JPH0787807A - Work vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] Performs good automatic steering control of mobile agricultural machines such as speed sprayers with high efficiency. [Structure] In a work vehicle in which the magnetic field of the traveling track line (31) is detected by the track sensors (32) and (33) to automatically move along a predetermined system road, the steering angle changing operation of the traveling wheels (8) and (9) Attitude control means (34) and (35) for correcting the detection directions of the trajectory sensors (32) and (33) are provided in conjunction with.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle such as a speed sprayer used for spraying chemicals in an orchard for cultivating apples, grapes, pears and the like.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Laid-Open No. 62-196709.
As shown in the publication, there is a technique in which a magnetic field from an induction cable laid in a field scene is detected by a sensor, and a body is steered along the cable.

[0003]

However, when steering control is performed by detecting such a magnetic field, if the sensor is fixed to the vehicle body, the cable tension direction and the sensor detection direction are parallel to each other during turning. Therefore, there is a problem in that the detection of the sensor is likely to be in an abnormal stop state such as a reduction in output, and proper control cannot be performed due to, for example, hunting or delay in control.

[0004]

SUMMARY OF THE INVENTION However, according to the present invention, in a working vehicle in which a magnetic field of a traveling track line is detected by a track sensor to automatically move on a predetermined system road, the operation is interlocked with the operation of changing a steering angle of traveling wheels. Attitude control means for correcting the detection direction of the track sensor is provided, and since the detection attitude of the sensor is automatically corrected by the direction change operation of the running wheels,
The turning performance at the time of automatic steering based on the sensor output can be easily improved, the sensor output at the time of turning can be prevented from being lowered, and the unmanned operation can be safely performed. Therefore, the desired moving route can be easily set.

[0005]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a plan view of the orbit sensor unit, FIG. 2 is an overall side view of the speed sprayer, and FIG. 3 is a plan view thereof. The engine (2) provided in the front hood (1), the driver's seat (3), and A steering handle (4) is provided and a driving operation unit (5)
A spray nozzle (6) and a blower fan (7) for spraying the chemical liquid, left and right front wheels (8) (8) and rear wheels (9) (9) that are running wheels, and a tank (10) for containing the chemical liquid. And a spray pump (11) for pressure-feeding the chemical liquid in the tank (10) to the nozzle (6), and is configured to spray the chemical liquid while traveling.

Further, as shown in FIG. 4, the handle (4)
A hydraulic power steering cylinder (12) controlled by operation is provided, and the cylinder (12) is connected to front and rear axle cases (16) and (17) via front and rear crank arms (14) and (15) connected by a rod (13). The front and rear wheels (8) and (9) are steered by the cylinder (12).

Further, as shown in FIG. 5, the nozzle (6) is provided through a fulcrum shaft (18) provided on the longitudinal centerline of the machine body, and the direction correction cylinder (19) controls the spray direction of the nozzle (6). Along with the change, the nozzle (6) is divided into left, right, and middle jets (20) (21) (22).
And each spray port (2) through a spray valve (23).
0) (21) (22) is connected to the spray pump (11), and the chemical liquid is sprayed from the respective jet outlets (20) (21) (22) toward the left side, the right side and the upper center of the airframe. ing.

Further, as shown in FIG. 6, the engine (2)
A hydraulic pump (24) driven by a steering wheel (3), and a power steering valve (25) that is switched by a manual operation of the handle (3). The cylinder (12) is connected to the hydraulic pump (24) via the valve (25). , An automatic steering valve (28) having left and right steering solenoids (26) (27), a traveling cylinder (29) for activating a traveling clutch and a traveling brake (not shown), and an operation control of the cylinder (29) Is provided with a traveling control valve (30) for automatically performing the traveling and stopping, and the steering, traveling and stopping operations are automatically performed through the respective valves (28) (30). .

