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WO2018174249A1 - Véhicule de travail - Google Patents

Véhicule de travail Download PDF

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Publication number
WO2018174249A1
WO2018174249A1 PCT/JP2018/011714 JP2018011714W WO2018174249A1 WO 2018174249 A1 WO2018174249 A1 WO 2018174249A1 JP 2018011714 W JP2018011714 W JP 2018011714W WO 2018174249 A1 WO2018174249 A1 WO 2018174249A1
Authority
WO
WIPO (PCT)
Prior art keywords
work
vehicle speed
command
unit
vehicle
Prior art date
Application number
PCT/JP2018/011714
Other languages
English (en)
Japanese (ja)
Inventor
良平 上田
敏史 平松
恵大 北野
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to CN202210201677.6A priority Critical patent/CN114527765B/zh
Priority to KR1020237043367A priority patent/KR20240000626A/ko
Priority to KR1020197021109A priority patent/KR102325719B1/ko
Priority to KR1020227020368A priority patent/KR102616945B1/ko
Priority to CN201880009614.2A priority patent/CN110418570B/zh
Priority to KR1020217036104A priority patent/KR102413466B1/ko
Publication of WO2018174249A1 publication Critical patent/WO2018174249A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
    • A01B33/082—Transmissions; Gearings; Power distribution
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/20—Off-Road Vehicles
    • B60Y2200/22—Agricultural vehicles
    • B60Y2200/221—Tractors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present invention relates to a work vehicle capable of running while switching a mounted work machine between a working state and a non-working state.
  • Patent Document 1 This type of work vehicle is disclosed in Patent Document 1, for example.
  • the agricultural work vehicle of Patent Document 1 is provided with a work machine lifting position sensor that autonomously travels a vehicle body based on a direction sensor and a GPS receiver and stores a lowering operation of the work machine mounted on the vehicle body.
  • the target tillage start position is configured to coincide with the end position of the lowering operation.
  • Patent Document 1 assumes that this configuration makes it possible to easily perform good tillage work without occurrence of residual tillage or the like.
  • Patent Document 1 takes into account the lowering operation of the work implement, but does not fully consider the raising operation of the work implement.
  • the present invention has been made in view of the above circumstances, and an object of the present invention is to describe a state in which a work body performs work in a work vehicle in consideration of a position where the work body actually performs work on a work machine. It is to control the switching between the states that are not good.
  • a work vehicle having the following configuration.
  • the work vehicle includes a vehicle body portion, a command output portion, a work implement control portion, a vehicle speed control portion, a setting portion, and a distance acquisition portion.
  • the vehicle body part can be equipped with a work machine.
  • the command output unit outputs a work command for controlling the work machine to a working state and a non-work command for controlling the work machine to a non-working state.
  • the work machine control unit controls a work state of the work machine according to the work command or the non-work command.
  • the vehicle speed control unit can switch and control the vehicle speed of the work vehicle.
  • the setting unit sets a reference position at which a work state of the work implement is switched by control by the work implement control unit.
  • the distance acquisition unit acquires a distance from a work center position of the work implement to the reference position.
  • the vehicle speed control unit switches the vehicle speed of the work vehicle from a first vehicle speed to a second vehicle speed according to the non-work command, and changes the vehicle speed of the work vehicle from the second vehicle speed to the first vehicle speed according to the work command. Switch to.
  • the command output unit controls the output timing of the non-work command based on the first vehicle speed and the distance.
  • the command output unit controls the output timing of the work command based on the second vehicle speed, a speed change rate from the second vehicle speed to the first vehicle speed, and the distance.
  • the command output unit can output the non-work command and the work command at appropriate timings when the work machine is switched from the work state to the non-work state and when the work machine is switched from the non-work state to the work state. Thereby, the error of the boundary between the part which is worked by the working machine and the part which is not made can be reduced.
  • the work vehicle has the following configuration. That is, the vehicle speed control unit switches from the first vehicle speed to the second vehicle speed after the work machine control unit switches the work machine from the work state to the non-work state in response to the non-work command. Start control. The vehicle speed control unit starts switching control from the second vehicle speed to the first vehicle speed before the work machine control unit switches the work machine from the non-working state to the working state in response to the work command. To do.
  • this work vehicle includes a measurement unit and a required time storage unit.
  • the measuring unit measures a time required to switch the working machine from the non-working state to the working state.
  • the required time storage unit stores the required time measured by the measuring unit.
  • the command output unit controls the output timing of the work command based on the stored contents of the required time storage unit.
  • the required time storage unit stores an initially set time.
  • the storage content of the required time storage unit is updated to a measured value.
  • the time required for switching the work implement from the non-working state to the working state is measured and stored, and the work command is output at an appropriate timing by controlling the timing of outputting the work command based on the measured time. be able to.
  • the measurement value is not obtained in advance, but the command output unit issues a work command at a generally good timing by initializing an appropriate time. Can be output.
  • the work vehicle has the following configuration. That is, the setting of the first vehicle speed and the second vehicle speed can be changed by an operation on the vehicle speed setting unit.
  • the command output unit is configured to execute the work command or the non-work command based on the changed first vehicle speed and / or the second vehicle speed. To control the output timing.
  • the command output unit can output the work command and the non-work command at an appropriate timing while changing the vehicle speed according to the user's request.
  • the work vehicle has the following configuration.
  • the work vehicle includes an autonomous travel control unit that can autonomously travel the work vehicle by switching between the first mode and the second mode.
  • the first mode is a mode in which autonomous traveling can be terminated without stopping the work vehicle in accordance with an operation on the speed change operation tool.
  • the second mode is a mode in which the working vehicle is stopped in accordance with an operation on the speed change operation tool to end the autonomous traveling.
  • the setting of the first vehicle speed and the second vehicle speed can be changed according to an operation on the vehicle speed setting unit provided in the work vehicle.
  • the setting of the first vehicle speed and the second vehicle speed can be changed according to an operation on the vehicle speed setting unit provided in a wireless communication device that performs wireless communication with the work vehicle. is there.
  • the vehicle speed setting unit on the work vehicle side a user who has boarded the work vehicle operates the vehicle speed setting unit on the work vehicle side
  • a user outside the work vehicle operates the vehicle speed setting unit of the wireless communication device.
  • the vehicle speed can be changed.
  • the work vehicle has the following configuration. That is, the work vehicle includes a position information acquisition unit, an operation unit, and an autonomous travel control unit.
  • the position information acquisition unit acquires position information of the vehicle body part.
  • the operation unit is disposed on the vehicle body.
  • the autonomous traveling control unit autonomously travels the vehicle body unit along a predetermined route.
  • the work implement control unit is associated with the operation command or the non-work command output by the command output unit or the operation of the operation unit when the autonomous travel control unit is autonomously driving the vehicle body unit.
  • the working state of the work implement is controlled based on the operation unit command output.
  • the work machine control unit controls the work state of the work machine by prioritizing the operation unit command over the work command or the non-work command.
  • the control based on the autonomous traveling is performed first, the control according to the user's intention can be performed in such a form that the control is stopped.
  • the tractor which concerns on one Embodiment of this invention WHEREIN: The side view which shows a mode that the mounted working machine is a non-working state.
  • the block diagram which shows the main electrical structures of a tractor.
  • the schematic diagram which shows the example of the autonomous running route in case a tractor carries out autonomous running and autonomous work.
  • the figure explaining the relationship of the control timing in the case of switching a working machine from a working state to a non-working state at the time of autonomous running and autonomous work.
  • the present invention relates to a work vehicle that can run by one or a plurality of vehicles in a predetermined field and can perform all or part of the farm work in the field.
  • a tractor will be described as an example of a work vehicle.
  • a padded work machine such as a rice transplanter, a combiner, a civil engineering / construction work device, a snowplow, a walking work A machine is also included.
  • autonomous traveling means that a configuration related to traveling provided by the tractor is controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route.
  • ECU control unit
  • control unit included in the tractor controls the configuration related to the work included in the tractor, so that the tractor performs the work along a predetermined route.
  • manual running / manual work means that each component provided in the tractor is operated by the user to run / work.
  • a tractor that performs autonomous traveling / autonomous work may be referred to as an “autonomous traveling tractor”, and a tractor that performs manual traveling / manual work may be referred to as a “manual traveling tractor”.
  • the autonomous running / autonomous work includes a case where the user rides on the tractor and a case where the user performs without boarding. On the other hand, when performing manual travel / manual work, the user gets on the tractor.
  • FIG. 1 is a side view showing a state where a mounted work machine 3 is in a non-working state in a tractor 1 according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the tractor 1.
