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WO2018139038A1 - Dispositif de commande d'un véhicule de chantier - Google Patents

Dispositif de commande d'un véhicule de chantier Download PDF

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Publication number
WO2018139038A1
WO2018139038A1 PCT/JP2017/042806 JP2017042806W WO2018139038A1 WO 2018139038 A1 WO2018139038 A1 WO 2018139038A1 JP 2017042806 W JP2017042806 W JP 2017042806W WO 2018139038 A1 WO2018139038 A1 WO 2018139038A1
Authority
WO
WIPO (PCT)
Prior art keywords
mode
travel
autonomous
work vehicle
work
Prior art date
Application number
PCT/JP2017/042806
Other languages
English (en)
Japanese (ja)
Inventor
敏史 平松
康平 小倉
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 KR1020227020035A priority Critical patent/KR102463645B1/ko
Priority to KR1020217020856A priority patent/KR102410446B1/ko
Priority to KR1020227037498A priority patent/KR20220151218A/ko
Priority to CN202210415422.XA priority patent/CN114600582B/zh
Priority to KR1020197011405A priority patent/KR102275485B1/ko
Priority to CN201780062568.8A priority patent/CN110248534B/zh
Publication of WO2018139038A1 publication Critical patent/WO2018139038A1/fr

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Classifications

    • 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
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • 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

Definitions

  • the present invention mainly relates to a work vehicle control apparatus capable of autonomously running a work vehicle along a travel route.
  • Patent document 1 discloses this kind of work vehicle.
  • Patent Document 1 describes that the forward / reverse switching means needs to be neutral as a condition for shifting from a travel mode in which a work vehicle is manually traveled to a travel mode in which the work vehicle is autonomously traveled.
  • the present invention has been made in view of the above circumstances, and its main purpose is a work vehicle capable of smoothly shifting from a travel mode in which the work vehicle is manually driven to a travel mode in which the work vehicle is autonomously traveled. It is to provide a control device.
  • a work vehicle control device having the following configuration. That is, the work vehicle control device includes a forward / reverse control unit and a travel mode control unit.
  • the forward / reverse control unit controls the forward / backward movement of the work vehicle.
  • the travel mode control unit includes a manual travel mode in which the work vehicle is moved forward and backward according to an operation of an operation tool included in the work vehicle, and a forward and backward movement of the work vehicle without depending on the operation of the operation tool.
  • One driving mode is executed from a plurality of driving modes including at least the autonomous driving mode to be controlled.
  • the traveling mode control unit executes the autonomous traveling mode by satisfying an autonomous traveling start condition.
  • the forward / reverse switching operation tool included in the work vehicle can be switched at least between a forward position, a neutral position, and a reverse position. It is possible to satisfy the autonomous running start condition when the forward / reverse switching operation tool is in the forward position.
  • the traveling mode control unit when the autonomous traveling mode is executed in a state where the forward / reverse switching operation tool is located at a forward position, the traveling mode control unit, after executing the autonomous traveling mode, If the forward / reverse switching operation tool is not changed to the neutral position before the predetermined time has elapsed, it is preferable to end the autonomous traveling mode.
  • the following configuration is preferable. That is, when the forward / reverse switching operation tool is changed to the neutral position before the predetermined time elapses, the manual travel mode is set when the forward / backward switching operation tool is changed from the neutral position to a position other than the neutral position. Execute. If the forward / reverse switching operation tool is not changed to the neutral position before the predetermined time has elapsed, the manual travel mode is executed after the forward / backward switching operation tool is changed to the neutral position.
  • the traveling mode control unit performs the forward / reverse switching when the steering operation tool or the brake operation tool included in the work vehicle is operated after the predetermined time has elapsed during the predetermined time.
  • the manual travel mode is preferably executed after the operating tool is changed to the neutral position.
  • the work vehicle control device can acquire position information of the work vehicle from a position information acquisition unit that acquires position information of the work vehicle.
  • the work vehicle control device includes a route processing unit that performs a process of generating or acquiring the travel route including a plurality of work routes and a plurality of non-work routes.
  • the position information acquisition unit acquires position information of the work vehicle.
  • the autonomous traveling start condition includes that a working route capable of autonomous traveling of the work vehicle is specified based on the current position information of the work vehicle and the traveling route.
  • the side view which shows the whole structure of a tractor provided with the control apparatus which concerns on one Embodiment of this invention.
  • the block diagram which shows the main structures of the control system of a tractor and a radio
  • Explanatory drawing which shows the driving mode kind and the transfer conditions of driving mode.
  • the flowchart which shows the process which specifies the work route which can start autonomous driving
  • the autonomous traveling system is configured to cause one or a plurality of work vehicles to travel autonomously in a work area and a non-work area to execute all or part of the work.
  • 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 the 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, and the tractor performs the work along a predetermined route.
  • the case where a person is on the tractor and the case where no person is on the tractor are included during autonomous running and autonomous work.
  • manual running / manual work means that each component provided in the tractor is operated by the user to run / work.
  • FIG. 1 is a side view showing an overall configuration of a tractor 1 provided in an autonomous traveling system 99 according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the tractor 1.
  • FIG. 3 is a diagram showing the wireless communication terminal 46.
  • FIG. 4 is a block diagram showing the main configuration of the control system of the tractor 1 and the wireless communication terminal 46.
  • the tractor 1 provided in the autonomous traveling system 99 is a work vehicle that is operated by performing wireless communication with the wireless communication terminal 46.
