JPS61128809A - Steering controller of working vehicle - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention allows the orientation of an aircraft to be determined based on a comparison result between the orientation detected by an orientation sensor mounted on the aircraft and a reference orientation set in advance. The present invention relates to a steering control device for a working vehicle, which includes an azimuth control means for steering the vehicle in the reference azimuth direction.

[Conventional technology]

In this type of work vehicle, such as a combine harvester or a lawn mowing vehicle, the straightness of each work stroke is maintained well. For this reason, steering control is performed that uses both directional control for the work target and azimuth control using all azimuth sensors.

You need to set it up and set it up. To set this base [V direction, for example, the detected direction by the direction sensor at the start of work, or the detected direction sampling result during teaching work by human maneuvering to set the work range, etc. It was done based on.

[Problem that the invention seeks to solve]

However, if the detected orientation at the time of the start of the work is used as the reference orientation, the running is not stable, so errors in the running direction from the perspective of the entire journey are likely to occur.

In addition, when setting is based on detected azimuth sampling during teaching work, there are many fluctuations in the running direction due to human manipulation, and the reference azimuth is likely to be inaccurate.Furthermore, the data required for teaching There is also the disadvantage that as the storage capacity increases, the time required for processing also increases, resulting in poor work efficiency.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to set a reference direction for controlling the direction using an iE.
The goal is to do it automatically and efficiently.

[Means for solving problems]

In order to achieve the above object, the steering control device for a work vehicle according to the present invention is provided with a counting means for counting the number of data corresponding to the azimuth classification divided into a plurality of stages in advance to set the reference azimuth. , while the aircraft travels in a predetermined section, the azimuth detected by the azimuth sensor is repeatedly sampled and compared with the azimuth division, and the count values of the counting means corresponding to the azimuth division in which the detected azimuth is recorded are sequentially added; The present invention is characterized in that it is equipped with a reference orientation setting means that automatically stores the representative value of the orientation category for which the maximum count value has been counted after the completion of orientation sampling as the reference orientation, and its functions and effects are as follows. It's a shame.

[For production]

That is, while traveling in a predetermined section, for example, after the aircraft has traveled a predetermined distance after starting work on the first stroke and the steering of the aircraft has stabilized, the direction detected by the direction sensor is sampled and divided into multiple stages. The number of measurements of the detected orientation corresponding to each azimuth division is counted by sequentially incrementing the number of detection azimuths as the count value of the corresponding counting means, and the representative value of the azimuth division that has the maximum count value, that is, the detection sampled the most. The representative value of the orientation is used as the reference orientation.

〔Effect of the invention〕

' Because of the above characteristics, the following excellent effects have been achieved.

In other words, based on the detected orientation sampled while traveling in a predetermined section, the detected orientation is divided into multiple stages in advance and counted as the number of measurements of the orientation classification, and the representative value of the orientation classification from which the maximum count value was obtained. Since this is a standard orientation, the processing can be greatly simplified compared to methods that simply average the detected orientation using a sampler, and the amount of data storage required for this processing is extremely small. It has the effect of saving you money. In addition, since the detected direction itself is not used as final data, it is less susceptible to the effects of detected direction errors.This allows for a reliable reference method that matches the actual travel direction even though simplified processing is performed. A6 was obtained.

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

As shown in Figures 1 and 4, the planted culms in the field are raised and harvested, and while conveying the cut culms, the posture is changed to a sideways posture and delivered to the feed chain (1). A reaping section (2) and a threshing device (3) for threshing the husk held and conveyed by the feed chain (1) and sorting and collecting the grains are connected to a pair of left and right crawler traveling devices (4L').
(4) is installed on the machine (V) equipped with the above, and constitutes a combine harvester as a working vehicle.

The lower part of the reaping part (2) has a 0N10
A stock sensor (So) configured as a contact switch that outputs an FF signal is provided to detect the start and stop of reaping work.

Further, a weeding tool (6) provided at the tip of the cutting section (2)
The attachment frames of the weeding tools (6a), (6h) on both left and right ends of the machine (V) are biased toward the front side of the machine (V) and introduced into the cutting section (2). A sensor bar (8) that makes contact with the shell culm and rotates toward the rear of the fuselage (V) by an angle corresponding to the contact position;
) are provided respectively, and tracing sensors (Sl) and (S2) each consisting of a potentiometer (R) that detects the rotation angle of the body ( v) to detect the amount of lateral deviation (β).

