JPH0723611A - Detector for revolving state of working vehicle - Google Patents

Abstract

PURPOSE:To provide the subject detector ensuring the deviation of a vehicle body from its target revolving locus to be detected in high accuracy by smoothly conducting the displacement of the relative position between the vehicle and a standard member situated at the target revolving center of the vehicle. CONSTITUTION:This detector is equipped with a standard member setting means K to stand a standard member 1 on the ground corresponding to the target revolving center position prior to revolving movement from the terminal end of one working stroke to the initial end of the next working stroke and a means P2 to detect the distance of a vehicle body 5 from the standard member 1 based on the horizontal relative movement for the standard member 1 and a supporting member 23, where the standard member and the supporting member 23 extended from the vehicle body are linked to each other so as to be free to make horizontal relative movement and free to make relative revolution around the vertical shaft.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a deviation of a vehicle body from a target movement locus around the target turning center in turning movement from the end portion of one work stroke to the start end of the next work stroke. The present invention relates to a turning state detecting device for a working vehicle, which is provided with a turning state detecting means.

[0002]

2. Description of the Related Art Conventionally, there is a structure for detecting the turning state of a work vehicle, which has been filed by the present applicant in Japanese Patent Application No. 5-74924. In other words, a hydraulic cylinder is used to extend an arm that can move up and down from the vehicle body laterally outward, and a pile body as a reference member is attached to the tip of this arm so that it can rotate around the axis of the pile body. Support and
The pile body is configured to pierce the ground by the expansion and contraction operation of the hydraulic cylinder, and when the vehicle body deviates from the target movement trajectory around the target turning center, the upper side portion of the pile body bends due to the spring accommodation, and the upper side of the pile body There has been a configuration in which a change in relative angle between a part and the arm is detected by a potentiometer to detect the amount of deviation.

[0003]

The structure as described above directly detects the deviation of the vehicle body from the target turning locus, and reduces the amount of the deviation so that the vehicle body turning device, for example, the wheels and the left and right rear wheels. By controlling the side brakes, the vehicle body can be turned along the target turning locus, and the reference member can be pierced into the field in a stable posture. However, in the above-mentioned conventional structure, when the vehicle body deviates from the turning target center, the structure allows the relative displacement between the pile body and the arm by the spring, so that the vehicle body deviates from the turning target center. When doing so, there is a high possibility that the pile body will be tilted, and there is a drawback that the accuracy of detecting the amount of deviation is reduced. An object of the present invention is to eliminate the above-mentioned inconveniences, to make it possible to smoothly perform relative position displacement between the reference member located at the target turning center and the vehicle body, and accurately detect the amount of deviation of the vehicle body from the target turning locus. It is a point to provide a turning state detection device capable of performing.

[0004]

The features of the first invention are as follows:
Prior to the turning movement from the end portion of one work stroke to the start end of the next work stroke, a reference member setting means is provided to stand a reference member on the ground corresponding to the target turning center position, and the reference member is provided. And a support member extending from the vehicle body so as to be relatively movable in the horizontal direction and relatively rotatable about the longitudinal axis, and based on the relative movement amount of the reference member and the support member in the horizontal direction, The point is that a distance detecting means for detecting the distance of the vehicle body with respect to the reference member is provided.

According to a characteristic constitution of the first invention, the reference member is
Position detecting means configured to be non-rotatably erected, for detecting the position of the vehicle body in the circumferential direction based on the relative rotation amount of the reference member and the support member around the longitudinal axis. It is in the point provided.

[0006]

According to the characterizing feature of the first invention, when the vehicle body reaches the end portion of one working stroke, the reference member setting means sets the reference member upright on the ground corresponding to the target turning center position.
In the turning traveling of the vehicle body, when the relative distance between the vehicle body and the reference member is different from the distance corresponding to the target turning locus, the support member extending from the vehicle body and the reference member relatively move in the horizontal direction, and the relative The distance detecting means detects the amount of displacement of the vehicle body from the target turning trajectory based on the amount of movement.
As a result, the relative movement between the reference member and the support member is smoothly performed, and the reference member in the standing posture is less likely to be tilted due to the horizontal pulling force as compared with the mechanical linkage structure such as the spring. Therefore, the accuracy of detecting the deviation amount of the vehicle body from the target turning locus becomes high.

According to the characterizing feature of the second invention, in addition to the action of the characterizing feature of the first invention, with respect to the reference member which has stopped rotating with respect to the ground, the supporting member and the reference member are accompanied by the turning movement of the vehicle body. The position of the vehicle body in the circumferential direction is detected by the position detecting means based on the amount of relative rotation with. At this time, since the reference member is suppressed to have a small inclination in the horizontal direction from the standing posture, the detection accuracy of the position detecting means is also improved.