  • the control unit (work vehicle control device) 4 of the tractor 1 the tractor 1 can be autonomously driven and operated.
  • the tractor 1 includes a traveling machine body (body portion) 2 capable of autonomously traveling in a farm field (traveling area).
  • a work machine 3 shown in FIGS. 1 and 2 is detachably attached to the traveling machine body 2.
  • Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine, and a desired work machine 3 is selected from these as required. 2 can be attached.
  • the traveling machine body 2 is configured to be able to change the height and posture of the attached work machine 3.
  • the traveling body 2 of the tractor 1 is supported at its front by a pair of left and right front wheels (wheels) 7 and 7 and at its rear by a pair of left and right rear wheels 8 and 8. Yes.
  • a bonnet 9 is arranged at the front of the traveling machine body 2.
  • the bonnet 9 houses an engine 10 and a fuel tank (not shown) that are driving sources of the tractor 1.
  • 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. Further, as a drive source, an electric motor may be used in addition to or instead of the engine.
  • a cabin 11 for the user to board is arranged behind the hood 9. Inside the cabin 11 are a steering handle (steering operation tool) 12 for a user to perform a steering operation, a seat 13 on which a user can be seated, and various operation tools for performing various operations. It is mainly provided.
  • the work vehicle such as the tractor 1 is not limited to the one with the cabin 11 and may be one without the cabin 11.
  • the monitor device 14 As the operation tool, the monitor device 14, the throttle lever 15, the main transmission lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO transmission lever 18, the auxiliary transmission lever 19, and the forward / reverse switching lever 25 shown in FIG.
  • the parking brake 26, the work implement lift switch 28, the brake pedal 61, the clutch pedal 62, the accelerator pedal 63, and the like can be cited as examples. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.
  • the monitor device 14 is configured to display various information of the tractor 1.
  • the throttle lever 15 is an operating tool for setting the rotational speed of the engine 10.
  • the main transmission lever 27 is an operating tool for changing the traveling speed of the tractor 1 in a stepless manner.
  • the hydraulic operation lever 16 is an operation tool for switching and operating a hydraulic external take-off valve (not shown).
  • the PTO switch 17 is an operating tool for switching the transmission / cutoff of power to a PTO shaft (power take-off shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work implement 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off.
  • the PTO speed change lever 18 is used to change the power input to the work machine 3, and specifically, is an operating tool for changing speed of the rotational speed of the PTO shaft.
  • 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 forward / reverse switching lever 25 is configured to be switchable between a forward position, a neutral position, and a reverse position. When the forward / reverse switching lever 25 is located at the forward movement position, the power of the engine 10 is transmitted to the rear wheel 8 so that the tractor 1 moves forward. When the forward / reverse switching lever 25 is positioned at the neutral position, the tractor 1 does not move forward or backward.
  • the parking brake (braking operation tool) 26 is an operation tool that is manually operated by the user to generate a braking force, and is used, for example, when the tractor 1 is stopped for a while.
  • 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 brake pedal (braking operation tool) 61 is an operation tool that is operated by a user with his / her foot to generate a braking force.
  • the clutch pedal 62 is an operation tool for switching between transmission and non-transmission of the clutch by the user with his / her foot.
  • the accelerator pedal 63 is an operating tool that increases the rotational speed of the engine 10. An accelerator lever may be arranged instead of or in addition to the accelerator pedal 63.
  • 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 an operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.), a travel mode (manual travel mode, autonomous travel mode, etc.), and an operation of the work machine 3 (elevating, driving). And a control unit 4 for controlling a stop and the like, and performing a process related to a route. Therefore, the control unit 4 includes a forward / reverse control unit 4a that controls forward / backward travel, a travel mode control unit 4b, and a route processing unit 4c.
  • 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 controller 4 is electrically connected to a controller for controlling each component (for example, the engine 10 and the like) included in the tractor 1 and a wireless communication unit 40 that can wirelessly communicate with other wireless communication devices. ing.
  • the tractor 1 includes at least an unillustrated engine controller, vehicle speed controller, steering controller, and elevator 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 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10.
  • the engine controller can control the rotation speed of the engine 10 by controlling the governor device 41.
  • the engine 10 is provided with a fuel injection device 45 that adjusts the injection timing / injection amount of fuel to be injected (supplied) into the combustion chamber of the engine 10.
  • the engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10 by controlling the fuel injection device 45, 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 calculates and obtains an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route.
  • a control signal is output to the steering controller so that the 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 elevating controller controls the elevating of the work machine 3.
  • the tractor 1 includes an elevating actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the work machine 3 to the traveling machine body 2.
  • the lift controller drives the lift actuator 44 based on the control signal input from the control unit 4 to appropriately lift and lower the work implement 3 so that the work implement 3 performs farm work at a desired height. It can be carried out.
  • the work machine 3 can be supported at a desired height such as a retreat height (a height at which farm work is not performed) and a work height (a height at which farm work is performed).
  • 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 controls various parts of the tractor 1 (the traveling machine body 2, the work implement 3, etc.) by the control unit 4 when the user gets into the cabin 11 and performs various operations.
  • the farm work can be performed while traveling in the field.
  • the tractor 1 can perform autonomous traveling and autonomous work based on a predetermined control signal output from the wireless communication terminal 46 while the user is on the tractor 1.
  • the tractor 1 has a function of autonomously traveling even when the user is not on the tractor 1.