  • FIG. 3 is a plan view showing various operation devices arranged around the seat 13.
  • FIG. 4 is a block diagram showing the main electrical configuration of the tractor 1.
  • the tractor 1 can be used as a manual traveling tractor, but has a function as an autonomous traveling tractor and is autonomous traveling generated by the route generation system in a state where the user is on board. It is configured to perform autonomous traveling and autonomous work according to a route (route). However, the tractor 1 can also perform autonomous traveling / autonomous work without a user boarding. First, the tractor 1 will be described mainly with reference to FIGS. 1 and 2.
  • the tractor 1 includes a traveling machine body 2 as a vehicle body that autonomously travels in the field.
  • various working machines such as a tiller (management machine), a plow, a fertilizer machine, a mowing machine, and a sowing machine can be selected and mounted on the traveling machine body 2.
  • the working machine 3 is a rotary tiller.
  • the traveling machine body 2 of the tractor 1 is supported at its front part by a pair of left and right front wheels 7 and 7 and at its rear part by a pair of left and right rear wheels 8 and 8.
  • a bonnet 9 is arranged at the front of the traveling machine body 2.
  • an engine 10 or the like that is a drive source of the tractor 1 is accommodated in the bonnet 9.
  • this engine 10 can be comprised, for example with a diesel engine, it is not restricted to this, For example, you may comprise with a gasoline engine.
  • an electric motor may be employed as a drive source in addition to or instead of the engine 10.
  • the fuel tank may be disposed outside the bonnet 9.
  • a cabin 11 for the user to board is arranged behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for a user to steer, a seat 13 on which a user can be seated, and various operation devices for performing various operations.
  • the work vehicle is not limited to the one with the cabin 11 and may be configured without the cabin 11.
  • the monitor device 70 As the operation device, the monitor device 70, the throttle lever 15, the reverser lever 26, the main transmission lever (transmission operation tool) 27, the speed rotation number selection changeover switch 29, the speed rotation number setting change dial (vehicle speed setting) shown in FIG. Part) 14, dial setting changeover switch 16, auxiliary transmission lever 19, PTO switch 17, PTO transmission lever 18, work implement lift switch (operation unit) 28, work implement lowering speed adjustment knob 75, and the like. .
  • These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.
  • the monitor device 70 is configured to be able to display various information of the tractor 1.
  • the monitor device 70 is provided with input members such as buttons and dials, and various instructions can be input to the tractor 1 by operating the input members by the user.
  • the throttle lever 15 is an operating tool for setting the output rotation speed of the engine 10.
  • the reverser lever 26 is an operation tool for switching the tractor 1 between forward, reverse, and stop.
  • the main speed change lever 27 is an operating tool for steplessly changing the speed at which the tractor 1 travels in the direction indicated by the reverser lever 26.
  • the speed / revolution selection switch 29 is a mode in which the tractor 1 that performs manual travel / manual operation selects a combination of the vehicle speed and the rotational speed of the engine 10 in advance and travels (hereinafter referred to as setting). This is an operating tool for switching the selection alternately when it is referred to as a selection travel mode.
  • the speed rotation speed setting change dial 14 is an operating tool for adjusting the setting values of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 for each of the two types of settings selected in the setting selection travel mode.
  • the dial setting changeover switch 16 is an operating tool for switching whether the speed / revolution setting changing dial 14 changes the setting value of the vehicle speed of the tractor 1 or the setting value of the rotation speed of the engine 10.
  • the speed rotation speed setting change dial 14 and the dial setting changeover switch 16 are used to set the vehicle speed and the number of engines during work and non-work to be described later when the user performs autonomous traveling / autonomous work while riding on the tractor 1. Also used to instruct settings.
  • the auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22.
  • the PTO switch 17 is an operating tool for switching the transmission / cutoff of power to a PTO shaft (power transmission shaft) (not shown) protruding from the rear end of the transmission 22.
  • the PTO speed change lever 18 is an operating tool for performing a speed change operation of the rotational speed of the PTO shaft.
  • the work implement raising / lowering switch 28 is an operating tool for raising and lowering the height of the work implement 3 attached to the traveling machine body 2 within a predetermined range.
  • the work implement lowering speed adjustment knob 75 is an operation tool for adjusting the speed when the work implement 3 is lowered.
  • the seat 13 is provided with a seating sensor (detection unit) 13a for detecting that the user is sitting on the seat.
  • the seating sensor 13a can be configured to use a membrane switch, for example.
  • a chassis 20 of the tractor 1 is provided at the lower part of the traveling machine body 2.
  • the chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.
  • the fuselage frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member.
  • the transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24.
  • the front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7.
  • the rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheel 8.
  • the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.).
  • the control unit 4 includes a CPU, a ROM, a RAM, an I / O, and the like (not shown), and the CPU can read various programs from the ROM and execute them.
  • the ROM stores operation programs, application programs, and various data.
  • the control unit 4 can be operated as the storage unit 38, the route generation unit (route generation system) 39, the autonomous traveling control unit 32, and the like.
  • the tractor by providing the tractor with various configurations such as the positioning antenna 6, it is possible to cause the tractor to perform autonomous traveling and autonomous work.
  • the controller 4 is electrically connected to a controller or the like for controlling each component (for example, the engine 10 or the like) included in the tractor 1.
  • the tractor 1 includes at least an engine controller (not shown), a vehicle speed controller, a steering controller, a lift controller, and a PTO controller. Each controller can control each component of the tractor 1 in accordance with an electrical signal from the control unit 4.
  • the engine controller controls the rotational speed of the engine 10 and the like.
  • the engine controller is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10.
  • the common rail device 41 injects fuel into each cylinder of the engine 10.
  • the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close, high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector to each cylinder of the engine 10.
  • the injection pressure, injection timing, and injection period (injection amount) of fuel supplied from each injector are controlled with high accuracy.
  • the engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the common rail device 41, for example.
  • the vehicle speed controller controls the vehicle speed of the tractor 1.
  • the transmission 22 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission.
  • the vehicle speed controller can change the gear ratio of the transmission 22 and change to the desired vehicle speed by changing the angle of the swash plate of the transmission 42 with an actuator (not shown).
  • the steering controller controls the turning angle of the steering handle 12.
  • a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12.
  • the control unit 4 sets an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route.
  • the control signal is transmitted to the steering controller so that the calculated rotation angle is obtained.
  • the steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12.
  • the steering controller may adjust the steering angle of the front wheel 7 of the tractor 1 instead of adjusting the rotation angle of the steering handle 12. In that case, the steering handle 12 does not rotate even if the vehicle turns.
  • the elevating controller controls the elevating of the work machine 3.
  • the tractor 1 includes a lift actuator 44 formed of a known hydraulic lift cylinder in the vicinity of a three-point link mechanism that connects the work machine 3 to the traveling machine body 2.
  • the elevating controller drives the lift cylinder by opening and closing an unillustrated electromagnetic valve based on a control signal input from the control unit 4 and appropriately drives the work implement 3 to elevate.
  • the lift cylinder is a single-acting type, and is configured such that the working machine 3 is raised by supplying hydraulic oil to the cylinder, and the working machine 3 is lowered by its own weight by discharging the hydraulic oil from the cylinder. .
  • a known descending speed adjusting valve is disposed in the hydraulic oil discharge path from the cylinder, and the user operates the opening degree of the descending speed adjusting valve with the work implement descending speed adjusting knob 75 in FIG. Thus, the speed when the work machine 3 descends can be adjusted.
  • the work controller 3 can be supported at a desired height such as a non-working height at which work is not performed and a work height at which work is performed by the lifting controller having the above-described configuration.
  • a desired height such as a non-working height at which work is not performed and a work height at which work is performed by the lifting controller having the above-described configuration.
  • the working machine 3 attached to the traveling machine body 2 is configured as a rotary tiller in the present embodiment, the work by the working machine 3 means a tilling work.
  • the PTO controller controls the rotation of the PTO shaft.
  • the tractor 1 includes a PTO clutch 45 for switching between transmission / cutoff of power to a PTO shaft (power transmission shaft).
  • the PTO controller can switch the PTO clutch 45 based on a control signal input from the control unit 4 to rotate and stop the work machine 3 via the PTO shaft.
  • the plurality of controllers (not shown) control each part of the engine 10 and the like based on a signal input from the control part 4, so that the control part 4 substantially controls each part. I can grasp it.
  • the tractor 1 including the control unit 4 as described above has a function as a manual travel tractor.
  • each unit of the tractor 1 is controlled by the control unit 4.
  • a traveling machine body 2, a work machine 3, etc. are controlled so that farm work can be performed while traveling in the field.