[0008]

According to the characteristic construction of the first aspect of the invention, while allowing the deviation of the vehicle body from the target turning locus, and rationally providing the flexible structure of the reference member necessary for detecting the deviation amount. With this configuration, it is possible to accurately detect the vehicle body displacement amount based on the smooth relative displacement.

According to the characterizing structure of the second invention, in addition to the effect of the characterizing structure of the first invention, the position of the vehicle body in the circumferential direction can be accurately detected.

[0010]

Embodiments will be described below with reference to the drawings. Figure 5
As shown in FIG. 4, in each of the plurality of work strokes set parallel to each other set in the field, the guidance serving as a guide for automatically driving the rice planting work vehicle V along the length direction of the work stroke. The guide laser beam projector B1 for projecting the beam light A1 for use along the length direction of the work stroke is one for every two work strokes adjacent to each other along the direction in which the plurality of work strokes are arranged. The guide beam light A1 is projected in each of a plurality of work steps parallel to each other. Although not described in detail, the guiding light beam A1 is scanned within a predetermined vertical angle range (see FIG. 2).

Further, the turning beam light A2 for indicating the positions of both ends in the length direction of the work stroke and for indicating the start position of the turning operation to the next adjacent work stroke is used for guiding. A turning laser light projection device B2 for projecting in a direction orthogonal to the projection direction of the beam light A1 is a lateral side field of the field where the working steps corresponding to both ends in the length direction of the working step are arranged. It is provided in. As a result, as the working vehicle V guided by the guiding beam light A1 reaches the end portion of one work stroke, the vehicle body 5 moves from the end portion toward the start end portion of the next adjacent work stroke. While turning along the target turning locus g (see FIG. 7) around the target turning center c, each work stroke is sequentially reciprocated so as to change the direction by 180 degrees, and the planting work in the field in the predetermined range is continuously performed. So that it can be done automatically.

Explaining the structure of the work vehicle V,
As shown in FIGS. 1 and 2, a pair of left and right front wheels 3 and rear wheels 4 are provided.
A seedling planting device 6 as a working device is provided at the rear portion of the vehicle body 5 including the above so as to be movable up and down and stop driving.
The front wheels 3 are configured to operate as driving wheels and to be steerably operated in left and right pairs, and a steering hydraulic cylinder 7 and an electromagnetically-operated control valve 9 are provided for the front wheels 3. On the other hand, the rear wheel 4 is configured to operate only as a drive wheel. That is, the work vehicle V is steered by a two-wheel steering system that steers only the front wheels 3.
In addition, the braking devices 2a, 2 are provided on the axles of the left and right rear wheels 4, respectively.
b is provided and a pair of these brake devices 2a, 2b
Hydraulic cylinders 8a, 8b for operating the brakes
And electromagnetically operated control valves 10a and 10b for them
And are provided. A differential device 19 is provided at the center of the axle of each of the front and rear wheels 3, 4. From the above, by operating the left and right brake devices 2a and 2b while steering the front wheel 3 at a predetermined angle, it is possible to make a turning movement along the target turning locus g, and therefore the front wheel 3 and the brakes. The devices 2a and 2b form a turning device.

In FIG. 1, 11 is a hydraulic continuously variable transmission that shifts the output from the engine E to simultaneously drive the front and rear wheels 3 and 4, 12 is an electric motor for gear shifting operation,
3 is a hydraulic cylinder for raising and lowering the planting device 6, 14 is a control valve thereof, and 15 is a seedling planting device 6 by the engine E.
It is an electromagnetically operated planted clutch that intermittently drives.
Further, in the work vehicle V, a steering angle detection sensor R1 using a potentiometer for detecting a steering angle of the front wheels 3, and a forward / backward traveling state and a vehicle speed are indirectly detected based on a shift state of the transmission 11. A vehicle speed sensor R3 using a potentiometer and an encoder S4 for counting the number of rotations of the output shaft of the transmission 11 to detect the traveling distance are provided. Further, as shown in FIGS. 2, 5 and 6, in order to detect the deviation of the steering position with respect to the guiding beam light A1 in the lateral direction of the vehicle body on the basis of the light receiving position in the lateral direction of the vehicle body, The steering control optical sensor 17 for receiving the beam light A1 for steering is provided on the front right side of the vehicle body, and the optical sensor S3 for rotation for receiving the beam light A2 for steering is provided on either side of the vehicle body. In order to receive the turning beam light A2, the steering control light sensor 17 is provided on each of the left and right sides of the vehicle body on the front side. The turning optical sensor S3 is configured to detect only whether or not the turning beam light A2 is received, and the light receiving position cannot be determined.