  • the tractor 1 has various configurations for enabling autonomous running and autonomous work.
  • 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.
  • the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, a front camera 56, a rear camera 57, a storage unit 55, a vehicle speed sensor 53, and a rudder.
  • An angle sensor 52 and the like are provided.
  • the tractor 1 is provided with an inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.
  • IMU inertial measurement unit
  • the positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 92 of the cabin 11 of the tractor 1.
  • the positioning signal received by the positioning antenna 6 is input to a position information acquisition unit 49 as a position detection unit shown in FIG.
  • the position information acquisition unit 49 calculates and acquires the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as, for example, latitude / longitude information.
  • the position information acquired by the position information acquisition unit 49 is input to the control unit 4 and used for autonomous traveling.
  • 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 can be used as long as high-precision position coordinates can be obtained. Also good.
  • DGPS relative positioning method
  • SBAS geostationary satellite type satellite navigation augmentation system
  • the wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user or transmits a signal to the wireless communication terminal 46.
  • the radio communication antenna 48 is attached to the upper surface of a roof 92 provided in the cabin 11 of the tractor 1.
  • a signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. 4 and then input to the control unit 4.
  • a signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.
  • the front camera 56 photographs the front of the tractor 1.
  • the rear camera 57 captures the rear of the tractor 1.
  • the front camera 56 and the rear camera 57 are attached to the roof 92 of the tractor 1.
  • the moving image data captured by the front camera 56 and the rear camera 57 is transmitted from the wireless communication antenna 48 to the wireless communication terminal 46 by the wireless communication unit 40.
  • the wireless communication terminal 46 that has received the moving image data displays the content on the display 37.
  • the vehicle speed sensor 53 detects the vehicle speed of the tractor 1 and is provided on the axle between the front wheels 7 and 7, for example. Data of detection results obtained by the vehicle speed sensor 53 is output to the control unit 4.
  • the vehicle speed of the tractor 1 may be calculated based on the moving time of the tractor 1 at a predetermined distance based on the positioning antenna 6 without being detected by the vehicle speed sensor 53.
  • the steering angle sensor 52 is a sensor that detects the steering angle of the front wheels 7 and 7. In the present embodiment, the rudder angle sensor 52 is provided on a king pin (not shown) provided on the front wheels 7 and 7. Data of detection results obtained by the steering angle sensor 52 is output to the control unit 4.
  • the steering angle sensor 52 may be provided in the steering handle 12.
  • the storage unit 55 stores a travel route for autonomously traveling the tractor 1 and a work route for autonomously working, and stores a transition (travel locus) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel. Memory. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work.
  • the wireless communication terminal 46 is configured as a tablet personal computer including a touch panel 39.
  • the user can check the information displayed on the display 37 of the wireless communication terminal 46 (for example, information from the front camera 56, the rear camera 57, the vehicle speed sensor 53, etc.).
  • the user operates the hardware key 38 or the like disposed in the vicinity of the touch panel 39 or the display 37 and controls the control unit 4 of the tractor 1 to control signals (for example, temporarily). Stop signal, etc.).
  • the wireless communication terminal 46 is not limited to a tablet-type personal computer, but can be configured by, for example, a notebook-type personal computer.
  • the tractor 1 side for example, the monitor device 14
  • the tractor 1 side may have the same function as the wireless communication terminal 46.
  • the tractor 1 configured as described above performs farm work by the work implement 3 along the work path P1 while traveling along the travel path P on the farm field based on an instruction of the user using the wireless communication terminal 46. Can do.
  • the user performs various settings using the wireless communication terminal 46, so that a linear or broken line work path P1 for performing farm work and an arcuate turning circuit that connects the ends of the work path P1 to each other. It is possible to generate a travel route (path) P as a series of routes that alternately connect (non-work route on which the tractor 1 turns) P2 (see FIG. 7). Then, the information on the travel route (work route P1 and non-work route P2) P generated in this way is input (transferred) to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 and is transmitted in a predetermined manner. By performing the operation, the control unit 4 controls the tractor 1 so that the tractor 1 can autonomously travel along the travel route P and can be autonomously operated by the work implement 3 along the work route P1.
  • the wireless communication terminal 46 includes a display 37, a hardware key 38, and a touch panel 39, as well as a display control unit 31 and a storage unit 32. , An agricultural field acquisition unit 33, a work area acquisition unit 34, a travel route acquisition unit 35, and the like.
  • the wireless communication terminal 46 is configured as a computer as described above, and includes a CPU, a ROM, a RAM, and the like.
  • the ROM stores an appropriate program for causing the tractor 1 to perform autonomous traveling and autonomous work.
  • the wireless communication terminal 46 can be operated as the display control unit 31, the storage unit 32, the field acquisition unit 33, the work area acquisition unit 34, the travel route acquisition unit 35, and the like.
  • the display control unit 31 creates display data to be displayed on the display 37 and appropriately controls display contents. For example, the display control unit 31 displays a predetermined monitoring screen, an instruction screen, and the like on the display 37 while the tractor 1 is autonomously traveling along the work route P1 while autonomously traveling along the travel route P.
  • the storage unit 32 stores information on the tractor 1 and information on the farm field that are input by the user operating the touch panel 39 of the wireless communication terminal 46, and the created travel route P (work route P1 and non-work route P2). ) And the like.
