JPH062U - Automatic steering control device for work vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] The operability is remarkably improved by eliminating the need to cancel and restart the automatic steering control. [Structure] Automatic steering control is automatically canceled in the first turn, headland straight running and second turn states in the headland turning process, while automatic operation is performed based on the end of the second turn. Direction control is automatically restarted.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an automatic steering control device for a working vehicle such as a passenger management machine.

[0002]

[Problems to be Solved by Prior Art and Invention]

 Today, in this type of work vehicle, it has been proposed to automatically drive the traveling machine body in order to improve work efficiency and safety. In this case, it is not possible to install an expensive detection device such as a gyro, and this causes a problem of extremely complicated control. Therefore, it is conceivable to perform automatic steering control based on the detection of the direction sensor when traveling straight ahead in the work area, and to perform turning traveling in the headland by manual operation (remote operation or boarding operation). Cancel the automatic steering control each time the automatic steering state changes to the manual steering state due to headland invasion or when the manual steering state changes to the automatic steering state due to headland escape. Since it requires an operation for restarting or restarting, there is a new drawback that the operation at the time of migration becomes complicated, and there is a fear that the operability is deteriorated and an erroneous operation is caused.

[0003]

[Means for Solving the Problems]

 The present invention was devised in view of the above circumstances to provide an automatic steering control device for a work vehicle capable of eliminating these drawbacks. In a work vehicle comprising a direction sensor for detecting a traveling direction and an automatic steering control unit for automatically controlling a vehicle body based on the detection of the direction sensor, a pillow is provided in the automatic steering control unit. 1st roundness judging means to judge the aircraft roundabout due to ground intrusion, headland straight running judging means to judge headland straight running due to row change, and second round body judgment to judge the aircraft roundabout due to headland escape The turn judging means, the automatic steering control canceling means for canceling the automatic steering control when any one of the judging means is in the judging state, and the automatic steering control when the judging means are all in the non-judging state. Automatic steering control restart means for restarting control And it is characterized in and. According to the present invention, the operability can be remarkably improved by eliminating the operation of releasing and resuming the automatic steering control.

[0004]

【Example】

 Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a passenger management machine. The traveling machine body 1 is a sprayer (boom sprayer) for spraying liquid on the rear part of the traveling machine body 1 for carrying out control work in a field where crops have already been planted. ) 2 are connected via a lifting link mechanism 3, but each operation such as a steering mechanism, a main clutch mechanism, left and right side clutch mechanisms, a brake mechanism, a slot mechanism, and a forward / reverse switching mechanism provided on the traveling machine body 1 The unit is provided with an unmanned operation mechanism, each equipped with an actuator.

Reference numeral 4 denotes a pair of left and right sensor arms provided in the front part of the machine body. The sensor arms 4 project from the front end part of the machine body in a slanted shape so as to be positioned between the planted crop rows. In addition to being installed, each of the projecting tips has a detection bar projecting inward and an angle sensor for detecting an angle change of the detection bar (a swinging angle due to contact with a crop). Although the detection sensor 5 is provided, the sensor arm 4 further has a work posture that projects downward and rearward, and a storage posture that retracts and swings rearward from the work posture along the bottom of the running body 1. An actuator 6 for swinging and transforming is connected to the.

On the other hand, 7 is a receiver arranged behind the driver's seat 8, which receives the remote control signal transmitted by the transmitter 9 and controls the received signal as described later. Although input to the unit 10, various operating tools such as a steering operation volume 11 and a sensor elevating operation switch 12 are provided on the transmitter 9 side.

The control unit 10 is configured by using a so-called micro computer (including MPU, ROM, etc.). This control unit operates the steering mechanism in addition to the detection sensor 5 and the receiver 7. Signals are input from a steering sensor 13 for detecting a heading angle, a mode switching switch 14 or the like for switching a control mode according to a work machine to be connected, and at the same time, a judgment is made based on these input signals so that each unmanned vehicle can be operated. An operation signal is output to the operating mechanism and the actuator 6. That is, in the control unit 10, the signal input control for controlling the input of various signals, the remote operation control for controlling each unmanned operation mechanism based on the remote operation signal from the transmitter 9, and the detection values of the left and right detection sensors 5 are set. In comparison, automatic steering control that automatically controls the unmanned operation mechanism of the steering mechanism (straight automatic control) to match the detected values, sensor control that controls the elevation of the sensor arm 4, and cancellation of the automatic steering control. And steering control for restarting, working machine control for controlling the operation of the working machine (spreader 2 in the embodiment), signal output control for controlling the output of various signals, and the like. Among the controls, the sensor control, the steering control, and the working machine control, which are the subject matter of the present invention, will be described in detail below based on the flow chart shown in the drawings.

