JPS62275603A - Strike direction control method for combine harvesters, etc. - Google Patents
Strike direction control method for combine harvesters, etc.Info
- Publication number
- JPS62275603A JPS62275603A JP11955386A JP11955386A JPS62275603A JP S62275603 A JPS62275603 A JP S62275603A JP 11955386 A JP11955386 A JP 11955386A JP 11955386 A JP11955386 A JP 11955386A JP S62275603 A JPS62275603 A JP S62275603A
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- Prior art keywords
- boundary
- sensor
- detected
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- dark
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Links
- 238000000034 method Methods 0.000 title claims description 4
- 241001124569 Lycaenidae Species 0.000 title claims description 3
- 238000012937 correction Methods 0.000 claims description 11
- 238000001444 catalytic combustion detection Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 206010011878 Deafness Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- Guiding Agricultural Machines (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
３、発明の詳細な説明
産業上の利用分野
この発明はコンバイン等の走向制御方式に関し、コンバ
イン、トラクタ、田植機、等に利用できるものである。Detailed Description of the Invention 3. Detailed Description of the Invention Industrial Application Field The present invention relates to a strike control system for combines, etc., and can be used in combines, tractors, rice transplanters, etc.
従来の技術、および発明が解決しようとする問題点
従来例えばコンバインを、未作業地の殻稈と既制御する
ため、殻稈等と非接触形態で境界部を規準しながら検出
するイメージセンサ−等を用いた場合、作業機体の進行
方向前後への傾斜動によってイメージセンサ−等の境界
部規準距離が遠近に変動するので正しい境界部の位置検
出が困難であった・
問題点を解決するための手段
この発明は、未作業地と既作業地との境界部（イ）を規
準しながら作業機体（１）の走行方向をこの境界部（イ
）に沿わせて制御する境界センサー（２）と、この境界
センサー（２）の規準距離の変化を検出してこの境界セ
ンサー（２）の検出境界出力値を補正する補正装置（３
）とを設けてなるコンバイン等の走向制御方式の構成と
した。BACKGROUND TECHNOLOGY AND PROBLEMS TO BE SOLVED BY THE INVENTION Conventionally, for example, in order to control a combine harvester with a culm in an unworked area, an image sensor, etc., is used to detect the culm in a non-contact manner while standardizing the boundary. When using this method, it was difficult to accurately detect the position of the boundary because the reference distance of the boundary of the image sensor etc. fluctuated near and far due to the tilt movement of the work machine forward and backward in the direction of travel. Means This invention includes a boundary sensor (2) that controls the running direction of the working machine (1) along the boundary (A) between an unworked area and a completed work area while determining the boundary (A) as a standard. , a correction device (3) that detects a change in the reference distance of this boundary sensor (2) and corrects the detected boundary output value of this boundary sensor (2).
) for a strike control system such as a combine harvester.
発明の作用、および効果
境界センサー（２）が未作業地と既作業地との境界部（
イ）を規準しながら作業機体（１）を境界部（イ）に沿
わせて制御進行させて作業を行なうとき、機体（１）の
前後揺動等によって境界セ＋ｌ棒−ｔつ）小相通石輪滅
墳聾亦ルｚ４櫃ム 鴇正装置（３）が、境界センサー（
２）の変化した検出境界出力値を補正して機体（１）の
走行方向を狂わせることなく境界部（イ）に沿わせて制
御進行させ必要な作業を続行することができる。Function and effect of the invention The boundary sensor (2) detects the boundary between the unworked area and the already worked area (
When carrying out work by moving the work machine (1) along the boundary part (A) in a controlled manner while keeping reference to (A), the movement of the machine body (1) back and forth causes the boundary (C+l bar - T) The Ishiwametsu Mound Deaf Luz 4 Box Tokisho Device (3) is the boundary sensor (
By correcting the detected boundary output value that has changed in step 2), it is possible to control the machine (1) to proceed along the boundary (a) without causing the traveling direction of the machine (1) to go out of order, and to continue the necessary work.
実施例
尚１図例において作業機体（１）はコンバインを例示し
、未作業地である立毛殻稈群（ロ）と、既作業地である
刈取跡地（ハ）の圃場地面との境界を境界部（イ）とし
、この境界部（イ）に沿ってコンバインが刈取進行する
場合について説明する。Embodiment 1 In the example shown in Figure 1, the working machine (1) is a combine harvester, and the boundary between the unworked area of the erect culm group (b) and the field ground of the already worked area of the cutting site (c) is the boundary. Section (A), and the case where the combine harvester advances to harvest along this boundary section (A) will be explained.