The steering control optical sensor 17 will be described in more detail. As shown in FIG.
And a pair of front and rear photosensors S1 and S2 arranged so as to be spaced apart from each other and also spaced apart in the vertical direction,
Then, in order that the guiding beam light A1 can be received in a state in which there is no difference in the incident light from any of the front and rear directions of the vehicle body, the incident light from the front and rear directions of the vehicle body is detected by the optical sensors S1, S2. A reflecting mirror 18 that reflects toward each light receiving surface is provided. The pair of front and rear optical sensors S1, S
Each of No. 2 has a plurality of light receiving elements D arranged side by side in the lateral direction of the vehicle body, and receives the guiding beam light A1 with reference to the position of the light receiving element located at the sensor center D0 in the lateral direction. The positions X1 and X2 of the front and rear light receiving elements are detected.

As shown in FIG. 3, a support member 23 is extended from the vehicle body side on the lateral outer side of the vehicle body on the rotation axis of the rear wheel 4, and the tip side of the support member 23 is on the ground side. Is provided with a pile body 1 as a reference member that is erected in the vertical direction. The mounting position of the pile body 1 to the vehicle body 5 is
The distance r from the center position in the lateral direction of the vehicle body is r, and this distance r is set to a half of the work width of each work step in which the seedling planting device 6 carries out planting work. That is, as described above, the distance r is the target movement locus g around the target turning center c of the vehicle body 5 from the end portion of one work stroke to the start portion of the next adjacent work stroke.
It corresponds to the turning radius which is the distance between the target turning center c and the lateral center position of the vehicle body when the vehicle is turning along. Further, as shown in FIG. 8, the tip portion 1c of the lower portion 1a of the pile body 1 is formed into a cross-shaped blade shape in a plan view, whereby the tip portion 1c penetrates into the ground and is piled. The body 1 is prevented from rotating when it is erected on the ground.

The supporting member 23 is provided by a vertical movement hydraulic cylinder 24 so that the supporting member 23 can be moved up and down by switching between an operating state in which the pile body 1 is pierced into the ground and a position in which the pile body 1 is retracted upward. Are linked so as to be relatively movable in the horizontal direction and relatively rotatable about the axis of the vertical axis. That is, as shown in FIG. 4, the pile body 1 is supported so as to be relatively rotatable around the vertical axis Y with respect to the slide frame 31 slidably supported by the rolling roller 30 with respect to the support member 23. The relative rotation amount is the first potentiometer P1.
It is configured to be detected by [an example of the position detecting means]. In addition, the support member 23 is provided in the slide frame 31.
A pinion gear 33 that engages with a rack gear 32 provided on the lower surface of the pinion gear 33 is rotatably supported, and the pinion gear 33 rotates as the slide frame 31 slides, and the amount of rotation is the second potentiometer P2 [. An example of the distance detecting means].
When the pile body 1 is pierced to the turning target position, the clamp hydraulic cylinder 25 holds the position at a predetermined position by the clamp mechanism 29 composed of the left and right clamp arms 28, 28 which are operated to open and close via the link 27. Is configured. The hydraulic cylinder 24 and the clamp mechanism 29 constitute a reference member setting means K. Control valves 21, 26 for the respective hydraulic cylinders 24, 25
Are controlled by the control device 16.

As shown in FIG. 9, when the distance of the vehicle body 5 from the pile body 1 is represented by, for example, the distance from the center in the lateral direction of the vehicle body, the distance when the turning motion is along the target turning locus g. The proper value of is the distance r. At this time, pile 1
The upper portion 1b of the is oriented vertically in the same state as when it was erected. When the turning operation is in the under-steering state with respect to the target turning locus g, the slide frame is relatively separated from the vehicle body, and in the over-steering state, the slide frame is relatively close to the vehicle body. Therefore, the relative displacement amount is detected by the second potentiometer. In addition, the first potentiometer P
1, the traveling angle of the vehicle body 5 with respect to the pile body 1 in the circumferential direction is detected, and the turning state of the vehicle body 5 is detected from the respective detection information. The displacement of the slide frame 31 in the direction orthogonal to the sliding direction is allowed by the coil spring 1d interposed in the middle of the pile body 1.