  • the farm field acquisition part 33 memorize
  • the position and shape of the field are obtained by, for example, driving the user to ride on the tractor 1 and making one turn along the outer periphery of the field, and recording the transition of the position information of the positioning antenna 6 at that time. can do.
  • the position and shape of the field acquired by the field acquisition unit 33 are stored in the storage unit 32 as field information.
  • the work area acquisition unit 34 sets the position of the work area where the tractor 1 is disposed in the field where the autonomous traveling is performed and where the farm work is performed. If demonstrating it concretely, in the radio
  • the travel route acquisition unit 35 alternately connects a work route P1 where the tractor 1 autonomously performs farm work in the field and a non-work route (rotation circuit) P2 connecting the ends of the work route P1.
  • P is generated and acquired.
  • the travel route acquisition unit 35 automatically creates the travel route P (the work route P1 and the non-work route P2) based on the information.
  • the travel route P is generated so that the work route P1 that is linear or broken line is included in the work region, and the non-work route (turning circuit) P2 is included in the non-work region such as a headland.
  • the travel route P generated by the travel route acquisition unit 35 is stored in the storage unit 32.
  • the user appropriately operates the wireless communication terminal 46 to input (transfer) information on the travel route P generated by the travel route acquisition unit 35 to the storage unit 55 of the tractor 1. Thereafter, the user gets on the tractor 1 and operates to place the tractor 1 at the start position of the travel route P. Subsequently, the user gets off the tractor 1 and operates the wireless communication terminal 46 to instruct the start of autonomous running / autonomous work.
  • the control unit 4 controls the traveling and farming of the tractor 1 so that the tractor 1 performs farming along the work path P1 while traveling along the traveling path P.
  • FIG. 5 is an explanatory diagram showing travel mode types and travel mode transition conditions.
  • FIG. 6 is a flowchart illustrating a process of identifying a work route that can start autonomous traveling.
  • FIG. 7 is a diagram illustrating work route candidates capable of autonomous traveling.
  • FIG. 8 is a diagram for explaining conditions for determining whether or not the work route is capable of autonomous traveling.
  • the user can switch the tractor 1 from the manual travel mode to the automatic travel mode or switch from the automatic travel mode to the manual travel mode by operating the touch panel 39 of the wireless communication terminal 46.
  • the manual travel mode and the automatic travel mode of the tractor 1 may be switched by operating the monitor device 14 of the tractor 1 or the dedicated operation tool instead of the wireless communication terminal 46.
  • the switching is not performed unconditionally, and the switching is performed after satisfying other conditions.
  • the tractor 1 of the present embodiment includes a manual travel execution mode, an autonomous travel preparation mode, a first autonomous travel execution mode, a second autonomous travel execution mode, a manual travel preparation mode, Is set.
  • the tractor 1 performs manual travel in the manual travel execution mode and the autonomous travel preparation mode.
  • the tractor 1 performs autonomous travel.
  • the manual travel preparation mode the tractor 1 is stopped without performing manual travel and autonomous travel. Therefore, the manual travel execution mode and the autonomous travel preparation mode may be collectively referred to as a manual travel mode.
  • the first autonomous traveling execution mode and the second autonomous traveling execution mode may be collectively referred to as an automatic traveling mode.
  • the classification method of driving modes is an example, and any of the driving modes shown in FIG. 5 may be omitted.
  • the driving modes other than the five shown in FIG. 5 may be included. For example, in order to shift from the autonomous traveling preparation mode to the first autonomous traveling implementation mode, it is necessary to satisfy a plurality of conditions, but a state that satisfies a part of the conditions may be treated as another traveling mode.
  • the manual travel execution mode is a travel mode for causing the tractor 1 to perform manual travel.
  • the autonomous traveling preparation mode is a traveling mode through which a transition is made from the manual traveling execution mode to the autonomous traveling mode. In the autonomous traveling preparation mode, since it is before switching to autonomous traveling, the tractor 1 performs manual traveling.
  • the first autonomous traveling implementation mode and the second autonomous traveling implementation mode are traveling modes for causing the tractor 1 to perform autonomous traveling.
  • the first autonomous running mode is set first.
  • the first autonomous travel execution mode if a predetermined process (details will be described later) is not performed within a certain period, the mode shifts to the manual travel execution mode via the manual travel preparation mode or the like. That is, it can be said that the first autonomous running mode is a limited (temporary) autonomous running mode.
  • the second autonomous travel execution mode the travel mode is maintained unless an instruction to shift to the manual travel execution mode or an operation that clearly requests manual travel is performed. Therefore, it can be said that the second autonomous running mode is a formal (original) autonomous running mode.
  • the manual travel preparation mode is a travel mode that may be passed when shifting from the autonomous travel mode to the manual travel execution mode. In the manual travel preparation mode, as described above, the tractor 1 is stopped without performing manual travel and autonomous travel.
  • Control relating to each travel mode is performed by the travel mode control unit 4 b of the control unit 4.
  • the first mode transition condition which is a condition for shifting from the manual travel execution mode to the autonomous travel preparation mode.
  • a plurality of condition items are set in the first mode transition condition, but these are and conditions, and when all of the plurality of condition items are satisfied, the autonomous traveling preparation mode is set. Transition.
  • the engine rotational speed is set to be equal to or higher than a predetermined value (for example, idling speed or higher), and (b) no abnormality has occurred in the device (sensor, actuator, etc.). Yes.