作業機体（１）のコンバインは、走行装置（４）上側に
脱穀部（５）を搭載し、その−備前部に操縦部（６）を
設けると共に、脱穀部（５）前側に刈取部（７）を設け
、原動機から走行装置（４）並びに各作業部へ伝動構成
している。The combine harvester of the work machine (1) is equipped with a threshing section (5) on the upper side of the traveling device (4), a control section (6) on the front side of the threshing section (5), and a reaping section (7) on the front side of the threshing section (5). ), and transmission is configured from the prime mover to the traveling device (4) and each working part.
境界センサー（２）は、リニヤ−イメージセンサ−カメ
ラで構成し、作業機体（１）の脱穀部（５）上部に設け
、その規準方向を、コンバインが前後方向に水平姿勢状
態にある場合において前斜下方向の一定距＃（ニ）を規
準するように設けている。The boundary sensor (2) is composed of a linear image sensor and a camera, and is installed on the upper part of the threshing section (5) of the working machine (1), and its reference direction is set to the front when the combine is in a horizontal posture in the longitudinal direction. It is provided so as to set a constant distance #(d) in the diagonal downward direction as a standard.
また、リニヤ−イメージセンサ−カメラは、Ｃ０Ｄ（電
荷結合素子）カメラとし、コンバインの進行方向に対す
る左右方向の一線（ホ）を規準すべくＣＣＤ （例えば
５１２ビツト）の列方向を設け、規準位置からの太陽光
線の反射光をレンズ等の光学系を通過させてＣＯＤに受
光させ、各素子の電圧の差異によって部分的明暗を検出
し、カメラの制ＪＣＰＵ （８）によって二値化した明
暗の複数の暗部（へ）のうちから、所定幅（ト）の範囲
にある暗部（へ）を該境界部（イ）と判断すべく構成し
ている。The linear image sensor camera is a C0D (charge-coupled device) camera, and a line of CCDs (for example, 512 bits) is provided in order to standardize a line (e) in the left and right direction with respect to the moving direction of the combine. The reflected light from the sun's rays passes through an optical system such as a lens and is received by the COD, which detects partial brightness and darkness based on the difference in voltage between each element. The dark part (b) within a predetermined width (g) is determined to be the boundary part (b).
補正袋と（３）は、作業機体（１）の前後方向の傾斜角
を測定した測定値を電気信号に変えて出力し、該制御Ｃ
ＰＵ （８）に入力しうる傾斜センサー（９）と、制御
１ｃＰＵ （８）のプログラムとで構成している。この
プログラムは、機体（１）の傾斜角によって所定の（標
準）規準距離（ニ）に対し、傾斜センサ（９）が検知す
る前後への傾斜角度と規準距離との関係を予め制ＪＣＰ
Ｕ （８）に記憶させ、これと比較して該暗部（へ）幅
を補正すべく構成している。また、走行制御するＣｒｔ
ｙ （８）の出力は、境界センサー（２）のＣＣＤ（例
えば５１２ビー、ト）素子の、左から右へ勤１ＮＮｏ５
１２ビットの中間すなわちＮｏ２５６ビツト近傍に該境
界部（イ）と判断できた所定幅（ト）の暗部（へ）が位
置した場合を正常の直進可能の作業機体（１）の進行方
向にあるとし、該暗部（へ）が左右何れかに偏移した場
合に出力すべくプログラム構成している。The correction bag (3) converts the measured value of the longitudinal inclination angle of the working machine (1) into an electrical signal and outputs it,
It consists of a tilt sensor (9) that can be input to the PU (8) and a program for the control 1cPU (8). This program controls in advance the relationship between the forward and backward inclination angle detected by the inclination sensor (9) and the reference distance for a predetermined (standard) reference distance (d) based on the inclination angle of the aircraft (1).
U (8), and the dark area width is corrected by comparing with this. In addition, Crt
The output of y (8) is the output of the CCD (for example 512 bits) element of the boundary sensor (2) from left to right.
If a dark area (g) of a predetermined width (g) that can be determined to be the boundary area (a) is located in the middle of the 12 bits, that is, near the No. 256 bit, it is assumed that the working machine (1) is in the direction of movement of the working machine (1) that can normally move straight. , the program is configured to output when the dark area shifts to either the left or right.