To explain the amount of deviation (β) detected by the left and right scanning sensors (S, ) and (S2), as shown in FIG. amount (β
) is divided into three zones (a), (b)', and (C) for detection. That is, the culm row (l(
The shallow tracing zone (a) is defined as a state in which it is rubbing in the direction away from the shallow tracing zone (a), and the state in which it is rotated backward by a predetermined angle from this shallow tracing zone (a) is called the culm row () I. ) is defined as a dead zone (b), and a state in which it rotates further backwards from this dead zone (b) is defined as a state in which it is too far into the culm row (H, ). This is the deep scanning zone (C). Then, each potentiometer (R) of the copying sensor (Sl), (S*),
Based on which of the three zones (a), (b), and (c) the output of (R), that is, the detected deviation amount (β) is located,
), (4), the clutches (9) and (9) are disengaged, and the steering is performed so that the detected deviation amount (β) is within the dead zone (b), thereby performing scanning control.

Further, the aircraft (V) is equipped with an orientation sensor (T) using a geomagnetic sensor (T) that detects the absolute orientation by sensing changes in the geomagnetic field.
Changes in the running direction are detected based on the detected azimuth (θ).

When the stock sensor (So) is in the ON state, the reaping mode setting switch (
The row cutting mode and the horizontal cutting mode are selected in accordance with the O and N10FF of the blade), and the detected deviation amount (β ), (β) and the direction detected by the direction sensor (T) (
Based on the rain detection information of θ), the crawler traveling device (
4), by disengaging one of the left and right clutches (9), (9) in (4), so that the aircraft m is aligned with the culm row ()1) and in the preset reference direction (θo ), the steering control is performed so that the vehicle automatically travels in the direction shown in FIG.

Hereinafter, means for setting the reference orientation (θo) will be explained based on the flowchart shown in FIG. 2 and the explanatory diagram shown in FIG. 3.

This reference direction (θo) is basically set automatically by sampling and linking the direction (θ) detected by the direction sensor (T) during the first stroke in each mode of row mowing and horizontal mowing. This is what I do. Therefore, until this reference orientation (θo) is set, the copying sensor (Sl).

By controlling the steering only in (S2), the vehicle will travel along the culm row (11).

That is, when the stock origin sensor (So) is turned on and the reaping work is started, the direction detected by the direction sensor (T) from that point until the predetermined distance (ffe) has been traveled is
Instead of sampling θ), the sampling is started in a predetermined traveling section ((l s) after the orientation of the aircraft (v) is stabilized. In this embodiment, the distance (ρe) is For detection, the passage of time (approximately 3 seconds) is used instead.

Then, the detection direction sampled at a predetermined time interval (
When θ) reaches a predetermined number (5 in this example), the average value (θ゛) is calculated and set as the sampling direction (θ°), and this sampling direction (θ) is divided into multiple stages in advance. It is determined which of the comparison azimuth divisions (θn) it belongs to, and the count of the force counter as a counting means corresponding to the azimuth division (θn) provided in the control amount W (G) is determined. Add the surface (Cn). In other words, the detection direction (
Direction sampling is simplified by measuring the number of detected values to which range the detected value range of θ) belongs.

Then, the direction sampling described above is repeated until the stock sensor (So) is turned off and one stroke (ρS) as a sampling period is completed, and the count value of the counter corresponding to the detected direction (θ) is calculated. (Cn), and the representative value of the azimuth division (θn) with the largest count value (Cn), for example, the intermediate value (θn+) of that azimuth division (θn), is taken as the reference orientation (θo). be.

Hereinafter, steering control in the row cutting mode in which the vehicle automatically travels in the row direction of the culm row (H) will be explained. In this row cutting mode, first, the left and right scanning sensors (Sl),
(SZ), the detected deviation amount (β) of the mowed side scanning sensor (Sl) is in any of the above zones (a), (b),
After determining whether it is in zone (c), the detection deviation amount (β) of the scanning sensor (SZ) on the opposite side is in zone (a) or (b).
), (c), and each mechanical sensor (S mountain (SZ
) is in the dead zone (b), the orientation of the aircraft (V) is determined by the reference set by the means based on the orientation (θ) detected by the orientation sensor (T). Priority is given to tracing control by the tracing sensors (Sl) and (SZ) so as to perform azimuth control that steers the vehicle so that the vehicle is oriented in the azimuth (θo). Then, the detected deviation amount (β), (β) by each mechanical sensor (Sl), (SZ)
is in the deep scanning zone (C), the corresponding side clutch ( 9) is turned off for a predetermined period of time.