  • the tractor of the first embodiment has various configurations for functioning as an autonomous traveling tractor.
  • the tractor 1 includes a positioning antenna 6 and the like necessary for acquiring position information of itself (the traveling machine body 2) based on the positioning system.
  • the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field (in a specific area).
  • the tractor 1 of the present embodiment includes a positioning antenna 6 in addition to the control unit 4 described above.
  • the positioning antenna 6 receives signals from positioning satellites that constitute a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 provided in the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit (position information acquisition unit) 49 shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information acquired by the position information calculation unit 49 is used for autonomous traveling by the control unit 4.
  • GNSS satellite positioning system
  • a high-accuracy satellite positioning system using the GNSS-RTK method is used.
  • the present invention is not limited to this, and other positioning systems may be used.
  • DGPS relative positioning method
  • SBAS geostationary satellite type satellite navigation augmentation system
  • the tractor 1 includes an inertial measurement device (not shown).
  • This inertial measurement device has a known configuration including an angular velocity sensor and an acceleration sensor, and is configured to be able to acquire the position of the tractor 1 even when the above GNSS positioning cannot be performed due to radio wave reception or the like. Yes.
  • a radio communication antenna 48 is provided at an appropriate position outside the cabin 11 of the tractor 1.
  • the radio communication antenna 48 is electrically connected to the radio communication unit 40 of the tractor 1.
  • the wireless communication antenna 48 is used for exchanging instructions and information with a remote control device owned by the user when autonomous running / autonomous work is performed without the user getting on the tractor 1. The details of this remote control device will be described later.
  • FIG. 5 is a schematic diagram illustrating an example of the autonomous traveling route P when the tractor 1 performs autonomous traveling / autonomous work.
  • a path P can be generated.
  • the autonomous traveling route P is generated so as to connect the work start position S and the work end position E specified in advance.
  • This autonomous traveling path P is a straight or broken line-shaped autonomous work path (linear path on which autonomous work is performed) P1 and a U-shaped connection path (turning / turning back operation) that connects the ends of the autonomous work path P1. And a circular circuit including arc-shaped portions) P2 and P2 are alternately connected.
  • a headland and a non-cultivated land are set as a non-work area 62 in which work by the work machine 3 is not performed in the target farm field.
  • the area excluding the non-work area 62 becomes the work area 61.
  • a plurality of the autonomous work paths (routes) P1, P1,... Are arranged side by side in the work area 61, and the connection paths P2, P2,... are arranged in the non-work area 62 (headlands). Is generated as follows.
  • an area obtained by combining the non-work area 62 and the work area 61 may be referred to as a specific area 60.
  • the autonomous work paths P1, P1,... are generated in a straight line, and the connection paths P2, P2,. Further, each of the autonomous work paths P1, P1,... Is arranged so as to pass through the work area 61, and the connection path P2 is an end of P1, P1 adjacent to each other in the headland that is the non-work area 62. Arranged to connect each other. In the autonomous traveling route P created in this way, the direction change of 180 ° is performed in each connection route P2. Therefore, the traveling direction of the tractor 1 is an autonomous work route P1 and an autonomous work route P1 adjacent thereto. Will be opposite to each other.
  • the information on the autonomous traveling route P is obtained by using data generated by an external computer (may be a wireless communication terminal 81 described later) as appropriate for communication or the like. It can also be taken into the control unit 4 by means. Thereafter, when the user performs a predetermined operation on the tractor 1, the control unit 4 (autonomous traveling control unit 32) controls the tractor 1 and autonomously travels along the autonomous traveling route P. Thus, the farm work can be performed by the work machine 3 along the autonomous work path P1.
  • an external computer may be a wireless communication terminal 81 described later
  • FIG. 6 is a side view showing a state where the work machine 3 is lowered from the state of FIG. 1 and is in a working state.
  • a work machine 3 is mounted on the rear part of the traveling machine body 2 of the tractor 1. As described above, a part of the driving force of the engine 10 is transmitted to the work machine 3 through the PTO shaft, and the work machine 3 can be driven to perform the tilling work.
  • a plurality of tilling claws (work bodies) 25 that are rotationally driven around a horizontally disposed shaft are provided at the lower portion of the work machine 3.
  • the rotation axis 25c of the tilling claw 25 is shown in FIGS.
  • the rotating tillage claw 25 comes into contact with the soil, and the farming work at a predetermined depth corresponding to the working height can be performed. Further, the tilling work can be stopped by stopping the rotation of the tilling claws 25 or raising the working machine 3 to the non-working height shown in FIG.
  • the work machine 3 can be lifted and lowered by the user operating the work machine lift switch 28, and can be automatically controlled by the work machine control unit 34.
  • the “working state” of the work machine 3 means a state in which the work machine 3 is lowered to the work height and the tilling claw 25 is rotating.
  • the “non-working state” means a state other than the above-described working state, for example, in a state where the work implement 3 is raised to the non-working height and the tilling claw 25 is stopped rotating. is there.
  • the tractor 1 of the present embodiment presets the vehicle speed of the tractor 1 and the rotational speed of the engine 10 for each of the working state and the non-working state of the work implement 3 when performing autonomous traveling and autonomous work. be able to.
  • This setting is performed by a speed rotation speed setting change dial 14 and a dial setting changeover switch 16.
  • the work machine 3 switches between the working state and the non-working state while the tractor 1 is autonomously traveling and working, the vehicle speed of the tractor 1 and the rotational speed of the engine 10 are also linked. , And control to switch between the above settings.
  • the vehicle speed of the tractor 1 and the rotation speed of the engine 10 in the working state and the non-working state are set not only when the tractor 1 is stopped, but also when the tractor 1 is performing autonomous running / autonomous work. It can be changed by the user operating the number setting change dial 14 or the like.
  • control unit 4 includes the storage unit 38, the route generation unit 39, and the autonomous traveling control unit 32.
  • the storage unit 38 stores various information necessary for the tractor 1 to run autonomously and work autonomously. Details of the contents stored in the storage unit 38 will be described later.
  • the route generation unit 39 generates an autonomous traveling route P on which the tractor 1 autonomously travels and works based on various information stored in the storage unit 38. Information on the autonomous traveling route P generated by the route generating unit 39 is stored in the storage unit 38.
  • the autonomous traveling control unit 32 performs overall control related to autonomous traveling and autonomous work.
  • the autonomous running control unit 32 includes a manned autonomous running mode (first mode) in which autonomous running / autonomous work is performed in a state where the user is boarded, and an unmanned autonomous running mode (in which autonomous running / autonomous work is performed in a state in which the user is not boarded) (
  • the tractor 1 is configured to be able to autonomously travel along the autonomous traveling route P stored in the storage unit 38.
  • the autonomous traveling control unit 32 includes a command output unit 33, a work implement control unit 34, a vehicle speed control unit 35, a steering control unit 36, and a remaining distance acquisition unit (distance acquisition unit) 37.
  • the command output unit 33 performs the work by the work implement 3 on the portion corresponding to the work area 61 in the process of the tractor 1 traveling along the autonomous traveling route P in the farm field (specific area 60) shown in FIG.
  • a work command for controlling the work machine 3 to a work state and a non-work command for controlling the work machine 3 to a non-work state are output at appropriate timing.
  • the work machine control unit 34 shown in FIG. 4 switches the work machine 3 from the non-working state to the working state or changes from the working state to the non-working state in accordance with the work command or the non-working command output from the command output unit 33. Control to switch. Specifically, the work machine control unit 34 sends a signal to the PTO clutch 45 to control switching of transmission / cutoff of power to the PTO shaft, and sends a signal to the lift actuator 44 to raise and lower the work machine 3. To do.
  • the vehicle speed control unit 35 controls the vehicle speed of the traveling machine body 2 by sending a control signal to the transmission 42 and the like.
  • the vehicle speed control unit 35 switches the vehicle speed of the traveling machine body 2 from the vehicle speed during non-working to the vehicle speed during work according to the work command or non-work command output by the command output unit 33, or from the vehicle speed during work. Control to switch to vehicle speed when not working.
  • the vehicle speed at the time of work (first vehicle speed) is the vehicle speed when the work machine 3 is in the working state
  • the vehicle speed at the time of non-work (second vehicle speed) is the speed when the work machine 3 is in the non-working state.
  • the vehicle speed during work and the vehicle speed during non-work are set by the speed rotation number setting change dial 14 as described above.
  • the steering control unit 36 performs automatic steering so that the traveling machine body 2 travels along the autonomous traveling route P by sending a control signal to the steering actuator 43.
