/z. Change to =θ1+2π (S25) (3) The above fi
l (θ other than 21.=θ, (S211(S26)
When the right sensor (19) is in a free state in the "0" zone, steering control is performed based on the orientation sensor (22), and when the right sensor (19) is in a zone other than rOJ, the right sensor (19) is given priority over the orientation sensor (22). Based on (performs steering control)

+5271~(3301 Steering control based on the azimuth sensor (19) is performed as follows.

θ. When ≦θ, -Δθ, the right solenoid (46) turns on (S28) When θ0≧θ, +Δθ, the left solenoid (45) turns on (S30) Δθ is the dead band width from the center value (S311 to f5361 The right sensor (19) "0
”, set this priority flag (FRI to 1 (FR=l
+, and the following control is performed using each sensor zone "1" to "3".

(When 11 zone is "1", left and right solenoid (45) (4
6) Turn off and move the aircraft straight (S33) (2) When in zone "2", operate the right solenoid (46) with a specified pulse to gently turn the aircraft to the right (336) (3) Zone "3"
When the right solenoid (46) is turned on with a long pulse (
Operate with the specified pulse + α) to turn the aircraft sharply to the right (
S351 (S37) - (S391) If the sensor zone returns to "0" during such control that prioritizes the right sensor (19), the FR will = 0 and shifts to steering control based on the direction sensor (22).

fs40) to fs421 Threshing switch (39) or reaping switch (during steering control by direction sensor (22))
When either one of the left and right solenoids (40) is turned off, the automatic steering lamp (47) which is turned off and turned on during the on operation of the left and right solenoid (451 (461)) is turned off. Even if the lamp (47) is in the FL-1 state where it flashes, the lamp (47) is turned off and PL=0 and the process returns to step (S3).

(S431 to (S461) When the automatic steering switch (41) is turned off during steering control by the azimuth sensor (22), the left and right solenoids 145) are turned off and turned on during the on operation of (4B) Automatic steering lamp (47
) is turned off and FM=1 and the process returns to step (S2). At this time, if the lamp (47) is in the flashing FL=1 state, the lamp (47) is turned off and PL.0 is set.

1s47) to f351) When the horizontal mowing switch in step (S9) is not on, that is, when the selection switch (38) is switched to a terminal other than the horizontal mowing terminal (38c), operations for row mowing, mid-splitting, and lodging mowing Direction control for each sensor (19)
(20) This is performed based on the detection of (21).

That is.

(1) When the switch (38) position is on the row mowing switch located at the row mowing terminal (38al), row mowing steering based on the detection of the right and left first sensors (191 (20)
(3481 (2) When the switch (38) position is on the middle split terminal (38bl), middle split steering based on the detection of the right sensor (19) (S501 (3) switch (
38) When the position is other than the on position of the lodging terminal (38dl), the row mowing and intermediate split switch is on, the right and left second sensors T1
9) Lodging mowing steering based on the detection of (21)
At the same time as each step (S51) is performed, the lit lamp (47) is turned off, and FM=1 is set to step (S2).
Return to Also, at this time, the lamp (47) flashes on PL・1.
In the state, the lamp (47) is turned off and FL=0.

When the state is returned to step (S2), the reference value (θ, ) stored up to that point is canceled and the automatic steering switch (41) is turned on again or the horizontal mowing switch is turned on (switch (38) is the side-cut terminal [
38G) position) and the steering control is performed by the azimuth sensor (22), the azimuth angle (θ) read when this is turned on is set as the new reference value (θ, ) in step (S171). The information is stored again and subsequent control is performed.

(S521 to (S54)) Steering control status by direction sensor (22) Either the detection switch (43), which is a culm sensor, is off, the fit steering switch (37) is on, or the manual priority switch (42) is on. But when PL=
1. Return to step (S2) with FM=1, cancel the reference value (0M) stored up to that point, and then use these switches (371 (421 (43)) to perform steering control by the direction sensor (22) again. Then, when the switch (43) is turned on and each switch (371 (42) is turned off, the lamp (47) is turned on and off to return to the steering control state by the direction sensor (22)), the lamp (47) is turned on and off.
47) is lit, the azimuth angle (θ) read at the time of restarting the control is re-stored as a new reference value (θ11), and control is thereafter performed based on this new reference value (θ,).

