JPS6384405A - Position and advance direction detector of self-propelling working machine - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention is directed to a work process that automatically travels along the work process using travel direction information stored in advance based on the length direction of the work process. With the completion of one working stroke, the next working stroke is controlled using the travel control means and pre-stored turn direction information based on the length direction of the next working stroke in the direction that intersects with the previous working stroke. The present invention relates to a travel control device for an automatic traveling work vehicle, which includes a travel control means for automatically traveling at a starting end.

[Conventional technology]

In the above-mentioned travel control device for this type of autonomous working vehicle,
Conventionally, so that the aircraft travels in the length direction of each work stroke, the average direction over the entire length of the work process is used as the travel direction information for the above work process, and the current work direction is used as the direction information for turns. The direction of the turn was controlled based on the intersection angle and the like by using the traveling direction information of the stroke and the traveling direction information of the next work stroke. In other words, the traveling direction information for the work process and the direction information for turns are shared.

[Problem that the invention seeks to solve]

However, in the above-mentioned conventional configuration, since the traveling direction information for the work process and the traveling direction information for turns are shared, there are the following disadvantages, and there is room for improvement.

Taking as an example the case where the travel control device of this type of autonomous work vehicle described above is applied to the travel control device of a combine harvester, in each work process, rows are formed to prevent uncut leaves. Based on the running direction information set as the direction of the stem culm row for each work process parallel to each side of the work area, so that the machine travels in the direction along the stem culm row planted in the field. The machine automatically enters the starting point of the next work process by controlling the steering and turning in the direction of the next work process that intersects with the current work process as one work process ends. We will make it possible.

By the way, immediately after the start of reaping work, the aircraft turns near the edge of the field, but it is difficult to imagine that the direction near the edge of the field matches the average direction of each of the working strokes that intersect with each other. However, the direction may be bent from the average direction of the work process. Therefore, near the field edge, which is the starting point of the working stroke, the orientation of the stem culm row is bent with respect to the average direction throughout the working stroke,
In such a case, if you make a turn using the average azimuth information over the entire length of the work stroke, the orientation of the aircraft after the turn will be different from the actual orientation at the start of the work stroke, and as a result,
Even though the orientation of the aircraft after the turn is in the same direction as the entire length of the next work process, there is a risk that the machine will enter the next work process in a state that is deviated from the direction of the actual start of the work process. As a result, there is a risk that the steering control for following the stalk culm, which is the work target, is delayed, resulting in uncut parts at the beginning of the work stroke.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent deviation from the starting end of the working stroke even when the direction of the starting end of the next working stroke deviates from the direction of the entire working stroke. The purpose is to allow the user to start the next work process in a reduced state.

[Means for solving problems]

A characteristic configuration of the travel control device for an automatic traveling work vehicle according to the present invention is such that the travel direction storage means for storing the travel direction information is configured to include:
The device stores travel direction information set based on the length direction over the entire length of the work stroke, and the turn direction storage means for storing the turn direction information is used to store travel direction information set based on the length direction over the entire length of the work stroke, and the turn direction storage means that stores the turn direction information The purpose of this invention is to store turn azimuth information set based on the direction of the turn, and its functions and effects are as follows.

[For production]

That is, the travel direction information in the work process is set based on the length direction over the entire length of the work process, and the turn direction information is set based on the length direction of only the starting end side of the next work process. By doing so, when traveling along a work stroke, the machine direction after a turn is aligned with the starting point of the next work stroke, while ensuring that the traveling direction does not deviate significantly from the direction in which the entire work stroke is facing. This is to ensure that it does not deviate from the direction of the part.

〔Effect of the invention〕

Therefore, even if the overall orientation of the set working stroke and the orientation of the starting end of the working stroke are misaligned, the aircraft enters the starting end of the working stroke with little deviation from the orientation of the starting end of the working stroke. As a result, it is possible to avoid the possibility that the orientation of the machine body and the orientation of the starting end of the work stroke deviate, resulting in an unprocessed part.

〔Example〕

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

As shown in Figure 6, the planted stem culms of rice, wheat, etc. in the field are raised and harvested, and while the harvested stem culms are being conveyed, the posture is changed to a sideways posture, and the threshing feed chain (1) is reaped. The passing reaping section (2) and the threshing feed chain (
A threshing device (3) that threshes the stem culms that are pinched and conveyed in 1) and sorts and collects the grains is combined with a pair of left and right crawler traveling devices (
4) A self-propelled combine harvester as an autonomous work vehicle is constructed by mounting on a machine (V) equipped with (4).