  • the remaining distance acquisition unit 37 acquires the distance between the rotation axis 25c of the tilling claw 25 of the work implement 3 and a switching target position described later, and outputs the distance to the command output unit 33. Details of the remaining distance acquisition unit 37 will be described later.
  • the timing at which the working machine 3 is switched from the working state or the non-working state to the non-working state or the working state when the tractor 1 is autonomously run and the work machine 3 performs work It is conceivable that at the timing when the traveling tractor 1 enters the work area 61 from the non-work area 62, the tilling claw 25 is rotated and the work implement 3 is lowered to the work height. Further, at the timing when the tractor 1 exits from the work area 61 to the non-work area 62, it is conceivable that the rotation of the tilling claw 25 is stopped and the work implement 3 is raised from the work height.
  • the position information of the own aircraft is acquired using the satellite positioning system (from the position information calculation unit 49 in FIG. 4).
  • the position of the tillage claw 25 of the work implement 3 (the position of the rotation axis 25 c) in the tractor 1 is arranged behind the position where the positioning antenna 6 is attached. Accordingly, there may be a gap between the timing when the positioning antenna 6 enters and exits the work area 61 and the timing when the tilling claw 25 that actually works on the soil and enters and exits the work area 61.
  • the direction in which the tractor 1 travels between the two autonomous work paths P1 and P1 adjacent to each other is reversed.
  • the work implement 3 starts the tilling work when the position of the positioning antenna 6 enters the work area 61, and stops the tilling work when the position of the positioning antenna 6 comes out of the work area 61. If the operation is performed, there is a possibility that the end of the area where the plowing work is actually performed by the work machine 3 is not aligned between the adjacent autonomous work paths P1 and P1. In that case, it looked bad, and it took time and effort for the subsequent finishing process.
  • the control unit 4 provided in the tractor 1 of the present embodiment controls the start / stop timing of the tilling work based on the position of the rotation axis 25c of the tilling claw 25 where the tilling work is performed as follows. is doing.
  • This nail axis position divides the front-and-rear direction region where the tilling claw 25 actually acts on the soil and performs the tilling work into two equal parts, so it can be said that it is the work center position in the work machine 3. .
  • the storage unit 38 includes a work machine distance storage unit (work machine distance acquisition unit) 51, an area storage unit 52, a route storage unit 53, a work margin distance storage unit 54, and a vehicle speed setting storage. Unit 55 and a descent required time storage unit (required time storage unit) 56.
  • the work machine distance storage unit 51 stores the work machine horizontal distance L (that is, the horizontal distance from the position of the rotation axis 25c of the tillage claw 25 to the position of the positioning antenna 6) shown in FIGS.
  • the position of the rotation axis 25c of the tilling claw 25 may be referred to as a claw axis position
  • the position of the positioning antenna 6 may be referred to as an antenna position.
  • the work implement horizontal distance L is input by the user before the autonomous traveling of the tractor 1 starts. Specifically, when the user inputs the distance between the rotation axis 25 c of the tilling claw 25 and the positioning antenna 6 using the monitor device 70, for example, the work machine distance storage unit 51 sets the value of the distance as the work machine horizontal distance L.
  • the work machine distance storage unit 51 sets the value of the distance as the work machine horizontal distance L.
  • the work machine that can be mounted on the traveling machine body 2 and the work center position of the work machine are stored in the control unit 4 or the like in association with each other, and the user can specify the model name of the work machine in the monitor device 70, for example. If the construction machine horizontal distance L is automatically set only by selection, the convenience can be improved.
  • the area storage unit 52 shown in FIG. 4 includes information on the work area 61 set in advance by the user (specifically, information on the position and shape of the work area 61) and the non-work area 62 that is the remaining area. Information.
  • the information on the work area 61 can be set, for example, by the user appropriately operating the monitor device 70 before the start of autonomous running / autonomous work.
  • the route storage unit 53 stores information on an autonomous traveling route P that is a route on which the tractor 1 autonomously travels and works autonomously.
  • the work margin distance storage unit 54 is configured so that an end portion of the work area 61 (the boundary between the work area 61 and the non-work area 62 is not detected) even if an error occurs in the lifting / lowering of the work implement 3.
  • the margin distance M for performing extra work on the non-work area 62 along the connection path P2 is stored before and after work on the autonomous work path P1 so that work leakage does not occur in the vicinity).
  • the upstream end and the downstream end in other words, the boundary between the work area 61 and the non-work area 62).
  • the work margin distance storage unit 54 is a setting unit for setting the switching target position.
  • the setting value of the margin distance M stored in the work margin distance storage unit 54 may be changed by the user operating, for example, the monitor device 70 of the tractor 1. Further, the margin distance M may be configured to be unchangeable from a set value at the time of factory shipment, for example.
  • the margin distance M is the same between the switching target position set before entering the work area 61 from the non-work area 62 and the switching target position set after exiting from the work area 61 to the non-work area 62. . Furthermore, although many switching target positions are set in the autonomous traveling route P, the margin distance M is constant throughout the autonomous traveling route P. Therefore, for example, when the work area 61 is set in a rectangular shape as shown in FIG. 5, the work is actually performed between a stroke of traveling the tractor 1 in a certain direction and a stroke of traveling in the opposite direction. Control can be performed so that the ends of the portions are aligned, and a good appearance can be realized.
  • the vehicle speed setting storage unit 55 stores the values set by the speed rotation number setting change dial 14 for the vehicle speed at the time of working and the vehicle speed at the time of non-working.
  • the descent required time storage unit 56 stores the time from the start of the descent of the work machine 3 at the non-working height until the work height is reached.
  • the command output unit 33 stores the position of the positioning antenna 6 calculated by the position information calculation unit 49 and the work machine distance so that the work machine control unit 34 controls the work machine 3 to move up and down at an appropriate timing.
  • the claw axis position is calculated based on the work implement horizontal distance L stored in the unit 51.
  • the command output unit 33 is configured so that the obtained pawl axis position reaches the switching target position before entering the work area 61. 3 is lowered to the working height and the tilling claw 25 is rotated (the working machine 3 is in the above-described working state), the lifting actuator 44 and the like via the work machine control unit 34 To control. Further, when the tractor 1 exits from the work area 61 to the non-work area 62, the command output unit 33 is at a timing when the obtained claw axis position reaches the switching target position after exiting the non-work area 62. The lift actuator 44 and the like via the work machine control unit 34 so that the rotation of the tilling claw 25 stops and the work machine 3 starts to rise from the work height (the work machine 3 is in the non-working state described above). To control.
  • the switching target position includes information on the work area 61 stored in the area storage unit 52, information on the autonomous travel route P stored in the route storage unit 53, a margin distance M stored in the work margin distance storage unit 54, Can be obtained by calculation.
  • FIG. 7 is a diagram illustrating the relationship of the control timing when the work machine 3 is switched from the non-working state to the working state during autonomous running / autonomous work.
  • connection path P2 connection path P2
  • a non-working height specifically, a maximum raising height
  • the plow claws 25 are not rotated because the PTO clutch 45 is disengaged (non-working state).
  • the work machine control unit 34 is in a mode for maintaining the non-working height (lift-up mode). Therefore, the tilling claw 25 is stationary without touching the ground, and no tilling work is performed.
  • a control signal (work command) is output from the command output unit 33 to the work machine control unit 34 and the vehicle speed control unit 35. The details of the timing at which the command output unit 33 outputs the work command will be described later.
  • the work machine control unit 34 transmits a signal to the PTO clutch 45 instructing to cancel the PTO stop, as shown in FIG. However, at this time, the work machine control unit 34 is configured to transmit a PTO stop release instruction after waiting for a certain period of time after the work command is input, for example, for securing a control preparation time. .
  • the standby time TW1 may be a predetermined time between 50 and 500 milliseconds, for example.
  • the work machine control unit 34 controls the work machine 3 to be lowered at the same time as the PTO stop release instruction. Specifically, by opening the solenoid valve (not shown) to discharge the pressure oil of the lifting actuator 44 (lift cylinder), the work implement 3 starts to descend by its own weight as shown in FIG. Since the tilling claw 25 has already started rotating, the work implement 3 enters the working state when the work implement 3 descends and reaches the work height. In order for the work machine 3 that has been at the non-working height to descend and reach the working height, a corresponding time is required.
  • the lowering speed of the work machine 3 varies depending on the opening degree of the lowering speed adjusting valve, the weight of the work machine 3, and the like, the time required for the work machine 3 to descend and reach the work height (required lowering time) TR1) varies depending on the situation.