Note that the output of the orientation sensor (22) varies depending on its inclination, so the horizontal the mounting position, the better the accuracy.
Therefore, if the reaping section (8) has a configuration in which horizontal control is performed, it is optimal to install it in the reaping section (8).

By the way, when the right sensor (19) is in a state where it moves away from the culm and the sensor zone returns to the free state of "0", after traveling a certain distance (2) (row spacing 2 x row spacing X2), Since the system shifts to automatic steering control using the direction sensor (22), it is possible to prevent hunting in these sensors (191 (22)), and it is possible to aim at a distance of two or more distances without running in a free state. It is possible to improve the followability in the running direction.

"Effects of the Invention" As is clear from the above embodiments, the present invention has a structure in which the steering control of the aircraft is performed based on the comparison between the azimuth signal detected by the magnetic azimuth sensor (22) and the reference azimuth signal. , a comparison quadrant changing means is provided for changing the comparative value (θe) of the azimuth signal detected by the magnetic azimuth sensor (22) by a fixed value according to the reference azimuth signal value (θ,). Direction signal value (θM) and comparison target value (θC
), and these values (θc1 (
This allows steering control based on θ11) to be performed easily and accurately.

In addition, a culm sensor (4
Steering reference setting means for storing the detection signal of the direction sensor (22) as a reference value (θM) by the ON operation of 3); Since the system is equipped with a steering control means that automatically steers the aircraft based on the detected signal, when the orientation of the aircraft is stable such that the cut culms are moving on the conveyance path, the orientation reference is used. The value (θM) is determined, so that an accurate reference value (θit) of the azimuth can be automatically obtained and highly accurate steering control can be performed.

Furthermore, a manual steering control means for manually steering the aircraft, a means for disconnecting the azimuth sensor when the manual steering is turned on, and a detection signal of the azimuth sensor (22) when the manual steering is turned on to off. Since it is equipped with a steering standard resetting means for re-memorizing as reference values (θ&l), when restarting automatic steering control by the orientation sensor (22) after manual steering, the The bearing is automatically stored as a new reference value (θM1), and accurate steering control is performed, resulting in remarkable effects.

[Brief explanation of the drawing]

Fig. 1 is a control circuit diagram, Fig. 2 is an overall side view of the combine harvester, Fig. 3 is a plan view thereof, Fig. 4 is an explanatory plan view of the reaping section, Fig. 5 is an explanatory drawing of the magnetic direction sensor section, 6 to 9 are flowcharts, and FIG. 10 is an output characteristic diagram of the orientation sensor. (22)... Orientation sensor (43)... Culm detection switch (culm sensor) (
θM)...Reference value

Claims (3)

[Claims] (1) In a structure in which the steering control of the aircraft is performed based on a comparison between an azimuth signal detected by a magnetic azimuth sensor and a reference azimuth signal, the comparison target value of the azimuth signal detected by the magnetic azimuth sensor is used as a reference. A steering control device comprising a comparison quadrant changing means for changing a constant value according to a direction signal value. (2) In a structure in which the steering control of the aircraft is performed based on a comparison between the direction signal detected by the magnetic direction sensor and the reference direction signal, the turning-on operation of the grain culm sensor that detects when the cut culm is being transported Steering reference setting means for storing the detection signal of the orientation sensor as a reference value; Steering control means for automatically steering the aircraft based on the stored reference value and the detection signal detected by the rear orientation sensor. A steering control device comprising: (3) In the steering control device according to item 2, the manual steering control means performs a manual steering operation of the aircraft, and when the manual steering is turned on, the automatic steering control based on the azimuth sensor is interrupted and the automatic steering control is stopped. The present invention is characterized by comprising a control interrupting means for canceling the stored reference value, and a steering reference resetting means for re-memorizing the detection signal of the azimuth sensor at this time when the manual steering is turned on and off as the reference value. steering control device.