マイクロコンピュータ制御無人コンバインの開発

概要

論文の詳細を見る
In this paper, the result of the field experiment of the microcomputerized driverless combine is described. There are two ways of applying automatic control techniques to agricultural machinery. One of them can be applyed to unit farm machinery such as tractor and combine. The other is for agricultural facilities such as a green house or grain dryer plant. This research is included in the former category, and concerns control of a moving vehicle. For this kind of work, some difficulty is sometimes met in sensing and controlling optimally the actuator, because of the rapid and frequent change of circumstances under which the machine is running. In our former work, one of the authors reported on the programmed and feedback control systems of head feed type combine. However those controlling methods could not cover the multiple operation completely. The application of microcomputer not only to indutrial machines but also to agricultural machinery can solve this problem. The following advantages can be listed for the use of micro-computer with agricultural machinery : (1) Multi-input signals can be processed and controlled. (2) Software can easily help to solve the problem of changing the control process or procedure of routine work which was programmed and stored prior to the operation. (3) Time, labor and energy in agricultural operation can be saved. (4) Safety can be ensured. (5) Machinery can be systematically controlled. Based upon the above merits of using micro-computer with agricultural machinery, a micro-computerized driverless combine was constructed and its controllability was evaluated according to actual harvesting operation in the paddy field. From the test results, the following points are revealed. (1) The machine worked well and control was done satisfactorily, but the steering clutches should be adjusted for suitable braking force depending on the circumstances of steering and turning at the end of row of rice plants. (2) The hydraulic circuit should be modified to obtain the simultaneous control of the lifting motion of cutter bar and travelling, including the steering and turning. (3) The mechanical sensing device for detecting the cutting height did not work so well, especially in the muddy, wet field. A different type of sensor (such as ultrasonic or optical) is recommended, in addition to the consideration of the position or location of the sensor to be mounted. (4) The learning function should be added to improve the ease of adjustability of control factor referring to the field condition, etc. It can be concluded from this work that the possibility of applying the micro-computer control system to the combine was notably high, and this technique will probably be widely distributed for practical use and future commercial machines.

著者

鬼頭孝治
三重大学大学院生物資源学研究科

マイクロコンピュータ制御無人コンバインの開発

スポンサーリンク

概要

著者

関連論文

スポンサーリンク