  • the control unit 4 acquires the engine rotation speed based on the detection result of a sensor or the like that is attached to the engine 10 and outputs a pulse in accordance with the rotation of the crankshaft. Determine whether. Moreover, regarding the condition (b), the control unit 4 determines an abnormality of the device based on detection results of various sensors attached to the tractor 1. In addition, although abnormality of an apparatus may determine abnormality of all the apparatuses, abnormality is determined only about apparatuses (position information acquisition part 49, rudder angle sensor 52, etc.) required when performing autonomous driving. Also good.
  • the second mode transition condition which is a condition for shifting from the autonomous travel preparation mode to the manual travel execution mode.
  • the travel mode transitions to the manual travel execution mode. That is, after satisfying the first mode transition condition and transitioning to the autonomous travel preparation mode, when the first mode transition condition is not satisfied afterwards, the mode returns to the manual travel execution mode.
  • the second mode transition condition is treated with priority over the third mode transition condition. That is, if both the second mode transition condition and the third mode transition condition are satisfied, the second mode transition condition is more effective, and the mode is shifted to the manual travel execution mode.
  • the third mode transition condition which is a condition for transitioning from the autonomous travel preparation mode to the first autonomous travel execution mode.
  • a plurality of condition items are set in the third mode transition condition. However, these are and conditions, and the first autonomous running is performed when all of the plurality of condition items are satisfied. Enter mode.
  • the forward / reverse switching lever 25 is positioned at the forward position or the neutral position, and (b) none of the brake pedal 61, the clutch pedal 62, and the parking brake 26 is operated.
  • the shift position is at a lower speed side than the predetermined position, (d) the steering angle is within a predetermined angle, (e) a route capable of autonomous traveling has been specified, and (f) autonomous traveling. It is set that there is an instruction to start.
  • the control unit 4 operates the operation tools (forward / reverse switching lever 25, brake pedal 61, clutch pedal 62, parking brake 26, main transmission lever 27, and auxiliary transmission lever 19).
  • the state is acquired and determined based on a sensor provided in each operation tool or an electric signal output from each operation tool.
  • conventionally since it was possible to shift to the autonomous traveling mode only when the forward / reverse switching lever 25 was in the neutral position, it was not possible to shift from the manual traveling mode to the automatic traveling mode unless the tractor 1 was stopped.
  • the transition condition to the autonomous travel mode (first autonomous travel execution mode) is satisfied ( In other words, when the forward / reverse switching lever 25 is in the reverse position, the condition for shifting to the autonomous traveling mode is not satisfied. Therefore, it is possible to shift from the manual travel mode to the autonomous travel mode without stopping the tractor 1.
  • the tractor 1 since the vehicle travels to the autonomous travel mode with the forward / reverse switching lever 25 positioned at the forward drive position, the tractor 1 may travel without the user's intention when the manual travel mode is subsequently entered. is there. Therefore, in the tractor 1 of this embodiment, various processes are performed in order to prevent the tractor 1 from traveling without the intention of the user.
  • control unit 4 acquires the steering angle based on the detection result of the steering angle sensor 52 and determines whether it is within a predetermined angle.
  • the control unit 4 performs the process shown in FIG. 6 and determines whether or not there is a work route capable of autonomous traveling.
  • the control unit 4 (route processing unit 4c) communicates with the wireless communication terminal 46, and acquires a plurality (for example, five) of work routes P1 close to the current position of the tractor 1 (S101).
  • the work route P1 acquired by this processing is indicated by a bold line.
  • the work route P1 straight route
  • P2 turning route
  • Condition (1) is that the distance between the work path P1 and the tractor 1 (distance L1 in FIG. 8) is within a predetermined range.
  • the position of the positioning antenna 6 of the tractor 1 is used as a reference, but another position (for example, the center position of the front end portion of the tractor 1 or the center position of the rear end portion of the work implement 3) is used as a reference. Also good.
  • the condition (2) is that the difference between the direction of the work path P1 and the direction of the tractor 1 (angle ⁇ in FIG. 8) is within a predetermined range.
  • Condition (3) is that when the tractor 1 is in the work area, the distance to the non-work area (headland) (distance L2 shown in FIG. 8) is within a predetermined range.
  • Condition (4) is that when the tractor 1 is in the non-working area, the distance to the working area (distance L3 shown in FIG. 8) is within a predetermined range.
  • the threshold value (predetermined value) of each condition is arbitrary, but it is preferable that the threshold value of condition (1) ⁇ the threshold value of condition (4) ⁇ the threshold value of condition (3).
  • the threshold value of condition (1) is 10 cm
  • the threshold value of condition (2) is 10 °
  • the threshold value of condition (3) is 10 m
  • the threshold value of condition (4) is 10 m.
  • Each threshold value may be ⁇ 50% of these values.
  • the fifth condition is to satisfy the conditions (1) to (4) continuously for a predetermined time.
  • the control unit 4 determines the condition (1) to the condition (5) for all the work routes P1 acquired in step S101.
  • the conditions (3) and (4) are conditions that are not related to the work route P1, and therefore may not be performed for every work route P1 (determined only once for a specific work route P1). do it).
  • the control unit 4 determines whether or not a work route P1 that satisfies the above conditions has been extracted (S103).
  • the control unit 4 stores that there is no P1 capable of autonomous traveling (S104). In this case, since the third mode transition condition is not satisfied, the mode does not shift to the first autonomous travel execution mode.