Further, as shown in FIGS. 1 and 4, a running track line (31) which is a guide cable laid underground in a field.
The left and right orbit sensor (32) (33), which is a pair of left and right magnetic field sensors for detecting the magnetic field of the bonnet (1), is provided on both sides of the front part of the bonnet (1). 32 and 33 are provided with left and right trajectory detection attitude solenoids (34) and (35) which are attitude control means for correcting the detection directions of the neutral holding springs (36) and (3).
Based on the detection result of the stroke sensor (37) that detects the steering angle of the front and rear wheels (8) and (9) by connecting the solenoids (34) and (35) to the sensors (32) and (33) via 6). , The solenoids (34) (35) are controlled to automatically correct the postures of the sensors (32) (33), and the pickup coils (38) (3) of the sensors (32) (33) are corrected.
9) supports each sensor (32) (33) in a direction substantially orthogonal to the track line (31) in a plan view. The magnetic field of the running track line (31) is detected by the track sensors (32) (33). In a working vehicle that detects and automatically moves on a predetermined system road, the detection direction of the track sensors (32) (33) is linked with the steering angle changing operation of the front and rear wheels (8) (9) that are running wheels. Each of the solenoids (3
4) and (35) are provided, the sensors (32) and (33) are rotated in the turning direction, and the orbit line (31) and the sensors (32) and (33) are parallel to each other when turning and the vertical output is It is configured to prevent deterioration.

Further, as shown in FIG. 7, a first microcomputer formed by microcomputers of the same specifications which can complement each other.
And left and right middle spray motors (42) (43) (44), which are provided with the second controller (40) (41) and control opening and closing of the left, right, and middle ejection ports (20) (21) (22), and each motor. Left and right middle spray switches (45), (46) and (47) for manually operating (42) to (44), an operation confirmation switch (48) for the operator to confirm the manual switching operation, and a blower fan (7). Alternatively, an electric blower clutch cylinder (49) for stopping, a blower clutch switch (50) for manually operating the cylinder (49), a spray relay (51) for driving or stopping the spray pump (11), and a hood (1). Left and right obstacle detection sensors (52) (53) provided on both front sides to detect obstacles in front, and a tank (10)
Chemical sensor (54) for detecting the amount of chemical liquid in the device, an automatic mode switch (55) for switching between the automatic control mode and the manual operation mode, and an abnormality record formed by an EEPROM for recording work data such as the content of the abnormality when the power is turned off. Memory (5
6) and motors (42) to (44) corresponding to specific fields
A spray pattern selection switch (57) for manually selecting a control pattern, and a checker (59) for reading and displaying data in the memory (56) by connecting a plug (58).
And a receiver (6) for receiving and inputting a signal from a remote control transmitter (60) for manually performing a manual operation (spraying operation, traveling stop, steering) of the speed sprayer spraying work.
1) is connected to the first controller (40).

Further, the automatic mode switch (55) and the receiver (61), the engine operation permission relay (62) for detecting the speed sprayer work preparation, the main shift reverse sensor (63) for detecting the reverse switching, Sub-transmission high-speed sensor (64) for detecting sub-transmission high-speed switching, touch sensor (65) provided in the front center of the bonnet (1) for detecting contact with an obstacle, and spray for manually operating the direction correction cylinder (19) The direction change switch (66), an abnormality indicator lamp (67) for notifying the occurrence of an abnormality, a reception lamp (68) for indicating whether or not the receiver (61) is receiving, and an automatic switching of the automatic mode switch (55) are displayed. An automatic mode lamp (69), an angular velocity sensor (70) that detects the angular velocity when the aircraft is moving left and right, a vehicle speed sensor (71) that detects the aircraft traveling speed, and Down (2) and the engine speed sensor for detecting a rotational speed (72), the right and left steering solenoid (2
6) (27), the stroke sensor (37), the left and right trajectory sensors (32) (33), the left and right trajectory detection attitude solenoids (34) (35), and the second controller (4).
It is connected to 1).

Then, as shown in the flow chart of FIG. 8, the automatic mode switch (55) is turned off and only manual control is performed, and the switch (55) is turned on so that the machine body travels at the working speed. 32) (33)
When the orbital line (31) is detected by and the orbital line (31) is substantially straight, the work of the straight portion is started, the straight line traveling control and the entire circumference spraying control are performed, and the chemical solution is sprayed in a semicircular shape. While moving straight along the orbit line (31), when the orbit line (31) is curved, for example, in a U shape in a plan view at a turning portion such as a headland in a field, the orbit sensors (32) (33) The turning section work is started based on the turning command signal, the power steering cylinder (12) turning control is performed by the left and right steering solenoids (26) and (27), and the steering angle detection of the stroke sensor (37) and the vehicle speed sensor are performed. The turning angle is calculated based on the traveling speed detection of (71) to distinguish between the course correction when traveling straight ahead and the turning direction when turning, and partial spray control is performed to stop the chemical spray on the outside of the turning direction. To turn the process to the next step When the front and rear wheels (8) and (9) are steered by the cylinder (12), the attitude solenoids (34) (based on the steering angles of the front and rear wheels (8) and (9) detected by the stroke sensor (37). 35) operates to rotate the track sensors (32) (33) in the steering direction of the front wheels (8) (8), and the pickup coils (38) (39) of the track sensors (32) (33) are moved to the track line ( 31) and a pickup coil (38) which is supported in a direction substantially orthogonal to
It is configured to prevent the output reduction of (39).