（チ）は境界センサー（２）の左右方向の可視範囲、（
す）は、ＣＯＤ素子の全ビット幅、（ヌ）は電圧、（ル
）は、傾斜センサー（９）の傾斜検出値、（オ）は境界
センサー（２）の検出暗部（へ）幅補正値である。(H) is the visible range of the boundary sensor (2) in the left and right direction, (
) is the total bit width of the COD element, (nu) is the voltage, (ru) is the tilt detection value of the tilt sensor (9), and (o) is the detected dark part width correction value of the boundary sensor (2). It is.
境界センサー（２）のカメラの左右方向可視範囲（チ）
は、近距離を規準する程狭く遠距離程広い範囲を見るも
のであるが、遠近例れの場合でも同じＣＯＤの全ビット
幅（す）に縮尺してセンシ、ソゲするものであるから遠
方を規準する程境界部（イ）の暗部（へ）はＣＣＤ上で
縮めて狭く検出する。また、近距離を見る場合には逆に
標準の規準距離（ニ）の場合より各暗部は広く検出され
て境界部（イ）の暗部（へ）と他とが判別しにくくなる
場合がある。また、暗部（へ）は、立毛殻稈群（ロ）に
おいても殻稈種部の状態によっては条間等に存在して検
出され、刈取跡地（ハ）においてもコンバインの脱穀排
塵物や排藁等が散布される中の圃場土面の露出部等が暗
部（へ）として検出されるものである。Horizontal visibility range of the boundary sensor (2) camera (H)
The closer the distance is, the narrower it is, and the farther it is, the wider the range is. As the standard is adjusted, the dark part (b) of the boundary part (a) is shrunk on the CCD and detected narrowly. Furthermore, when viewing at a short distance, each dark area is detected wider than at the standard reference distance (d), and it may become difficult to distinguish between the dark areas at the boundary (a) and the others. In addition, dark areas (he) are detected as being present between the rows depending on the state of the seed part of the erect culm (b), and are also detected in the threshing dust and waste from combine harvesters at the reaping site (c). Exposed areas on the field soil surface where straw etc. are being scattered are detected as dark areas.
このような条件下でコンバインの走行制御をする作用を
第６図によって説明する。境界センサー（２）のカメラ
からの入力電圧信号を所定の基準電圧レベルで２値化変
換すると共に、積分回路で平均レベル算出を行ないこれ
をＡ／Ｄ変換し、これらによって暗レベル幅算出をする
。また傾斜センサー（９）の入力信号をＡ／Ｄ変換し、
この信号によって先に算出した暗レベル幅補正を行なう
、この補正は、予め実測した機体（１）の傾斜角度と規
準距離との関係、および規準距離と暗レベル幅（へ）と
の関係データをＣＰＵ （８）に記憶させておき、適合
した補正値によって補正するものである。次に、補正済
み暗レベル幅（へ）と境界部（イ）としての暗レベル所
定幅（ト）と比較して境界検出を行ない、検出した境界
のＣＣＤ上での位置と、直進可能の場合の境界暗部の所
定位置との比較すなわち境界方向偏移比較を行ない、左
右何れかへの偏移を検出した場合に方向制御出力をする
ものである。方向制御出力で操縦装置の操縦杆を、ソレ
ノイド等によって操作し走行方向を修正制御するもので
ある。このようにしてコンバインを境界部（イ）に沿わ
せて精度高く方向制御することができる。The operation of controlling the travel of the combine under such conditions will be explained with reference to FIG. 6. The input voltage signal from the camera of the boundary sensor (2) is converted into a binary value at a predetermined reference voltage level, and the integrating circuit calculates the average level, which is A/D converted, and based on these, the dark level width is calculated. . In addition, the input signal of the tilt sensor (9) is A/D converted,
This signal is used to perform the previously calculated dark level width correction. This correction is based on the relationship between the tilt angle of the aircraft (1) and the standard distance, which was actually measured in advance, and the relationship data between the standard distance and the dark level width (to). This is stored in the CPU (8) and corrected using the appropriate correction value. Next, boundary detection is performed by comparing the corrected dark level width (f) and the dark level predetermined width (g) as the boundary (a), and the position of the detected boundary on the CCD and the case where it is possible to go straight A comparison is made with a predetermined position of the boundary dark area, that is, a boundary direction deviation comparison is performed, and when a deviation to either the left or right is detected, a direction control output is performed. The direction control output is used to operate the control lever of the steering device using a solenoid or the like to correct and control the traveling direction. In this way, the direction of the combine harvester can be precisely controlled along the boundary (a).