  • the control unit 4 determines whether or not a plurality of work routes P1 are extracted (S105). When a plurality of work routes P1 are not extracted (that is, when only one is extracted), the control unit 4 stores the extracted work route P1 as a route capable of autonomous travel (S106). When a plurality of work routes P1 are extracted, the control unit 4 stores the work route P1 closest to the start position of the travel route P among the plurality of work routes P1 as a route capable of autonomous travel (S107). Instead of the work path P1 closest to the start position, for example, the selection may be made based on at least one of the distance L1 to the tractor 1 and the angle ⁇ of the difference in direction from the tractor 1.
  • condition (f) of the third mode transition condition whether or not the control unit 4 has instructed the touch panel 39 or the monitor device 14 of the wireless communication terminal 46 to switch to the autonomous running based on the operation performed by the user. Determine.
  • the combination of these corresponds to the autonomous travel start condition.
  • the fourth mode transition condition which is a condition for shifting from the first autonomous travel execution mode to the second autonomous travel execution mode.
  • the forward / reverse switching lever 25 is positioned at the neutral position. That is, in this embodiment, since the forward / reverse switching lever 25 can be shifted to the autonomous traveling mode even when the forward / reverse switching lever 25 is located at the forward movement position, the forward / reverse switching lever 25 is changed to the neutral position after the transition to the autonomous traveling mode. After waiting for, it is made to transfer to the 2nd autonomous running implementation mode which is a formal autonomous running mode. Thereby, it is possible to switch to autonomous traveling without stopping the tractor 1 and to prevent the forward / reverse switching lever 25 from being switched to manual traveling in the forward position.
  • the second autonomous traveling execution mode is immediately performed from the first autonomous traveling execution mode.
  • the traveling of the tractor 1 is controlled regardless of the position of the forward / reverse switching lever 25, and even if the fourth mode transition condition is satisfied, Even if the forward / reverse switching lever 25 is set to the neutral position, the tractor 1 does not stop and continues autonomous traveling along a predetermined route.
  • the fifth mode transition condition which is a condition for shifting from the first autonomous travel execution mode to the manual travel execution mode.
  • the forward / reverse switching lever 25 is located at the reverse position.
  • the forward / reverse switching lever 25 is located at the forward position or the neutral position, so the condition (a) is not satisfied unless the user operates the forward / backward switching lever 25. Therefore, when the condition (a) is satisfied, the user's intention to return to the manual travel is clear, and the mode is shifted to the manual travel execution mode (the autonomous travel mode is terminated).
  • the sixth mode transition condition which is a condition for transitioning from the first autonomous travel execution mode to the manual travel preparation mode.
  • a plurality of condition items are set in the sixth mode transition condition, but these are or conditions, and when at least one condition item is satisfied, the transition to the manual travel preparation mode is performed. To do.
  • the first mode transition condition is not satisfied, (b) any one of the brake pedal 61, the clutch pedal 62, the parking brake 26, and the steering handle 12 is operated, (c ) The forward / reverse switching lever 25 is in the forward position for a predetermined time, (d) the distance to the route and the difference in direction from the route are greater than or equal to a predetermined value, (e) the instruction to start manual travel is given, Is set.
  • the sixth mode transition condition is treated with higher priority than the fourth and fifth mode transition conditions. That is, even if the fourth or fifth mode transition condition is satisfied, if the sixth mode transition condition is satisfied, the mode shifts to the manual travel preparation mode.
  • the condition (c) is a condition item for preventing the autonomous traveling mode from continuing when the forward / reverse switching lever 25 is in the forward position.
  • the predetermined time of the condition (c) is, for example, 5 seconds, but may be any value from 3 seconds to 30 seconds.
  • the forward / reverse switching lever 25 is operated in the fifth mode transition condition, the user's intention to return to manual travel is clear, so the mode has been switched to manual travel mode. Only by operating the brake pedal 61, the clutch pedal 62, the parking brake 26, and the steering handle 12), the user's intention to return to manual travel is not clear. Therefore, the mode is shifted to the manual travel preparation mode.
  • the distance to the route is the distance between the work route P1 and the tractor 1. Further, the difference in direction from the path is an angle formed by the work path P1 and the tractor 1. When these values exceed a predetermined value, the condition (d) is satisfied.
  • control unit 4 determines whether or not an instruction to switch to manual travel is given based on an operation performed by the user on the touch panel 39 or the monitor device 14 of the wireless communication terminal 46.
  • the seventh mode transition condition which is a condition for shifting from the first autonomous travel execution mode to the manual travel execution mode.
  • the forward / reverse switching lever 25 is located at the forward position or the reverse position.
  • the forward / reverse switching lever 25 is located at the neutral position, so that the condition (a) is not satisfied unless the user operates the forward / backward switching lever 25. Therefore, when the condition (a) is satisfied, the user's intention to return to the manual travel is clear, and the mode is shifted to the manual travel execution mode.
  • This condition is the same as the condition for shifting from the first autonomous travel execution mode to the manual travel preparation mode.
  • the transition to the manual travel execution mode is performed when the forward / reverse switching lever 25 is positioned at the forward movement position, so that the condition (c) of the sixth mode transition condition is not satisfied.
  • the sixth mode transition condition is treated with higher priority than the seventh mode transition condition.
  • the eighth mode transition condition which is a condition for shifting from the manual travel preparation mode to the manual travel execution mode.
  • a plurality of condition items are set in the eighth mode transition condition, but these are AND conditions, and when all of the plurality of condition items are satisfied, the manual travel execution mode is set. Transition.