In the sensor control, it is determined whether or not there is a sensor arm up / down command (manual operation signal in the traveling machine body 1 or the transmitter 9), and when a down command is issued, an execution indicator of automatic steering control is used. While a certain automatic steering flag is set and the sensor arm 4 is lowered to the working position in a self-holding manner, when an upward command is issued, the automatic steering flag is reset and the sensor arm 4 is moved to the storage position. Up until now, it is designed to operate. That is, the sensor control is configured to raise / lower the sensor arm 4 based on the sensor arm raising / lowering instruction, and automatically turn ON / OFF the automatic steering control as the sensor arm 4 moves up / down. In the set state of the first-round flag, headland straight-ahead flag, and second-round flag, which are the steering control release indicators, which will be described later, the sensor arm 4 is raised to the storage position regardless of whether or not there is a sensor up / down command. It is becoming like this.

On the other hand, in the steering control, first, the state of the automatic steering flag is determined. If it is determined that the vehicle is in the reset state, the normal steering control that allows manual operation of the traveling vehicle body 1 or the transmitter 9 is executed, while if it is determined that the vehicle is in the reset state, the automatic steering control is performed. In the automatic steering control state, it is determined whether the steering angle detected by the steering sensor 13 or the steering angle of the steering operation volume 11 is within a preset turning operation range. If it is within the range, it is judged that the aircraft is traveling due to headland invasion and the first traveling flag is set.

When the first stroke flag is set, the automatic steering control routine, which is a subroutine, is avoided to cancel the automatic steering control, and the sensor arm 4 is automatically raised in the sensor control. However, in the set state of the first-pass flag, it is further determined whether or not the steering angle detected by the steering sensor 13 is within a preset neutral range. If it is determined that the value is within the range, then the switching state of the mode switching switch 14 is determined, and if it is the spreader mode, the headland straight advance flag is set to release the automatic steering control. While maintaining the state, in the case of other modes, the first stroke flag is reset and the automatic steering control is restarted. In other words, in a spraying work with a wide working width, it is necessary to run straight on the headland for changing the row, so the release state is maintained without restarting the automatic steering control based on the first straight return. In other operations, since the turning stroke is completed without traveling straight on the headland, the automatic steering control is restarted immediately based on the return to straight.

Further, in the set state of the headland straight-ahead flag, it is determined whether the detected steering angle of the steering sensor 13 is within the turning operation range. If it is within the range, it is determined that it is the second aircraft traveling in the headland, the second traveling flag is set, and the automatic traveling control release state is maintained.

Further, in the set state of the second stroke flag, it is determined whether the steering angle detected by the steering sensor 13 is within the neutral range. When it is judged that the turning stroke is completed, it is judged that the turning stroke has been completed, and the first turning flag, headland straight flag and second turning flag which are the indicators for canceling the automatic steering control are reset. It is about to do. That is, during a wide-spreading work, the automatic steering control is automatically performed by judging the first aircraft traveling due to headland invasion, headland straight traveling due to row change, and second aircraft traveling. At the same time as releasing it, the automatic steering control is automatically restarted only when the vehicle has returned to the straight state after the completion of the second aircraft circulation.When restarting the automatic steering control, the sensor arm is used for sensor control. 4 is automatically lowered.

Further, in the work machine control, it is determined whether any of the above-described first traveling flag, headland traveling flag or second traveling flag is in the set state. If it is determined that all are in the reset state, work state control that automatically performs work start processing such as boom extension operation, pump drive, and spray amount adjustment (when the ground work machine is connected, the work machine If any one of them is in the set state, it is necessary to execute the non-working state control that automatically performs the swing preparatory processing such as boom folding operation and pump stop. I'm running.