  • the weight of the work machine 3 varies depending on the adhesion of soil, etc. Since the tractor 1 of the present embodiment does not include a sensor that directly detects the weight of the work machine 3, the estimation accuracy of the required descent time TR1 is not necessarily high. Absent. On the other hand, although not shown, the tractor 1 is provided with a work implement height sensor (for example, a potentiometer) that detects the support height of the work implement 3, so that a work is performed using a timer circuit (measurement unit) not shown. It is possible to measure the time from when the machine 3 starts to descend until it actually reaches the working height.
  • a work implement height sensor for example, a potentiometer
  • the command output unit 33 actually measures the descent time TR1 when the work machine 3 is lowered and stores it in the descent time storage unit 56, and the next time the work machine 3 is lowered.
  • the accuracy is improved.
  • a predetermined initial value (initially set time) is stored in the required descent time storage unit 56. Used for initial estimation. The initial setting of this time may be appropriately performed by examining the average required time for descent.
  • the stored content of the required descent time storage unit 56 is updated from the initial value to the measured value. Thereafter, the stored contents of the required descent time storage unit 56 are updated as needed with the latest measured values.
  • the vehicle speed control unit 35 immediately sets the vehicle speed of the tractor 1 to the current vehicle speed (normally, non-working vehicle speed setting) when a work command is input from the command output unit 33.
  • the acceleration / deceleration is started so as to approach the set value of the vehicle speed at the time of work.
  • the vehicle speed change control is started almost simultaneously with the output of the work command by the command output unit 33, the vehicle speed of the tractor 1 is set at an appropriate time before the work implement 3 reaches the work height. It is equal to the set value of the vehicle speed during work.
  • how the vehicle speed changes in the process from the vehicle speed at the time of non-working to the vehicle speed at the time of working can be determined as appropriate, for example, it may change linearly, It may change.
  • the timing at which the claw shaft position of the work implement 3 reaches the switching target position is the distance from the current claw shaft position to the switching target position (hereinafter, remaining distance).
  • the vehicle speed of the traveling machine body 2 can be estimated.
  • the remaining distance is calculated by the remaining distance acquisition unit 37 based on the position information of the traveling machine body 2 (strictly, the positioning antenna 6), the work machine horizontal distance L, and the switching target position. Can be obtained.
  • the vehicle speed of the traveling machine body 2 (the tractor 1) is set from the set value of the vehicle speed when the tractor 1 is not working until the claw shaft position of the work machine 3 reaches the switching target position. Changes to value. Therefore, the command output unit 33 sets the remaining distance, the set value of the vehicle speed during non-operation, and the non-work so that the work machine 3 enters the working state at the timing when the claw shaft position of the work machine 3 reaches the switching target position.
  • the timing for outputting the work command is calculated by taking into consideration the speed change rate that changes from the set value of the vehicle speed during work to the set value of the vehicle speed during work, the standby time TW1, and the required descent time TR1. .
  • the output timing of the work command will be earlier, and the vehicle speed during work will be greater than the vehicle speed during non-work.
  • the output timing of the work command is delayed.
  • increase or decrease initially from the non-working vehicle speed at a large rate of change, and small changes after approaching the working vehicle speed The output timing of the work command differs depending on whether the rate increases or decreases.
  • the command output unit 33 When the command output unit 33 outputs the work command at such timing, the work by the work machine 3 (cultivation claw 25) can be started from the switching target position. Moreover, in this embodiment, since it controls on the basis of the nail
  • the switching target position is set so as to be located slightly on the near side from the boundary between the non-work area 62 and the work area 61 when viewed from the tractor 1 traveling on the connection path P2. Due to this margin, it is possible to prevent an unworked portion from occurring in the work area 61 even when the lowering timing of the work machine 3 is delayed.
  • the work implement control unit 34 switches from the lift-up mode to the auto rotary mode and performs control for maintaining the work height. Do. Thereafter, the claw axis position of the work machine 3 enters the work area 61.
  • the tractor 1 travels on the work area 61 along the autonomous work path P1 at a speed set as the vehicle speed at the time of work while performing the work with the tilling claws 25 of the work machine 3.
  • FIG. 8 is a diagram for explaining the relationship of control timing when the work machine 3 is switched from the working state to the non-working state during autonomous running / autonomous work.
  • the traveling machine body 2 finishes traveling along the autonomous work path P1 and the working machine 3 approaches the switching target position, the working machine 3 is switched to the non-working state as shown in FIG. Is output from the command output unit 33 to the work implement control unit 34 and the vehicle speed control unit 35. Details of the timing at which the non-work command is transmitted will be described later.
  • the work machine control unit 34 transmits a signal instructing to stop the PTO to the PTO clutch 45 as illustrated in FIG.
  • the work machine control unit 34 is configured to transmit a PTO stop instruction after waiting for a predetermined time after the non-work command is input.
  • the standby time TW2 may be a fixed time between 50 and 500 milliseconds, for example. Further, the standby time TW2 in the case of the non-work command may be the same as or different from the standby time TW1 in the case of the work command, but the standby time TW1 is longer than the standby time TW2. It is desirable to be.
  • the work machine control unit 34 transmits a PTO stop instruction to the PTO clutch 45, and at the same time, switches from the auto rotary mode to the lift-up mode as shown in FIG. Further, the work implement control unit 34 controls the work implement 3 to be raised by supplying hydraulic oil to the hydraulic cylinder after waiting for a delay time TD described later from the instruction to stop the PTO.
  • This delay time TD is for preventing the soil from rising due to the rise of the work implement 3. That is, if the working machine 3 starts to be lifted at the same time as the rotation of the tilling claw 25 is stopped, the stopped tilling claw 25 lifts the soil, so that the soil soil rises locally. Therefore, in this embodiment, the work implement 3 is not immediately raised even after the rotation of the tillage claw 25 is stopped, so that such soil swell is not formed and the appearance is improved. .
  • the work machine 3 After the delay time TD has elapsed, the work machine 3 starts to rise. Therefore, the work machine 3 is in a non-working state at this time. Although it takes a certain amount of time for the work implement 3 to rise from the work height to reach the non-work height, the supply speed of the hydraulic oil to the hydraulic cylinder is constant. Is constant unlike the case of descending. Therefore, the time required for the work machine 3 to rise to reach the non-working height (rising required time TR2) is a constant value.
  • the vehicle speed control unit 35 does not switch the vehicle speed when a non-work command is input from the command output unit 33, as shown in FIG.
  • the vehicle speed control unit 35 determines that the vehicle speed of the tractor 1 is the current vehicle speed (usually the vehicle speed at the time of work) at a timing when a predetermined time TC has elapsed since the work implement control unit 34 transmitted a PTO stop instruction to the PTO clutch 45.
  • the acceleration / deceleration is started so as to be close to the setting value of the vehicle speed when not working from approximately the setting value.
  • the predetermined time TC is longer than the delay time TD.
  • how the vehicle speed changes in the process from the vehicle speed at the time of working to the vehicle speed at the time of non-working can be determined as appropriate. For example, it may change linearly, It may change.
  • the timing at which the claw axis position of the work machine 3 reaches the switching target position is the distance from the current claw axis position to the switching target position (the above-mentioned remaining distance), the vehicle speed of the traveling machine body 2, and Can be estimated.
  • the vehicle speed of the traveling machine body 2 (the tractor 1) is a value that is equal to the set value of the vehicle speed during the operation of the tractor 1 until the claw shaft position of the work machine 3 reaches the switching target position, and is substantially constant. is there. Accordingly, the command output unit 33 sets the remaining distance and the set value of the vehicle speed at the time of work so that the work machine 3 changes from the working state to the non-working state when the claw shaft position of the working machine 3 reaches the switching target position. In consideration of the waiting time TW2 and the delay time TD, the timing for outputting the non-work command is obtained by calculation. When the command output unit 33 outputs the non-work command at the timing obtained in this way, the work by the work machine 3 (cultivation claw 25) can be finished at the switching target position, and the work looks good.
  • the switching target position is set so as to be located slightly beyond the boundary between the work area 61 and the non-work area 62 when viewed from the tractor 1 traveling on the autonomous work path P1. With this margin, it is possible to prevent an unworked portion from occurring in the work area 61 even when the rising timing of the work machine 3 is advanced.
  • the work machine control unit 34 Since the work machine control unit 34 is in the lift-up mode, when the work machine 3 reaches the non-working height, the work machine control unit 34 performs control for maintaining the non-working height. Further, the vehicle speed of the tractor 1 is substantially equal to the set value of the vehicle speed during non-working before and after the work machine 3 reaches the non-working height. The tractor 1 travels in the non-working area 62 along the connection path P2 at a speed set as a vehicle speed during non-working in a state where the work machine 3 does not perform work.