Further, as means for detecting the orientation of the aircraft (V), an orientation sensor (8) using a geomagnetic sensor that detects the absolute orientation by sensing changes in the earth's magnetic field is provided on the upper part of the aircraft (V).

Further, below the reaping section (2), there is a stock comprising a contact switch that outputs a 0N10FF signal when it comes into contact with the stock base of the stem culm introduced into the reaping section (2) from the front. A stock sensor (So) is provided, and based on the detection information from the plant stock sensor (So), it is determined whether or not reaping work is in progress, and the machine (V) is
The travel control means for controlling the travel of the machine are divided into a travel control means for work stroke (100) and a travel control means for turn (100) for moving to the next work stroke after the completion of one work stroke.
It is intended to be used as control information for switching to 1).

Further, as shown in Fig. 3, the weeding tools (5a) and (5b) at both left and right ends provided at the tip of the cutting section (2) are attached to the frames (6) and (6), respectively. is urged toward the front side of the body (V), and the reaping section (2)
A sensor bar (7) that contacts the base of the stem culm (H) introduced into the plant and swings toward the rear of the fuselage (V) by an angle corresponding to the contact position; A tracing sensor (S+), (SZ) consisting of a potentiometer (R) for detecting the swing angle of the stem culm (H) is provided, and is designed to detect the lateral deviation of the body (V) with respect to the stem culm (H). It is. In addition, since the stem culm (H) planted in the field comes into contact with the sensor bar (7) intermittently, the signal obtained from the potentiometer (R) may change intermittently. Become. Therefore, the body (
In order to detect the lateral deviation of V), signal processing such as averaging the output signal of the potentiometer (R) or detecting the maximum value per unit time is performed.

Further, the output from the engine (E) is configured to be transmitted to a traveling transmission section (10) via a hydraulic continuously variable transmission (9), and an input shaft to the transmission section (10) is configured. A rotation speed sensor (11) is provided which detects running speed and distance by detecting the rotation speed of (10a).

Further, a steering clutch brake (12L) is configured to separately connect and disconnect power transmission from the transmission section (10) to the pair of left and right crawler traveling devices (4), (4).

(12R), this steering clutch brake (12L),
Hydraulic cylinder (13L) that operates on and off (12R)
), (13R), and this hydraulic cylinder (13L)
), (13R) are operated separately on the left and right sides (1).
4) is provided. In FIG. 3, (15) represents each of the sensors (S,) to (Sz).

(8) A travel control means (100) for a work process that controls the machine (V) to automatically travel by following the stem culm (H) based on the detection information from (11), and
This is a control device constituting a turn travel control means (101) for making a turn toward the next work stroke in a direction intersecting the work stroke after the completion of one work stroke.

Hereinafter, while explaining the operation of the control device (15), the operation of the stem culm (H) by the travel control means (100) for the work process.
), and after the end of one working stroke, the machine (V) is automatically driven to the next working stroke in a direction that intersects with the previous working stroke by the turning traveling control means (101). Travel direction information (θm) used in turn control and each of the travel control means (100) and (101).

A driving direction storage means (102) for storing the information and a turn direction storage means (IO2) for storing the turn direction information (θn).
We will explain each of them.

That is, the automatic traveling for reaping work is performed in a so-called rotary reaping work form while repeatedly performing the reaping control and turn control, and,
Before starting such automatic reaping work, the outermost periphery of the reaping work range is manually controlled in advance and the reaping work is performed to obtain information necessary for performing the automatic reaping work, that is, the above-mentioned travel. The direction information (θm) and the turn direction information (θn) are detected and stored in the memory (16) constituting the traveling direction storage means (102) and the turn direction storage means (103), and the stored information and The vehicle automatically travels by controlling the operation of the transmission (9) and the steering clutch brakes (12L) and (12R) based on the stored information such as the turn pattern to be performed in the turn control. That's how it is.

In other words, as shown in Figures 1 and 5, by performing the reaping work by manually maneuvering the outermost part of the reaping work area in advance, the so-called headland necessary for the turn is formed and , repeatedly sampling the orientation (θ) detected by the orientation sensor (8) from the time when the stock sensor (SO) is turned on until it is turned off, that is, from the starting end to the ending end of one work process; The average direction over the entire length (Lm) of one work process is expressed as each side (A),
It is stored in the memory (16) as traveling direction information (θm) for the work process indicating the travel direction in each of the work processes (B), (C), and (D). However, a predetermined time (in this example, 2
The average direction in the starting end side portion of the work stroke (the section indicated by (Ln) in Fig. 1) until the elapse of 3 seconds (set to about 3 seconds) is calculated on each side (A) and (B). , (
The turn direction information 11 (θn) for each turn C) and (D) is stored in the memory (16).