In the embodiment of the present invention configured as described above, when the traveling machine body 1 to be automatically steered reaches a headland which is a turning space, the automatic steering control is canceled and the manual operation is performed. However, if the traveling machine body 1 or the transmitter 9 is manually operated, the automatic steering control is automatically released. Further, when the traveling body 1 makes a turn of approximately 90 °, headland straight traveling is performed to change the row. In this state, the headland straight traveling flag is set to set the headland straight traveling. Recognizing that the vehicle is traveling straight ahead, the automatic steering control is released. Then, when the traveling body 1 reaches a predetermined row, the traveling body 1 travels a second time to return the traveling body 1 to the work area. In this state, the automatic steering control is released and The automatic steering control will be automatically restored at the stage when the aircraft has completed the second round trip. Therefore, the automatic steering control is automatically released and restarted even though headland straight traveling is included in the aircraft turning stroke, resulting in less operator's operation labor and operability. Can be remarkably improved, and inconvenience such as erroneous operation can be prevented as much as possible.

In addition, in the embodiment, the mode switching switch 14 is provided, and when the switch 14 is set to a position other than the spraying operation mode, the automatic steering control is immediately restarted based on the straight return. Since it is configured as described above, it is possible to automatically release and restart the automatic steering control not only for wide work such as spraying work but also for work with narrow work width. Can be improved.

Further, in the embodiment, the automatic steering control is not released and restarted automatically, and the sensor arm 4 is moved up and down and the spreader 2 is stopped and restarted automatically. The operability can be significantly improved by simplifying.

[0017]

[Operation effect]

 In short, since the present invention is configured as described above, the automatic steering control unit can automatically control the airframe based on the detection of the direction sensor, but Judgment of the aircraft traveling accompanying the heading, traveling straight on the headland accompanying the change of row, and further determining the aircraft traveling accompanying the headland exit, and if any of them is determined, the automatic steering control is canceled, while all are not applicable. Will restart the automatic steering control. Therefore, when the heading changes from the automatic steering state to the manual steering state or when the headland escapes from the manual steering state to the automatic steering state, the automatic steering state is changed. Control release and restart operations are not required, and as a result, not only is it possible to significantly reduce the operating effort of manual operation and improve operability, but it is also possible to eliminate the inconvenience that causes erroneous operation.

Moreover, the present invention determines whether the headland goes straight ahead due to a change in the row and maintains the state of canceling the automatic steering control, and the automatic steering control is performed as the aircraft turns along with the headland escape. Since it will be restarted, the automatic traveling control will not be restarted by mistakenly making the straight traveling in the headland a straight traveling return due to the completion of the turning, and it is suitable for the spraying work accompanied by the straight traveling in the headland in the turning stroke. Can be fully accommodated.

[Brief description of drawings]

FIG. 1 is a side view of a traveling body showing a working state.

FIG. 2 is a side view of the same showing a non-working state.

FIG. 3 is a plan view of the same showing a turning stroke.

FIG. 4 is a perspective view of a transmitter.

FIG. 5 is a block diagram showing an outline of a control mechanism.

FIG. 6 is a flowchart showing a main routine.

FIG. 7 is a flow chart showing sensor control.

FIG. 8 is a flow chart showing steering control.

FIG. 9 is a flow chart showing work implement control.

[Explanation of symbols]

 1 traveling machine body 2 sprayer 4 sensor arm 5 detection sensor 9 transmitter 10 control unit 11 steering operation volume 13 steering sensor 14 mode switching switch

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akio Shirana 667 Izuya-cho, Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Mitsubishi Agricultural Machinery Co., Ltd. 667-cho 1 Mitsubishi agricultural machinery Co., Ltd.

Claims (1)

[Scope of utility model registration request] 1. A work vehicle comprising: a direction sensor for detecting a traveling direction of the machine body with respect to a crop row; and an automatic steering control section for automatically controlling the machine body based on the detection of the direction sensor. , The automatic steering control unit, a first round trip determining means for determining the aircraft traveling accompanying headland intrusion, headland straight traveling determining means for determining headland straight traveling due to row change,
The second round trip judging means for judging the aircraft traveling accompanying headland escape, the automatic steering control canceling means for canceling the automatic steering control when any one of the judging means is in the judging state, and the judging means. An automatic steering control device for a working vehicle, comprising: automatic steering control restarting means for restarting automatic steering control when all are in a non-judgment state.