When working in the automatic mode by turning on the automatic mode switch (55), the steering wheel (3) and the driver's seat (4) are covered with a cover (not shown) which can be freely opened and closed to allow unattended operation. , The operator operates the transmitter (60), and the left and right steering solenoids (26) (2
7) The turning operation under the control and the spray stopping operation on the outside of the turning under the control of the left and right spray operation motors (42) and (43) are performed by remote manual control by the operator.

Further, FIGS. 9, 10 and 11 show a modification of the above-mentioned FIG. 1, and as shown in FIG. 9, the front axle cases (16) (16) and the left and right trajectory sensors (32) (3).
3) can be connected by links (73) and (73), and the sensors (32) and (33) can be easily rotated in the steering direction of the front wheels (8) via the links (73) and (73). As shown in FIG. 10, the stroke sensor (37)
And stepping motors (74) (74) that control based on the output of the angular velocity sensor (70).
4) (74) is connected to the track sensor (32) (33), and the track sensor (32) is controlled by the steering angle and the turning angular velocity.
It is also possible to rotate (33), and as shown in FIG. 11, the hydraulic posture correction cylinders (75) and (75) are connected to the track sensors (32) and (33), and as shown in FIG. ) (76) is connected to the power steering cylinder (12) in parallel with the posture correction cylinders (75) and (75), and the orbit sensors (32) and (33) are utilized by using the hydraulic pressure for operating the power steering cylinder (12). It can also be rotated. In FIG. 1, a limit switch for detecting the rotational movement of the front crank arm (14) at the time of turning is provided, and the attitude solenoids (34) (35) are operated by the limit switch to move the trajectory sensor (32).
It is also possible to rotate (33).

[0015]

As is apparent from the above embodiments, the present invention detects the magnetic field of the running track line (31) by the track sensor (32).
In a working vehicle that is automatically moved along a predetermined route by being detected by (33), the detection direction of the track sensors (32) (33) is linked with the steering angle changing operation of the traveling wheels (8) (9). The posture control means (34) (35) for correcting is provided, and the detected postures of the sensors (32) (33) are automatically corrected by the turning movement of the running wheels (8) (9). It is possible to easily improve the turning performance at the time of automatic steering based on the outputs of the sensors (32) and (33), prevent the outputs of the sensors (32) and (33) from decreasing at the time of turning, and perform unmanned operation safely. In addition to being able to
It is possible to reduce the limitation of the extension form of 1) and easily set a desired moving system path.

[Brief description of drawings]

FIG. 1 is a plan view of a trajectory sensor unit.

FIG. 2 is an overall side view of a speed sprayer.

FIG. 3 is a plan view of the same.

FIG. 4 is a plan view of a power steering cylinder mechanism.

FIG. 5 is a rear view of the spray nozzle unit.

FIG. 6 is a steering hydraulic circuit diagram.

FIG. 7 is a spray control circuit diagram.

FIG. 8 is a flowchart of automatic spraying control.

9 is a plan view showing a modified example of FIG.

FIG. 10 is a plan view of the same.

FIG. 11 is a plan view of the same.

[Explanation of symbols]

(8) Front wheel (running wheel) (9) Rear wheel (running wheel) (31) Running track line (32) (33) Track sensor (34) (35) Track detection attitude solenoid (posture control means)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location G05D 1/02 B 9323-3H

Claims (1)

[Claims] 1. A work vehicle in which a magnetic field of a traveling track line is detected by a track sensor to automatically move along a predetermined system road,
A work vehicle comprising attitude control means for correcting the detection direction of the track sensor in association with the operation of changing the steering angle of the traveling wheels.