また、図例にように傾斜センサー（９）を設けて境界セ
ンサー（２）の検出暗部（へ）の幅を補正することによ
り、面ＣＣＤカメラより安価な図例の１ｃｃＤカメラで
、作業機体（１）の走行制御が安価にできる。In addition, by providing an inclination sensor (9) as shown in the figure and correcting the width of the detected dark area of the boundary sensor (2), it is possible to use the 1ccD camera in the figure, which is cheaper than a surface CCD camera, to 1) Driving control can be performed at low cost.
尚、境界センサー（２）は、規準部の色によって境界部
（イ）を判別するカラーＣＣＤカメラでもよい。Note that the boundary sensor (2) may be a color CCD camera that determines the boundary part (a) based on the color of the reference part.
第７図、第８図は別の実施例を示すもので、境界センサ
ー（２）のカメラ取付部にステッピングモーター（１０
）を設け、傾斜センサー（９）の傾斜検出によって、境
界センサー（２）の規準距離（ニ）を一定に保つべく、
第８図に示すように作業機体（１）のコンバインが、後
傾（ワ）のときには後傾（ワ）値に応じたステッピング
モーター（１０）の回動角（ヨ）を与えてカメラを下向
方向に向け、また、前傾（夕）の場合は前傾（夕）値に
応じてカメラを上向方向（し）に回動角（ソ）を与える
べく構成した方式である。これによって作業機体（１）
が前後に傾斜してもカメラが機体（１）に対する角度を
変化させ同−規準部Ｉａ（ニ）を規準して検出する境界
暗部（へ）幅が安定するので、制１ｃＰＵ （８）側で
の補正が不要になり、プログラムが簡単になる。7 and 8 show another embodiment, in which a stepping motor (10
), and in order to keep the reference distance (d) of the boundary sensor (2) constant by detecting the inclination of the inclination sensor (9),
As shown in Fig. 8, when the combine harvester of the working machine (1) is tilted backward (wa), the stepping motor (10) is given a rotation angle (yaw) according to the backward tilt (wa) value to lower the camera. In the case of forward tilt (evening), this system is configured to give the camera a rotation angle (X) in the upward direction (shi) according to the forward tilt (evening) value. With this, the working machine (1)
Even if the camera tilts back and forth, the camera changes its angle with respect to the aircraft body (1), and the width of the boundary dark area detected by using reference part Ia (d) as a reference remains stable. This eliminates the need for correction, making programming easier.
尚また。他の実施例として第４図の（ｂ）図に示す境界
センサー（２）の信号（電圧）のグラフにおいて、最も
明るい場所を示す最大レベル（ツ）、最暗部を示す最小
レベル（ネ）、および平均の明るさを示すレベルを平均
レベル（す）とし。Also. As another example, in the graph of the signal (voltage) of the boundary sensor (2) shown in FIG. 4(b), the maximum level (T) indicates the brightest area, the minimum level (N) indicates the darkest area, and the level indicating the average brightness is defined as the average level (su).
先づ、平均レベル（ア）によって電気的に２値化したも
のが（Ｃ）図とし、０図において暗部（へ）の最も幅の
広いものが、境界部（イ）と判断する所定幅（ト）に達
しないときには短時間の間隔に所定複数のｎ回検出を繰
返し、α＝（最大レベル−最小レベル）／ｎで示すαを
ＣＰＵ （８）で演′Ｊｔ算出し、平均レベル＋α（う
）、平均レベル＋２α、平均レベル＋３α、・・・のよ
うに境界部（イ）の暗部（へ）を検出するまで２値化レ
ベルを順次大きくして補正する方式のＣＰＵ （８）の
プログラムだけによる補正方式である。これによると、
境界部（イ）のレベル差（明暗の差）が小さい場合でも
？値化レベルを小さな増分で変化させることができるの
で、境界部（イ）を精度よく検出できる。また、境界部
（イ）の明暗のレベル差が大きい場合には２値化レベル
の増分αが大きくなるので、早く境界部（イ）を検出で
きる。First, what is electrically binarized according to the average level (A) is shown in Fig. (C), and the widest dark part (B) in Fig. If the detection does not reach the maximum level (g), the detection is repeated a predetermined number of times at short intervals, and the CPU (8) calculates α expressed by α = (maximum level - minimum level) / n, and calculates the average level + α ( A program for the CPU (8) that makes corrections by increasing the binarization level sequentially until the dark part (f) of the boundary part (a) is detected, such as (b), average level +2α, average level +3α, etc. This is a correction method based solely on according to this,
Even if the level difference (difference between brightness and darkness) at the boundary (a) is small? Since the digitization level can be changed in small increments, the boundary (a) can be detected with high accuracy. Further, when the difference in level between brightness and darkness of the boundary part (A) is large, the increment α of the binarization level becomes large, so that the boundary part (A) can be detected quickly.