On the other hand, when the detected deviation amount (β) is in the shallow scanning zone (a), the detected direction (θ) by the direction sensor (T)
While checking the change in the angle (θ), the aircraft (V)
A constant angle turning control is performed to turn the culm row (l() direction).As shown in FIG. (θ′), the direction sensor (
Based on the change in the detected azimuth (θ) due to becomes the target steering amount (α). This constitutes a steering control correction means that automatically corrects a decrease in steering control or overcontrol caused by a change in slip ratio due to differences in field conditions, such as dry and wet fields.

Next, a description will be given of steering control in the horizontal mowing mode in which the vehicle travels in a direction perpendicular to the steering direction in the row mowing mode.

In this horizontal mowing mode, it is first determined whether the direction (θ) detected by the direction sensor (T) is within the dead zone (B) of the direction control with respect to the reference direction (θo), and if the direction is within the dead zone (B). Only when the orientation of the machine (v) is within
zone (a>, (b).

(c) Priority is given to azimuth control so as to perform steering control by turning at a certain angle based on the determination result. still,
When the detection direction (θ) is outside the dead zone (B), the vehicle is steered with a large turning radius until the detection direction (θ) is within the dead zone (B).

In this way, in the horizontal mowing mode, the priority relationship between the information detected by the tracing sensors (Sl) and (SZ) and the information detected by the direction sensor (T) is reversed from the case of steering control in the row mowing mode. However, in any case, tracing control and orientation control are used in combination to automatically drive the mower in a straight line along the culm row (H) and in the reference orientation (θo) direction to avoid leaving uncut areas. .

The reason for prioritizing directional control in the horizontal cutting mode described above is that when looking at the shell culm row (11) from the direction perpendicular to the row, which is the planting direction of the shell culm row (I), column ()l)
is intermittent at the row intervals, and the linearity of the culm row to be followed becomes poor. Therefore, if the control is performed by following the lateral culm row (H), the meandering of the aircraft (V) will increase, making it difficult to travel straight. This is because the quality of the grass decreases and the uncut leaves may burn.

In addition, in fields where the culms are not planted so as to form rows, so-called loose sowing, the grain culm rows (I()) that should be imitated are
Since there are no rows, steering control by the row mowing motor 1
1 cannot be performed, but it can be handled by performing steering control that prioritizes azimuth control in the horizontal split mode.

Incidentally, in the above-mentioned horizontal splitting remote control 1', the sensor (Sl) on the already-cut side of the two copying sensors is used, but the remaining copying sensor (S2) is used auxiliary. Good too.

Further, the section (βS) in which the azimuth sampling is performed may be a part of the -stroke instead of the distance corresponding to the -stroke.

[Brief explanation of drawings]

The drawings show an embodiment of the steering control device for a working vehicle according to the present invention, FIG. 1 is a block diagram of the control system, FIG. 2 is a flowchart showing its operation, FIG. 3 is an explanatory diagram of azimuth sampling, and FIG. FIG. 4 is an overall side view of the combine harvester, and FIG. 5 is an explanatory diagram of the scanning sensor. (V)... Aircraft, (T)... Direction sensor, (θ)... Detection direction, (θo)...
・Reference direction, (8n)...Azimuth classification, (Cn)
...Count value, (θn') ...Direction classification representative value, (ffis), (ffi8) ...
Predetermined section.

Claims (1)

[Claims] [1] Based on the comparison result between the orientation (θ) detected by the orientation sensor (T) mounted on the aircraft (V) and a preset reference orientation (θo), the aircraft (V) A steering control device for a working vehicle, comprising an azimuth control means for steering the vehicle so that the traveling direction is in the reference azimuth (θo) direction.
o), a counting means is provided to count the number of data corresponding to the azimuth classification (θn) divided into multiple stages in advance, and while the aircraft (V) travels a predetermined section (ls), the azimuth While repeatedly sampling the detected orientation (θ) by the sensor (T), compare it with the orientation classification (θn),
The count value (Cn) of the counting means corresponding to the azimuth division (θn) that includes the detected azimuth (θ) is added sequentially, and the maximum count value is counted after the azimuth sampling is completed.
A steering control device for a working vehicle, comprising a reference orientation setting means for automatically storing a representative value (θn') of the reference orientation (θn) as a reference orientation (θo). [2] The predetermined section (ls) of the azimuth sampling is a section after the vehicle (V) has traveled a predetermined distance (le) from the work start point. Steering control device.