  • the command output unit 33 controls the timing at which the work machine control unit 34 raises and lowers the work machine 3 based on the claw shaft position, so that the work machine 3 performs the operation on each autonomous work path P1.
  • the ends of the sections actually cultivated (with a predetermined tilling depth) can be aligned between the plurality of autonomous work paths P1. As a result, a good-looking finish can be realized.
  • FIG. 7A shows the timing at which the work command is output.
  • the timing is an appropriate time point before that (for example, the time point indicated by Tx) at the time point Tx. It is calculated by the command output unit 33 based on the set value of the vehicle speed during non-working and working.
  • the user operates the speed rotation speed setting change dial 14 to change the vehicle speed during non-work and the vehicle speed during work. It is assumed that an instruction to change at least one of the settings is given.
  • the tractor 1 moves from the non-working area to the working area, as shown in FIG. 7 (f)
  • the tractor 1 starts from the vehicle speed during non-working before the claw shaft position reaches the switching target position.
  • the vehicle speed of the tractor 1 is controlled so as to be the vehicle speed at the time of operation until the change to the vehicle speed at the time of operation and the position of the pawl shaft reaches the switching target position. Therefore, if the vehicle speed during non-working or the vehicle speed during work is changed as instructed by the user, the timing at which the claw axis position arrives at the switching target position shown in FIG. Change from.
  • the timing at which the claw axis position reaches the switching target position is either forward or backward depending on the content of the user's instruction to change the vehicle speed. If at least one of the vehicle speed during non-working and the vehicle speed during work is increased, the above timing is likely to be advanced.
  • the work command should be delayed by that amount. Even when the above timing changes ahead, if the work can be absorbed with sufficient time, the work command may be advanced by that amount.
  • the timing of the work command may be changed so that the timing at which the work machine 3 enters the working state is in time after temporarily controlling the vehicle speed to be a temporary vehicle different from the user's instruction.
  • FIG. 8A shows the timing of outputting the non-work command. As described above, this timing is an appropriate time point before that (for example, the time point indicated by Tx) at the time point Tx.
  • the command output unit 33 calculates the vehicle speed based on the set value of the vehicle speed during the operation.
  • the user operates the speed rotation speed setting change dial 14 so that the vehicle speed during work and the vehicle speed during non-work Assume that an instruction to change at least one of the settings is issued.
  • the tractor 1 moves from the work area to the non-work area, as shown in FIG. 8 (f)
  • the tractor 1 travels at the vehicle speed during work before the pawl shaft position reaches the switching target position.
  • the tractor 1 is switched so that the vehicle speed of the tractor 1 becomes the vehicle speed during non-working at a timing slightly after the claw shaft position reaches the switching target position.
  • the timing at which the claw axis position reaches the switching target position is either forward or backward depending on the content of the user's instruction to change the vehicle speed. If the vehicle speed at the time of work is increased, the above timing is brought forward, and if it is reduced, the timing is pushed backward.
  • the non-work command may be delayed by that amount. Even when the above-mentioned timing changes ahead of time, if it can be absorbed with a time margin, the non-work command may be advanced by that amount.
  • the above timing is advanced and the time margin is insufficient.
  • two kinds of control are conceivable as in the case of the above-described work command.
  • the first is to accept a delay in timing when the work machine 3 enters a non-working state, but to immediately output a non-working command in order to minimize the delay. In this case, it is possible to secure the responsiveness of the vehicle speed changing operation and to suppress the deterioration of the appearance.
  • the change of the set value of the vehicle speed at the time of work is suspended regardless of the user's operation, and the vehicle speed is controlled by the set value before the change for the switching to the non-work state performed this time.
  • the timing of the non-work command may be changed so that the timing when the work machine 3 enters the non-work state is in time. .
  • the control shown in FIGS. 7 and 8 requires the rotational driving of the tilling claws 25 via the PTO shaft as in the rotary tiller used in the present embodiment, and the lifting and lowering of the working machine 3. This is applied when control is required.
  • Some work machines do not require driving of the work body or do not require lifting control. Therefore, in the tractor 1 according to the present embodiment, the type of the work machine is set before the autonomous running / autonomous work is started. Is input to the user (for example, to the monitor device 70 or the wireless communication terminal 81 described later), and the PTO control and the elevation control as shown in FIGS. 7 and 8 are performed only when necessary.
  • the timing for switching from the non-working state in which work is not performed by the work body included in the work machine to the work state in which work is performed by the work body is The time until the work center position of the work body reaches the switching target position is the switching preparation time (the time corresponding to the above-described waiting time TW1) from when the work command is output until the actual switching to the working state is started. ), And a timing substantially equal to the total time required for switching from the start of switching to the working state to the completion of switching (that is, to the working state) (the above-described descent required time TR1). .
  • the work center position of the work body is the switching target position. Is approximately equal to the switching preparation time (the time corresponding to the sum of the waiting time TW2 and the delay time TD described above) from when the work command is output to when the switching to the non-working state is actually started. The timing is controlled.
  • FIG. 9 is a flowchart for explaining processing performed by the work machine control unit 34.
  • the work machine control unit 34 monitors the input of a work command or a non-work command from the command output unit 33 described above, and at the same time, the work machine control unit 34 is operated in response to the operation of the work machine lift switch 28. Is also monitored for a control signal (elevating command as an operation unit command).
  • a control signal elevating command as an operation unit command.
  • the work implement control unit 34 first determines whether or not a work command or a non-work command output from the command output unit 33 is input (step S101).
  • the work implement control unit 34 determines whether a lift command associated with the operation of the work implement lift switch 28 is input (step S101). S102).
  • step S102 If it is determined in step S102 that an elevation command has been input, the work implement control unit 34 performs control to raise or lower the work implement 3 according to the elevation command, not the work command or the non-work command (step S103). That is, the work machine control unit 34 gives priority to the lift command over the work command or the non-work command, and performs the lift control of the work machine 3 based on the lift command. Thereafter, the process returns to step S101.
  • step S102 If it is determined in step S102 that the elevation command has not been input, the work implement control unit 34 performs control to raise or lower the work implement 3 in accordance with the input work command or non-work command (step S104). Thereafter, the process returns to step S101.
  • step S101 If it is determined in step S101 that no work command or non-work command has been input, the work machine control unit 34 determines whether a lift command based on the operation of the work machine lift switch 28 is input (step S101). S105).
  • step S105 If it is determined in step S105 that an elevation command has been input, the work implement control unit 34 performs control to raise or lower the work implement 3 in accordance with the elevation command (step S103). Thereafter, the process returns to step S101. If the elevation command has not been input, the process of step S103 is not performed, and the process returns to step S101.
  • a non-work command is input from the command output unit 33 to the work machine control unit 34, and the work machine 3 starts to rise as shown in FIG.
  • the ascent control is stopped and the work implement control unit 34 immediately performs the lowering control of the work implement 3.
  • the tractor 1 performs switching between the working state and the non-working state of the work machine 3 in a manner in accordance with the user's intention while performing autonomous running / autonomous work in principle. Can do.
  • step S103 when the work implement 3 is controlled to be lifted / lowered based on the lift / lower command based on the operation of the work implement lift switch 28 instead of the work command or the non-work command output by the command output unit 33, For example, a message to that effect may be displayed on a display (display unit) included in the monitor device 70 or a lamp or a buzzer may be used to notify the user of that fact.
  • a display display unit
  • FIG. 10 is a diagram showing a wireless communication terminal 81 used when the user performs autonomous traveling / autonomous work without riding on the tractor 1.
  • FIG. 11 is a diagram illustrating a display example of the autonomous traveling monitoring screen 100 on the display 83 of the wireless communication terminal 81.
  • the autonomous traveling control unit 32 included in the tractor 1 includes the manned autonomous traveling mode in which autonomous traveling / autonomous work is performed while the user is on board, and the unmanned autonomous traveling in which autonomous traveling / autonomous work is performed without the user being on board. Switching between modes can be performed autonomously. This mode can be switched by the user operating the monitor device 70, for example.
  • the autonomous traveling / autonomous work of the tractor 1 in the manned autonomous traveling mode cannot be started unless the seating sensor 13a shown in FIG. 3 detects the seating of the user.
  • the autonomous traveling / autonomous work of the tractor 1 in the unmanned autonomous traveling mode cannot be started when the seating sensor 13a detects the seating of the user.
  • the control by the autonomous traveling control unit 32 ends.
  • the traveling machine body 2 is not stopped and can be shifted to manual traveling / manual operation as it is.