As shown in FIG. 1, a control unit 16 using a microcomputer is provided for controlling the traveling of the work vehicle V and the operation of the planting device 6, and the control unit 16 has the steering angle. The detection information of the detection sensor R1, the vehicle speed sensor R3, the encoder S4, the turning optical sensor S3, the steering control optical sensor 17, the first and second potentiometers P1 and P2 is input. Further, from the control device 16, the shift motor 1
2. Drive signals are output to the control valves 9, 10a, 10b, 14 and the planting clutch 15, respectively.

The control device 16 controls the steering so that the work vehicle V automatically travels along the guiding beam light A1 in each work stroke based on the light reception information of the steering control optical sensor 17. Is configured to. Specifically, as shown in FIG. 5, the vehicle is caused to travel while the center of the vehicle body is located on the reference travel line L set at the center of each work stroke. This steering control will be described. As shown in FIG. 6, the positions X1 and X2 of the light receiving elements of the pair of front and rear optical sensors S1 and S2 of the steering control optical sensor 17, respectively.
And its mounting distance d in the vehicle front-rear direction,
The inclination φ of the vehicle body 5 with respect to the projection direction of the guiding light beam A1 and the positional deviation x in the lateral width direction are obtained from the following equation.

[0020]

## EQU1 ## φ = tan ^-1 (| X1-X2 | / d) x = X1

In this example, the position deviation in the lateral width direction is set to the light receiving position of one (S1) of the pair of photosensors S1 and S2, but an error due to the inclination φ does not occur. In order to do so, the pair of optical sensors S
You may make it use the average value of the light receiving positions X1 and X2 of 1 and S2, respectively. The work vehicle V has the inclination φ.
Then, the steering angle of the front wheels 3 is set so that both the deviation x and the deviation x become zero, and steering control is performed in a two-wheel steering system.

The control unit 16 detects the deviation information of the turning position of the vehicle body 5 with respect to the target movement locus g around the target turning center c, which is detected by the second potentiometer P2, and is detected by the first potentiometer P1. The turning state of the vehicle body 5 is detected based on the position information of the vehicle body 5 in the circumferential direction with respect to the pile body 1. Further, by using the control device 16, the vehicle body 5 turns along the target movement locus g around the target turning center c from the end of one work stroke to the start of the next adjacent work stroke. Thus, the control means for controlling the operation of the front wheels 3 as the turning device and the brake devices 2a, 2b is configured. In the target turning trajectory, as shown in FIG. 7, the point where the turning optical sensor S3 detects the turning beam light A2 is e, and the distance from the point e is based on the detection information of the encoder S4. a
It is set so that the turning operation of 180 degrees is started from the point f at which the vehicle has run, and the end point h of the turning operation is reached via a predetermined turning locus g. The turning control is performed by the target turning center c.
Is executed in a steering state in which the steering directions of the front wheels 3 are orthogonal to each other. The control device, based on the detection information of the second potentiometer P2, the target movement trajectory g
The turning control is executed while performing correction control so as to reduce the deviation with respect to. Specifically, if the deviation direction is the under-steering direction, the brake devices 2a, 2 on the inner wheel side are provided.
b is actuated, and the brake devices 2a, 2b on the outer wheel side are actuated in the oversteering direction. Further, the control device, based on the detection information of the first potentiometer P1, ends the turning, that is, the end point h of the turning trajectory.
Is configured to determine arrival at. That is, it is determined that the turning operation is completed when the value of the potentiometer changes from the value of the potentiometer at the point f at which the turning operation is started, by an amount corresponding to the turning operation of 180 degrees.