  • the forward / reverse switching lever 25 is positioned at the neutral position, and (b) the vehicle speed is set to a predetermined value or less.
  • the control unit 4 determines the condition (b) based on the detection result of the vehicle speed sensor 53.
  • the autonomous traveling mode is terminated, and then the manual traveling mode is shifted.
  • the forward / reverse switching lever 25 since the forward / reverse switching lever 25 is positioned at the forward position, switching from manual travel to autonomous travel is possible, and therefore switching to autonomous travel can be performed without stopping the tractor 1. Further, in order to prevent switching to manual travel with the forward / reverse switching lever 25 positioned at the forward movement position, the fourth mode transition condition condition (a), the eighth mode transition condition condition (a), etc. Is provided. Thereby, even when it switches to manual driving
  • the control unit 4 of the tractor 1 of the present embodiment includes the forward / reverse control unit 4a and the travel mode control unit 4b.
  • the forward / reverse control unit 4a controls the forward / backward movement of the tractor 1.
  • the travel mode control unit 4b is a manual mode in which the tractor 1 is moved forward and backward in accordance with the operation of the operation tools (for example, the brake pedal 61, the accelerator pedal 63, the auxiliary transmission lever 19, the main transmission lever 27, etc.) provided in the tractor 1.
  • One travel mode is executed from a plurality of travel modes including at least a travel mode and an autonomous travel mode that controls the forward and backward movement of the tractor 1 without depending on the operation of the operation tool.
  • the traveling mode control unit 4b executes the autonomous traveling mode by satisfying the autonomous traveling start condition (first mode transition condition and third mode transition condition).
  • the forward / reverse switching lever 25 provided in the tractor 1 can be switched at least between the forward position, the neutral position, and the reverse position. When the forward / reverse switching lever 25 is in the forward position, it is possible to satisfy the autonomous driving start condition.
  • the traveling mode control unit 4b executes the autonomous traveling mode when the autonomous traveling mode is performed with the forward / reverse switching lever 25 positioned at the forward movement position. Thereafter, when the forward / reverse switching lever 25 is not changed to the neutral position before the predetermined time elapses, the autonomous traveling mode is ended (the state is shifted to the manual traveling execution mode via the manual traveling preparation mode).
  • the forward / reverse switching lever 25 when the forward / reverse switching lever 25 is changed to the neutral position before the lapse of the predetermined time, the forward / backward switching lever 25 is moved from the neutral position to a position other than the neutral position. Execute manual driving mode when changed. If the forward / reverse switching lever 25 is not changed to the neutral position before the predetermined time elapses (after shifting to the manual travel preparation mode and in the manual travel preparation mode), the forward / reverse switching lever 25 is changed to the neutral position. Execute manual driving mode.
  • the forward / reverse switching lever 25 when the forward / reverse switching lever 25 is changed from the neutral position to another position, it is possible to shift to manual travel because the intention to change to manual travel is clear.
  • the forward / reverse switching lever 25 when the forward / reverse switching lever 25 is not changed to the neutral position within a predetermined time, the tractor 1 may move regardless of the operator's intention when changing to manual travel. After the switching lever 25 is changed to the neutral position, the mode is shifted to the manual travel mode.
  • the traveling mode control unit 4b includes at least one of the steering handle 12, the brake pedal 61, and the parking brake 26 provided in the tractor 1 after a predetermined time elapses during a predetermined time. Is operated (in the manual travel preparation mode, the manual travel mode is executed after the forward / reverse switching lever 25 is changed to the neutral position).
  • the operation of the forward / reverse switching lever 25 has a clear intention to switch to manual travel, but the operation of the steering handle 12, brake pedal 61, and parking brake 26 has no clear intention to switch to manual travel. Therefore, after the forward / reverse switching lever 25 is changed to the neutral position, the mode switching in consideration of the operator's intention is realized by shifting to the manual travel mode.
  • control unit 4 of the tractor 1 of the present embodiment can acquire the position information of the tractor 1 from the position information acquisition unit 49 that acquires the position information of the tractor 1.
  • the tractor 1 includes a route processing unit 4c that performs processing for generating or acquiring a travel route including a plurality of work routes and a plurality of non-work routes.
  • the autonomous traveling start condition includes that a work route capable of autonomous traveling of the tractor 1 is specified based on the current position information of the tractor 1 and the traveling route.
  • condition items of various conditions described in the above embodiment are examples, and at least one condition item may be added, deleted, or changed.
  • the first mode transition condition is that the user is riding on the tractor 1. It may be included in the condition item.
  • it can detect that the user has boarded the tractor 1 with the load sensor etc. which were provided in the seat 13, for example.
  • the sixth mode transition condition includes that the first mode transition condition is not satisfied, the transition condition from the manual travel execution mode to the autonomous travel preparation mode, and the first or second autonomous condition.
  • the conditions for shifting from the travel execution mode to the manual travel preparation mode are partially common conditions, but they may be different conditions. That is, the transition condition from the manual travel execution mode to the autonomous travel preparation mode is a condition for permitting autonomous travel (autonomous travel permission condition), while the transition condition from the first or second autonomous travel execution mode to the manual travel preparation mode May be a condition for prohibiting autonomous traveling (autonomous traveling prohibition condition).
  • the autonomous travel permission condition includes that the load sensor is ON
  • the autonomous travel prohibition condition may be that the load sensor is ON.
  • the load sensor is OFF for a predetermined time (for example, 5 seconds), it may be determined that the user has exited from the tractor 1 and shift to the manual travel preparation mode.