  • the tractor 1 when the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, it is not assumed that the above-described operation device provided in the tractor 1 is used. Therefore, in the unmanned autonomous traveling mode, the operation of the speed rotation speed setting change dial 14 shown in FIG. 3 is invalidated.
  • the control by the autonomous traveling control unit 32 ends, and accordingly, the tractor 1 Is immediately stopped. The user shifts from the state where the traveling machine body 2 is stopped to manual traveling / manual operation.
  • the tractor 1 when the tractor 1 is performing autonomous traveling / autonomous work in the unmanned autonomous traveling mode, when the work implement lifting switch 28 is operated by the user, the control by the autonomous traveling control unit 32 is terminated. Thus, the tractor 1 is immediately stopped. At this time, in the radio communication terminal 81 described later, the fact that the autonomous running is stopped is notified by displaying a message or the like. In addition, in the tractor 1, notification may be performed using the monitor device 70, for example. Thereafter, the user needs to shift to manual travel / manual work by performing a predetermined operation from the state in which the traveling machine body 2 is stopped.
  • the user uses the wireless communication terminal (wireless communication device) 81 shown in FIG. 10 as a remote control device to instruct the tractor 1 from the outside. I do.
  • the wireless communication terminal 81 is configured as a tablet computer having a touch panel 82 as shown in FIG.
  • the user can confirm by referring to information displayed on the display (display unit) 83 of the wireless communication terminal 81.
  • the user operates the hardware key 84 or the like disposed in the vicinity of the touch panel 82 or the display 83 to transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1.
  • a control signal output from the wireless communication terminal 81 to the control unit 4 a signal related to an autonomous traveling / autonomous work route, an autonomous traveling / autonomous work start signal, and a stop signal may be considered, but the control signal is not limited thereto.
  • the wireless communication terminal 81 is not limited to a tablet computer, and may be configured with, for example, a notebook computer instead. Moreover, you may comprise so that not the tractor 1 but the radio
  • the display screen of the display 83 is switched to the autonomous traveling monitoring screen 100 shown in FIG.
  • a traveling state display unit 103 that displays image data including an autonomous traveling route on which the tractor 1 is traveling is disposed.
  • the image data displayed on the traveling state display unit 103 displays the shape of the farm field and the shape of the work area superimposed on the map data, and the traveling of the tractor 1 thereon.
  • the locus can be indicated by hatching.
  • a start / pause button 105 for starting or pausing autonomous running is displayed on the leftmost side on the upper side of the autonomous running monitoring screen 100.
  • a control signal instructing to start autonomous driving is transmitted from the wireless communication terminal 81 to the control unit 4 of the tractor 1.
  • the autonomous traveling of the tractor 1 can be paused or resumed.
  • a vehicle speed display unit 106 On the autonomous travel monitoring screen 100, on the right side of the start / pause button 105, a vehicle speed display unit 106, an engine speed display unit 107, and a hitch height adjustment unit (operation unit) 108 are arranged vertically. ing.
  • the vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on data transmitted from a vehicle speed sensor (not shown).
  • the engine speed display unit 107 displays the current speed of the engine 10 acquired based on data sent from an unillustrated engine speed sensor.
  • the hitch height adjusting unit 108 displays the numerical value of the height of the work implement 3 acquired based on the data sent from the above work implement height sensor. Up and down buttons are arranged on the right side of the displayed numerical value. By operating these buttons, an instruction to raise and lower the work machine 3 can be given. By operating the hitch height adjusting unit 108, the wireless communication terminal 81 outputs an elevation command to the tractor 1.
  • a setting adjustment unit that can adjust the setting of the vehicle speed and the engine speed of the tractor 1 for each of the above-described working state and non-working state is arranged.
  • a working vehicle speed adjusting unit (vehicle speed setting unit) 111, a working engine speed adjusting unit 112, and a non-working vehicle speed adjustment.
  • Part (vehicle speed setting part) 113 and non-working engine speed adjusting part 114 are arranged.
  • the set value of the vehicle speed (vehicle speed at work) of the tractor 1 when the work implement 3 is in the working state is displayed in the work vehicle speed adjustment unit 111 as a number.
  • a setting value of the engine speed when the work implement 3 is in a working state is displayed in numerals.
  • up and down buttons are arranged on the right side of the displayed set value. By operating these buttons, the set value is increased or decreased. can do.
  • the set value of the vehicle speed of the tractor 1 (vehicle speed during non-working) when the work implement 3 is in a non-working state is displayed in the non-working vehicle speed adjustment unit 113 as a number.
  • the non-working engine speed adjustment unit 114 displays a numerical value of the set value of the speed of the engine 10 when the work machine 3 is in a non-working state.
  • the upper and lower buttons next to the numerical values are operated.
  • the setting value can be increased or decreased with.
  • the working vehicle speed adjusting unit 111 and the non-working vehicle speed adjusting unit 113 have the same functions as the speed rotation speed setting change dial 14 provided in the tractor 1, and the hitch height adjusting unit 108 is
  • the working machine lift switch 28 provided in the tractor 1 has the same function.
  • the output timing of the work command or the non-working command is controlled in substantially the same manner as the above-described manned autonomous traveling mode.
  • the unmanned autonomous travel mode if the work command or non-work command output by the command output unit 33 and the elevation command output based on the operation of the hitch height adjustment unit 108 conflict, As with the mode, the elevation command is given priority.
  • the various messages described above are displayed on the display of the wireless communication terminal 81 instead of the monitor device 70 in principle.
  • the tractor 1 includes the traveling machine body 2, the command output unit 33, the work machine control unit 34, the vehicle speed control unit 35, the work margin distance storage unit 54, and the remaining distance acquisition.
  • Unit 37 The traveling machine body 2 can be mounted with the work machine 3.
  • the command output unit 33 outputs a work command for controlling the work machine 3 to a working state and a non-work command for controlling the work machine 3 to a non-working state.
  • the work machine control unit 34 controls the work state of the work machine 3 according to the work command or the non-work command.
  • the vehicle speed control unit 35 can switch and control the vehicle speed of the tractor 1.
  • the work margin distance storage unit 54 sets a switching target position at which the switching of the work state of the work machine 3 by the work machine control unit 34 is executed.
  • the remaining distance acquisition unit 37 acquires a remaining distance that is a distance from the claw axis position of the work machine 3 to the switching target position.
  • the vehicle speed control unit 35 switches the vehicle speed of the tractor 1 from the vehicle speed at the time of working to the vehicle speed at the time of non-working according to the non-work command, and changes the vehicle speed of the tractor 1 from the vehicle speed at the time of non-working to the time of working. Switch to vehicle speed.
  • the command output unit 33 controls the output timing of the non-work command based on the vehicle speed and the remaining distance during work.
  • the command output unit 33 outputs a work command as shown in FIG. 7, the non-working vehicle speed, the speed change rate from the non-working vehicle speed to the working vehicle speed, and the remaining distance Based on this, the output timing of the work command is controlled.
  • the command output unit 33 can output the non-work command and the work command at appropriate timings when the work machine 3 is switched from the work state to the non-work state and when the work machine 3 is switched from the non-work state to the work state. it can. Thereby, the error of the boundary between the part by which the work machine 3 works and the part which is not made can be made small.
  • the vehicle speed control unit 35 switches the work implement 3 from the working state to the non-working state in response to the non-working command, as shown in FIG. Later, switching control from the vehicle speed at the time of work to the vehicle speed at the time of non-work is started. Further, as shown in FIG. 7 (f), the vehicle speed control unit 35 operates from the vehicle speed during non-working before the work machine control unit 34 switches the work machine 3 from the non-working state to the working state according to the work command. Starts switching control to the vehicle speed at the time.
  • the tractor 1 of this embodiment includes a timer circuit (not shown) and a descent time storage unit 56.
  • the timer circuit measures the time required for switching the work machine 3 from the non-working state to the working state (required time TR1).
  • the required descent time storage unit 56 stores the required time measured by the timer circuit.
  • the command output unit 33 controls the output timing of the work command based on the stored contents of the required descent time storage unit 56.
  • the descent required time storage unit 56 stores the initially set time.
  • the stored content of the required descent time storage unit 56 is updated to the measured value.
  • the time required for switching the work machine 3 from the non-working state to the working state is measured and stored, and the work command is output at an appropriate timing by controlling the timing of outputting the work command based on the measured time. can do.
  • the command output unit 33 can set the work command at a generally good timing by initializing an appropriate time. Can be output.
  • the setting of the vehicle speed during work and the vehicle speed during non-work is performed by operating the speed rotation speed setting change dial 14 or the operation of the work vehicle speed adjusting unit 111 and the non-working vehicle speed adjusting unit 113. It is possible to change by.