Note that the memory (16) stores the traveling direction information (θm
) and turn direction information (θn), various information such as control programs constituting each of the travel control means (100) and (101) and control information for determining the operation of the sensors can be stored. be.

Next, said control word! The respective traveling control means (100) and (101) will be explained while explaining the operation of (15).

As shown in FIG. 4, a work mode selection switch (S
En. ) is determined, and the operation status of this switch (S-0) is determined.
When is in the ○N state, the above-mentioned process for outer circumference teaching (see FIG. 5) is executed. When the steering control start switch (SW, ) is turned on while the work mode selection switch (SWo) is in the OFF state, automatic driving control is started, and the stock sensor (So) and both the left and right The states of the scanning sensors (Sl) and (S2) are repeatedly determined at predetermined intervals (in this embodiment, this is set to about 50 m5).

Then, when the machine (V) is manually operated to start reaping work, the stock sensor (So) is turned on,
The travel control means (100) for the work process is activated and reaping control is started. In addition, if the stock sensor (SO) is OF
In the case of the F state, the left and right scanning sensors (Sl), (S
z) and determines whether the stock sensor (So) is OFF.
Even in the state, the left and right scanning sensors (Sl), (5
2) is in the ON state, the reaping work is started.

When the reaping work is started, the direction (θ) detected by the direction sensor (8) is displayed on each side (A) stored in the memory.
, (B), (C), and (D) so that the traveling direction information (θm) is maintained within the tolerance, and the information detected by the copying sensors (Sl) and (sz) is controlled. Based on, the fuselage (V) against the stem culm (H)
Steering control is performed by controlling the operation of the steering clutch brakes (12L) and (12R) so that the lateral deviation of the steering wheel is maintained within an appropriate range.

However, in the steering control during the reaping operation, in order to prevent uncut leaves, the orientation of the machine (V) deviates outside the tolerance with respect to the traveling direction information (θm), and the stem culm (H )
If the lateral deviation is outside the appropriate range, the direction control is performed so that the orientation of the aircraft (-) is maintained within the tolerance with respect to the traveling direction information (θm). Priority is given to steering control that is controlled to follow the stem culm (11) based on the information detected by the tracing sensors (St) and (S2).

Next, the stock sensor (So) and the copying sensor (Sl)
, (Sz) are both in the OFF state, and the stock sensor (So) and the copying sensor (s+)
, (SZ) are both 0FFL and their OFF state has elapsed for more than a predetermined time (in this embodiment, it is set to about 1.5 seconds), it is determined that one work process has ended. , the reaping control by the work stroke travel control means (100) is completed, and the turn travel control means (101) for moving the machine (V) to the next stroke is activated to start turn control. I will do it.

In addition, to determine the end of one work process, it is the stock sensor (So) that determines the state of both the stock sensor (So) and the copying sensors (Sl) and (SZ).
is in contact with the stem culm (H) introduced from the front of the aircraft and 0N1
This stock sensor (SO
) alone cannot completely distinguish the case where the stem culm (11) is temporarily interrupted, so all sensors (So )
, (s+), and (sz) are all in the OFF state, it is possible to determine that one work process has ended, thereby reducing malfunctions in determining the end of the work process. Specifically, when both the stock sensor (So) and the copying sensors (Sl), (SZ) are turned off, the stock sensor (So) and the copying sensors (Sl), (SZ
) is repeatedly determined at each predetermined period (50 ms) to determine whether the number of times (N) has reached a set number of times (30 times) corresponding to the predetermined elapsed time (1.5 seconds); All sensors (SO), (S
l).

Turn control is started only when (SZ) continues to be in the OFF state. By the way, the stock sensor (SO) or copying sensor (S +).

(SZ) is in the ON state, the number of times (
N) to zero, all sensors (SO), (Sl)
.

(SZ) are all turned OFF and this state continues for a predetermined period of time or more, the reaping control is continued.

Next, the turn control will be explained.

As shown in Figure 2, as mentioned above, the stock sensor (So)
When the copying sensors (Sl) and (sz) are turned off and this state continues for a predetermined period of time, the reaping operation is interrupted, and based on the information detected by the rotation speed sensor (11), After adjusting the running speed to avoid slipping, etc., and advancing the set distance, the running direction information (θm) for the work stroke and the turn direction information (θm), which is the orientation of the starting point of the next work stroke, are ), the traveling direction information (θm) and the turn direction information (θm)
The primary turning angle (θ1), which is approximately 2/3 of the difference between
m) by an angle corresponding to the -next turning angle (θm) in the direction of the next working stroke and then stopped.