  • the forward / reverse switching lever 25 when the forward / reverse switching lever 25 is in the forward position and the mode is shifted to the first autonomous traveling execution mode, the forward / backward switching lever 25 is changed to the neutral position after a predetermined time has elapsed. When this is done, the mode shifts to the manual travel mode via the manual travel preparation mode.
  • the autonomous traveling mode may be maintained when the forward / reverse switching lever 25 is changed to the neutral position after a predetermined time has elapsed.
  • the first autonomous traveling execution mode or the second autonomous traveling implementation mode when there is some abnormality (for example, detection of non-boarding of the user), when the abnormality is resolved early, the first autonomous traveling execution mode Or the structure which returns to 2nd autonomous running implementation mode may be sufficient.
  • the ninth mode transition condition is satisfied in the manual traveling preparation mode.
  • the specific condition refers to any of the conditions (c) (the brake pedal 61, the clutch pedal 62, the parking brake 26, and the steering handle 12) among the sixth mode transition conditions in the second autonomous running mode.
  • the operation has shifted to the manual travel preparation mode.
  • the ninth mode transition condition is that the forward / reverse switching lever 25 is in the neutral position and an instruction to resume autonomous traveling is given based on the operation of the touch panel 39 of the wireless communication terminal 46.
  • the lever-shaped forward / reverse switching lever 25 has been described as an example of the forward / reverse switching operation tool, but a forward / reverse switching operation tool having a different shape (slide switch shape or the like) can also be used. Further, the forward / reverse switching lever 25 can be switched to a forward position, a reverse position, and a neutral position, but may be switched to another position.
  • the forward / reverse switching lever 25 is an operating tool that instructs switching between forward and backward travel, but may be an operating tool that can command both shifting and forward / backward switching. In this case, there are a plurality of forward positions, but it may be possible to switch to the autonomous traveling mode only when the forward position is located on the low speed side, or when the forward position is located at all the forward positions. May be switched to the autonomous running mode.
  • the travel route acquisition unit 35 of the wireless communication terminal 46 generates a travel route
  • the route processing unit 4c of the control unit 4 acquires a part or all of the route. 4c may generate a travel route.
  • the monitor device 14 included in the tractor 1 may generate the travel route.

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  • Engineering & Computer Science (AREA)
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Abstract

La présente invention concerne un dispositif de commande d'un véhicule de chantier, équipé d'une unité de commande de déplacement vers l'avant/vers l'arrière et d'une unité de commande de mode de déplacement. L'unité de commande de déplacement vers l'avant/vers l'arrière commande le déplacement vers l'avant/vers l'arrière du véhicule de chantier. L'unité de commande de mode de déplacement met en œuvre un mode parmi de multiples modes, qui comprennent au moins un mode de déplacement manuel dans lequel le véhicule de chantier se déplace vers l'avant/vers l'arrière en réponse au fonctionnement d'un outil de fonctionnement disposé dans le véhicule de chantier, et un mode de déplacement autonome dans lequel le déplacement vers l'avant/vers l'arrière du véhicule de chantier est commandé indépendamment du fonctionnement de l'outil de fonctionnement. L'unité de commande de mode de déplacement supporte un mode de déplacement autonome en satisfaisant une condition de démarrage de déplacement autonome. Un outil de fonctionnement de commutation vers l'avant/vers l'arrière peut basculer au moins entre une position avant, une position neutre et une position de recul. La condition de démarrage de déplacement autonome peut être satisfaite si l'outil de fonctionnement de commutation vers l'avant/vers l'arrière se trouve en position avant.
PCT/JP2017/042806 2017-01-30 2017-11-29 Dispositif de commande d'un véhicule de chantier WO2018139038A1 (fr)

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KR1020227037498A KR20220151218A (ko) 2017-01-30 2017-11-29 작업 차량 제어 장치
CN202210415422.XA CN114600582B (zh) 2017-01-30 2017-11-29 作业车辆控制装置
KR1020197011405A KR102275485B1 (ko) 2017-01-30 2017-11-29 작업 차량 제어 장치
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CN116661344A (zh) * 2023-05-08 2023-08-29 中联农业机械股份有限公司 一种拖拉机自动控制系统及方法

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JP7388929B2 (ja) * 2020-01-14 2023-11-29 株式会社クボタ 農作業車
JP7160875B2 (ja) * 2020-09-24 2022-10-25 ヤンマーパワーテクノロジー株式会社 作業車両制御装置
JP2022098847A (ja) * 2020-12-22 2022-07-04 井関農機株式会社 作業車両
JP7620497B2 (ja) * 2021-05-12 2025-01-23 ヤンマーホールディングス株式会社 自動運転方法、作業車両及び自動運転システム
KR20230063497A (ko) 2021-11-02 2023-05-09 주식회사 베이리스 자율 작업차량의 제어 시스템 및 제어 방법
CN114342615B (zh) * 2021-12-13 2023-08-18 广州极飞科技股份有限公司 插秧机自动控制方法、装置、设备和存储介质
JP2023098041A (ja) * 2021-12-28 2023-07-10 株式会社クボタ 作業車
JP7494864B2 (ja) * 2022-01-06 2024-06-04 井関農機株式会社 作業車両
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KR20210088011A (ko) 2021-07-13
KR102275485B1 (ko) 2021-07-08
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CN114600582A (zh) 2022-06-10
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