  • the command output unit 33 receives the work command or the non-work command based on the vehicle speed at the time of working after the change / vehicle speed at the time of non-working. Control the output timing.
  • the command output unit 33 can output the work command and the non-work command at an appropriate timing while changing the vehicle speed according to the user's request.
  • the tractor 1 of the present embodiment includes an autonomous traveling control unit 32 that can switch the tractor 1 between a manned autonomous traveling mode and an unmanned autonomous traveling mode to autonomously travel.
  • the manned autonomous traveling mode is a mode in which the autonomous traveling can be terminated without stopping the tractor 1 with the operation on the main transmission lever 27.
  • the unmanned autonomous traveling mode is a mode in which the tractor 1 is stopped in accordance with an operation on the main transmission lever 27 and the autonomous traveling is terminated.
  • the autonomous traveling control unit 32 is in the manned autonomous traveling mode, the setting of the vehicle speed during work and the vehicle speed during non-work can be changed according to the operation on the speed rotation speed setting change dial 14 provided in the tractor 1. .
  • the autonomous traveling control unit 32 When the autonomous traveling control unit 32 is in the unmanned autonomous traveling mode, according to operations on the working vehicle speed adjusting unit 111 and the non-working vehicle speed adjusting unit 113 included in the wireless communication terminal 81 that performs wireless communication with the tractor 1, The setting of the vehicle speed and the vehicle speed when not working can be changed.
  • the user who has boarded the tractor 1 operates the speed rotation speed setting change dial 14, and in the unmanned autonomous traveling mode, the user outside the tractor 1 can operate the vehicle speed of the wireless communication terminal 81.
  • the vehicle speed can be changed by operating the adjusting unit 111 and the non-working vehicle speed adjusting unit 113.
  • the tractor 1 of the present embodiment includes a position information calculation unit 49, a work implement lifting switch 28, and an autonomous traveling control unit 32.
  • the position information calculation unit 49 acquires the position information of the traveling machine body 2.
  • the work machine up / down switch 28 is disposed on the traveling machine body 2.
  • the autonomous traveling control unit 32 causes the traveling machine body 2 to autonomously travel along a predetermined autonomous traveling route P.
  • the work machine control unit 34 is accompanied by a work command or non-work command output by the command output unit 33 and an operation of the work machine lifting switch 28 when the autonomous running control unit 32 causes the traveling machine body 2 to travel autonomously.
  • the work state of the work implement 3 is controlled based on the lift command output.
  • the work machine control unit 34 controls the work state of the work machine 3 by prioritizing the lift command over the work command or the non-work command.
  • the work machine control unit 34 controls the work state when a work command or a non-work command is input while controlling the work state of the work machine 3 based on the lifting command.
  • the work state of the work implement 3 is not controlled based on the command or the non-work command.
  • the work implement control unit 34 moves up and down when an up / down command is input while controlling the work state of the work implement 3 based on the work command or the non-work command.
  • the work state of the work machine 3 is controlled based on the command.
  • the control based on the autonomous traveling is performed first, the control according to the user's intention can be performed in such a form that the control is stopped.
  • the tractor 1 of this embodiment is provided with the seating sensor 13a which detects whether a user exists in the traveling body 2 or not.
  • the autonomous traveling control unit 32 can autonomously travel the traveling machine body 2 along the autonomous traveling route P by switching between the manned autonomous traveling mode and the unmanned autonomous traveling mode.
  • the work machine control unit 34 is based on a work command or non-work command output from the command output unit 33, or based on a lift command output based on an operation of the work machine lift switch 28. The working state of the work machine 3 is switched.
  • the work machine control unit 34 switches the work state of the work machine 3 based on the work command or the non-work command output by the command output unit 33, while the work machine control unit 34 outputs in response to the operation of the work machine lift switch 28.
  • the work state of the work implement 3 is not switched based on the lift command to be performed.
  • control according to the situation can be realized by ignoring the operation of the work implement lifting switch 28.
  • the autonomous traveling control unit 32 operates when the work implement lifting switch 28 is operated while the traveling aircraft 2 is autonomously traveling in the manned autonomous traveling mode. Do not stop autonomous driving. On the other hand, when the work implement lifting switch 28 is operated while the traveling machine body 2 is autonomously traveling in the unmanned autonomous traveling mode, the autonomous traveling of the traveling machine body 2 is stopped.
  • the work implement control unit 34 performs priority control for controlling the work state of the work implement 3 with priority given to the lift command over the work command or the non-work command. If this happens, a message to that effect is displayed on the monitor device 70.
  • the work implement control unit 34 performs priority control, a message to that effect is displayed on the wireless communication terminal 81.
  • the autonomous traveling of the traveling machine body 2 is stopped based on the operation of the work equipment lift switch 28 in the unmanned autonomous traveling mode, a message to that effect is displayed on the wireless communication terminal 81.
  • the situation can be appropriately notified to the user in both the manned autonomous driving mode and the unmanned autonomous driving mode.
  • the setting of the work implement horizontal distance L, the setting of the margin distance M, and the like may be performed by the wireless communication terminal 81 instead of or in addition to the monitoring apparatus 70 of the tractor 1.
  • the autonomous running monitoring screen 100 displayed on the display 83 is not limited to that shown in FIG. 11, and the layout of the screen can be arbitrarily changed.
  • special lifting control may be performed. For example, it is conceivable that the ascending / descending control of the work implement 3 is started forward than usual or started backward. Alternatively, instead of or in addition to that, special vehicle speed control may be performed. For example, it is conceivable that the switching between the non-working speed and the working speed is started forward than usual or started backward.
  • control is performed to descend by a work command and to rise by a non-work command, similarly to the rotary tiller described in the above embodiment.
  • the switching between the working state and the non-working state may not be accompanied by elevation.
  • the work machine control unit 34 performs spraying / spraying stop control instead of the lifting control.
  • the user gives an instruction to switch the working state of the work implement not by the work implement lift switch 28 but by an appropriate operation unit (not shown) provided in the cabin 11. Therefore, the operation unit command is output with the operation of the operation unit.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
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  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Soil Working Implements (AREA)
  • Harvester Elements (AREA)

Abstract

Dans la présente invention, une unité de sortie d'instruction (33) d'un tracteur (1) délivre une instruction de travail pour commander une machine de travail (3) à un état en travail et une instruction de non-travail pour commander la machine de travail (3) à un état hors travail. Une unité de stockage de distance de marge de travail (54) définit une position de commutation cible à laquelle une unité de commande de machine de travail (34) effectue une commande pour commuter l'état de travail de la machine de travail (3). Une unité de commande de vitesse de véhicule (35) commute la vitesse du tracteur (1) d'une vitesse dans l'état en travail à une vitesse dans l'état hors travail en réponse à l'instruction de non-travail, et commute la vitesse de la vitesse dans l'état hors travail à la vitesse dans l'état en travail en réponse à l'instruction de travail. Une unité d'acquisition de distance restante (37) acquiert la distance restante depuis le centre de travail de la machine de travail (3) jusqu'à la position de commutation cible. L'unité de sortie d'instruction (33) commande la synchronisation de sortie de l'instruction de non-travail sur la base de la vitesse dans l'état en travail et de la distance restante. L'unité de sortie d'instruction (33) commande également la synchronisation de sortie de l'instruction de travail sur la base de la vitesse dans l'état hors travail, du taux de variation de vitesse de la vitesse dans l'état hors travail à la vitesse dans l'état en travail, et de la distance restante.
PCT/JP2018/011714 2017-03-24 2018-03-23 Véhicule de travail WO2018174249A1 (fr)

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CN202210201677.6A CN114527765B (zh) 2017-03-24 2018-03-23 自主行驶作业系统以及作业车辆
KR1020237043367A KR20240000626A (ko) 2017-03-24 2018-03-23 작업 차량
KR1020197021109A KR102325719B1 (ko) 2017-03-24 2018-03-23 작업 차량
KR1020227020368A KR102616945B1 (ko) 2017-03-24 2018-03-23 작업 차량
CN201880009614.2A CN110418570B (zh) 2017-03-24 2018-03-23 作业车辆
KR1020217036104A KR102413466B1 (ko) 2017-03-24 2018-03-23 작업 차량

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CN114527765A (zh) 2022-05-24
CN114527765B (zh) 2025-03-07
KR102413466B1 (ko) 2022-06-24
JP2018161085A (ja) 2018-10-18
KR102616945B1 (ko) 2023-12-21
CN110418570B (zh) 2022-03-22
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KR102325719B1 (ko) 2021-11-11
KR20210136171A (ko) 2021-11-16

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