Next, after moving straight back through the set distance (Lc), until the secondary turning angle (θ2) corresponding to about 173 of the difference between the traveling direction information (θm) and (θm) is reached, that is, the next work process. The aircraft (V
) is turned and temporarily stopped, then it starts moving forward while increasing the speed until it reaches a predetermined speed, enters the start of the next working stroke, and ends the turn control.

After that, the stock sensor (so) or copying sensor (S
1) and (SZ) are turned ON, the above-mentioned reaping control is started, and the reaping work in the next work process is restarted.

By the way, in this embodiment, when the turn is completed and the next work stroke begins, the direction of the starting end side portion of this next work stroke is in a state different from the direction over the entire length of the work stroke. Nevertheless, the reference for the direction in which the aircraft (V) travels is changed from the turn direction information (θm) to the travel direction information (
θm), but as mentioned above, priority is given to steering control to follow the stem culm (H) using the tracing sensors (Sl) and (SZ) over azimuth control based on the traveling direction information (θm). By doing so, the machine body (V) is made to follow the stem culm row, so the machine body (V) travels in the direction set by the turn direction information (θm), while maintaining the overall direction of the work process, that is, the above-mentioned The vehicle will change its direction in the direction indicated by the travel direction information (θm), and this will not be a problem.

[Another example]

In the above embodiment, switching between reaping control and turn control,
That is, switching between the travel control means (100) for work strokes and the travel control means (101) for turns is performed by the stock position sensor (SO) and the copying sensor (s + ).

Although the case where the configuration is configured to perform the process based on the state of (S2) is illustrated, the travel distance detected by the rotation speed sensor (11) reaches, for example, the distance spanning the entire length of one work stroke traveled during the outer circumference teaching. The control means may be switched based on the travel distance so that the turn is started when the vehicle travels.(The switching means of the travel control means can be changed in various ways.

In addition, in the above embodiment, as the aircraft enters the starting end of the next work stroke, the direction in which the aircraft (V) travels is determined from the turn direction information (θm) as the average direction over the entire length of the work process. Switch to the traveling direction information (θm) and use the scanning sensor (
Stem culm (H) based on the detection information from S+) and (Sz)
The above example shows a case in which uncut leaves are prevented while traveling in the direction of the work stroke as a whole by following the work stroke.
), the steering may be controlled based on the turn direction information (θm).

Further, in the above embodiment, in order to store the traveling direction information (θm) and the turn direction information (θm), the user artificially drives around the outer circumference of the work range in advance, and during that time, the direction detected by the direction sensor (8) ( Although the case where teaching is performed by sampling θ) has been illustrated, the settings may be stored in advance by manual operation.

Further, in the above embodiment, the case where the present invention is applied to a combine harvester is illustrated, but the specific configuration of the travel control means (100) and (101) and the sensors, actuators, etc. for automatically traveling the work vehicle are explained. The specific configuration of each part can be changed in various ways depending on the configuration of the work vehicle to which the present invention is applied, and the present invention is not limited to the above embodiments.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for an automatic traveling work vehicle according to the present invention, in which Fig. 1 is an explanatory diagram of azimuth information, Fig. 2 is an explanatory diagram of turn control, and Fig. 3 is a schematic diagram of the control system. FIG. 4 is a flowchart showing the overall operation of the control device, FIG. 5 is a flowchart of azimuth information storage processing, and FIG. 6 is an overall side view of the combine harvester. (θm)... Traveling direction information, (θm)...
... Turn direction information, (Ln) ... Starting end side part of work stroke, (100) ... Travel control means for work stroke, (101) ... Turn traveling control means for (102)... traveling direction storage means, (
103)...Turn direction storage means.

Claims (1)

[Claims] A travel control means (100) for a work process that automatically travels along the work process using travel direction information (θ_m) stored in advance based on the length direction of the work process; Accordingly, by using the turn direction information (θ_n) stored in advance based on the length direction of the next working stroke in the direction intersecting with the previous working stroke, the turn direction information (θ_n) for automatically traveling to the starting end of the next working stroke is used. Travel control means (101
) A travel control device for an automated driving work vehicle, comprising:
The traveling direction storage means (102) that stores the traveling direction information (θ_m) stores the traveling direction information set based on the length direction over the entire length of the work process, and stores the traveling direction information (θ_n). ), the turn direction storage means (103) stores the start end side portion (Ln
) A travel control device for an automatic traveling work vehicle that stores turn direction information set based on the length direction of the vehicle.