図は、この発明の一実施例を示すもので、第１図は平面
図、第２図、第３図は側面図、第４図の（ａ）図は作用
説明正面図、（ｂ）図は境界センサー出力グラフ、（Ｃ
）図、（ｄ）図は（ｂ）図の二値化グラフ、第５図は作
用説明図、第６図は制御作用説明図、第７図、第８図は
別の実施例の作用説明図である。
図中、符号（１）は作業機体、（２）は境界センサー、
（３）は補正装置、（８）は制御ＣＰＵ、（９）は傾斜
センサー、（１ｏ）はステッピングモーターを示す。The drawings show one embodiment of the present invention; FIG. 1 is a plan view, FIGS. 2 and 3 are side views, FIG. 4 (a) is a front view for explaining the operation, and (b) is a front view. is the boundary sensor output graph, (C
), (d) is a binary graph of (b), FIG. 5 is an explanation diagram of the action, FIG. 6 is an explanation diagram of the control action, and FIGS. 7 and 8 are explanations of the action of another embodiment. It is a diagram. In the figure, code (1) is the work machine, (2) is the boundary sensor,
(3) is a correction device, (8) is a control CPU, (9) is a tilt sensor, and (1o) is a stepping motor.
Claims (1)
業機体（１）の走行方向をこの境界部（イ）に沿わせて
制御する境界センサー（２）と、この境界センサー（２
）の規準距離の変化を検出してこの境界センサー（２）
の検出境界出力値を補正する補正装置（３）とを設けて
なるコンバイン等の走向制御方式。A boundary sensor (2) that controls the running direction of the work machine (1) along the boundary (A) between the unworked area and the already-worked area while using the boundary (A) as a standard, and this boundary sensor ( 2
) by detecting the change in the reference distance of this boundary sensor (2).
A strike direction control method for combine harvesters, etc., which is provided with a correction device (3) for correcting the detected boundary output value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11955386A JP2574237B2 (en) | 1986-05-23 | 1986-05-23 | Strike control device such as combine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11955386A JP2574237B2 (en) | 1986-05-23 | 1986-05-23 | Strike control device such as combine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62275603A true JPS62275603A (en) | 1987-11-30 |
| JP2574237B2 JP2574237B2 (en) | 1997-01-22 |
Family
ID=14764161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11955386A Expired - Lifetime JP2574237B2 (en) | 1986-05-23 | 1986-05-23 | Strike control device such as combine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2574237B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0223404U (en) * | 1988-07-29 | 1990-02-16 | ||
| JP2023002216A (en) * | 2021-06-22 | 2023-01-10 | 株式会社クボタ | Agricultural machine |
| WO2023145196A1 (en) * | 2022-01-28 | 2023-08-03 | 株式会社小松製作所 | Work machine, method for controlling work machine, and control system for work machine |
-
1986
- 1986-05-23 JP JP11955386A patent/JP2574237B2/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0223404U (en) * | 1988-07-29 | 1990-02-16 | ||
| JP2023002216A (en) * | 2021-06-22 | 2023-01-10 | 株式会社クボタ | Agricultural machine |
| WO2023145196A1 (en) * | 2022-01-28 | 2023-08-03 | 株式会社小松製作所 | Work machine, method for controlling work machine, and control system for work machine |
| JP2023110512A (en) * | 2022-01-28 | 2023-08-09 | 株式会社小松製作所 | Work machine, method for controlling work machine, and control system for work machine |
| US12577760B2 (en) | 2022-01-28 | 2026-03-17 | Komatsu Ltd. | Work machine, method for controlling work machine, and control system for work machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2574237B2 (en) | 1997-01-22 |
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