Next, the operation of the control device 16 will be described with reference to the flow charts shown in FIGS. The work vehicle V includes the guiding laser beam projection device B1.
In the state in which the guiding beam light A1 projected from the vehicle is received from the rear side of the vehicle body, the first work stroke set on one end side of the field travels from one end side to the other end side along its length direction. Start. After the start of traveling, the steering control sensor 1
Based on the light receiving position information of the guiding beam light A1 by 7, the front wheel 3 is operated in the two-wheel steering system so that both the light receiving positions of the pair of optical sensors S1 and S2 are in the sensor center. Steering control. Then, as the turning optical sensor S3 travels a set distance from the time when the turning beam light A2 projected on one end side of the work process is received and reaches the planting start position, seedling planting is performed. The plant 6 will be started by lowering the device 6 and starting driving. When the working vehicle V reaches the end portion of the working stroke and the turning optical sensor S3 receives the turning beam light A2 projected on the other end side of the working stroke (point e), the seedling planting device. The drive of 6 is stopped to stop the planting work. Although not described in detail, when it is determined that the work is completed based on the number of times of turning, the next turning operation is not performed, the traveling is stopped, and the entire process is ended. And the above e
The vehicle travels toward point f, which is a distance a from the point. When the vehicle arrives at the point f, the traveling is stopped and then the hydraulic cylinder is operated to stand the pile 1 on the ground corresponding to the target turning center position c on the lateral side of the vehicle on the turning side. Then, the reverse direction of the vehicle body 5 for turning 180 degrees is calculated, the steering angle of the front wheels 3 is set to a predetermined steering angle,
Further, the turning operation is started after the double speed drive device (not shown) for the front wheels 3 is turned on. Although not described in detail, when the double-speed drive device is turned on, the ratio of the drive speed of the front wheels 3 to the drive speed of the rear wheels 4 is increased from the usual 1: 1 to 1: α (eg α = 2). As a result, the turning motion is smoothly performed. During turning, the steering state is judged from the detection information of the second potentiometer P2. If the steering wheel is understeering, the brake device on the inner wheel side is operated, and if it is oversteering, the brake device on the outer wheel side is operated. When the end of the turning is detected by the first potentiometer P1, the traveling is stopped, the double speed drive device is turned off, and the pile body 1 is pulled out from the ground by the hydraulic cylinder to be positioned above the vehicle body. Perform the storing operation. Then, after performing a returning operation for directing the steering angle in the direction of the next work stroke, automatic traveling is started.

[Other Embodiments] In the above embodiment, the turning device is constituted by the front wheels 3 and the brake devices 2a, 2b provided on the rear wheels 4, but other than this, for example, the brake devices 2a, 2b are provided. Instead, it is possible to make a turn while correcting only the steering angle of the front wheels 3.
Also, instead of the two-wheel steering, as shown in FIG.
A turning device may be configured by the front wheels 3 and the rear wheels 4 and turned by four-wheel steering. In this example,
A target turning center c is set on the side of the vehicle body at a substantially central position in the vehicle front-rear direction, and steering is performed such that the steering angles of the front and rear wheels 3, 4 are 90 degrees with respect to the line toward the target turning center c. The steering angle is corrected based on the shift information that is operated and is determined from the detection information of the turning state detection means S.

As means for raising and lowering the pile body 1, instead of a hydraulic cylinder, an electric motor is used to support the arm 23.
The pile body 1 may be moved up and down by swinging up and down.

As the reference member, instead of the structure of raising and lowering integrally with the support member as shown in the above-mentioned embodiment, after being preliminarily set up by the reference member setting means,
The support member may be engaged with the reference member so as to be relatively movable in the horizontal direction, and the relative movement amount may be detected.

In the above embodiment, the present invention is applied to a work vehicle for rice planting, but it can be applied to agricultural machines other than rice planting machines and various automatic work vehicles. The specific configuration of each unit can be changed in various ways.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[0029]

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a schematic side view of a work vehicle and a beam light projection means for guidance.

FIG. 3 is a rear view of the work vehicle showing the reference member setting means.

FIG. 4 is a partial sectional side view showing a position detecting means and a distance detecting means.

FIG. 5 is a schematic plan view illustrating a work stroke and a turning operation.

FIG. 6 is an explanatory diagram of a light receiving position of a steering control optical sensor.

FIG. 7 is an explanatory diagram of a set traveling reference line and a target turning trajectory.

FIG. 8 is a plan view showing the shape of the tip of the reference member.

FIG. 9 is a schematic plan view illustrating the operation of the turning device.

FIG. 10 is a flowchart of control operation.

FIG. 11 is a flowchart of control operation.

FIG. 12 is a schematic plan view illustrating the operation of the turning device of another embodiment.

[Explanation of symbols]

 1 Reference member 5 Vehicle body 23 Support member K Reference member setting means P1 Position detection means P2 Distance detection means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ryozo Kuroiwa 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (2)

[Claims] 1. A reference member for standing a reference member (1) on a ground surface corresponding to a target turning center position prior to turning movement from the end portion of one work stroke to the start end of the next work stroke. The reference member (1) and the support member (23) extending from the vehicle body are linked to each other by setting means (K) so that the reference member (1) and the support member (23) can be horizontally moved relative to each other and can be relatively rotated about a vertical axis. A work vehicle provided with distance detection means (P2) for detecting the distance of the vehicle body (5) to the reference member (1) based on the amount of relative movement of (1) and the support member (23) in the horizontal direction. Turning state detection device. 2. The relative rotation amount of the reference member (1) so as to be non-rotatably erected, and the reference member (1) and the support member (23) about the longitudinal axis. The turning state detection device for a work vehicle according to claim 1, further comprising position detection means (P1) for detecting the position of the vehicle body (5) in the circumferential direction based on the above.