JP2018088931A - Work vehicle coordination system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle coordination system in which a slave work vehicle can perform work travel in which a travel system operation and a work system operation are frequently performed, following a master work vehicle.SOLUTION: A work vehicle coordination system includes: a master travel track calculation unit for calculating a travel track of a master work vehicle 1P from a detection position of the master work vehicle 1P: a slave travel target calculation unit for calculating a target travel position of a slave work vehicle 1C from the travel track of the master work vehicle 1P; a master parameter generation unit for generating a master work operation parameter related to a work operation executed by the master work vehicle 1P in link with the detection position; a slave parameter generation unit for generating a slave work operation parameter for the slave work vehicle 1C in link with the target travel position of the slave work vehicle 1C based on the master work operation parameter; and a steering control unit for performing unmanned steering of the slave work vehicle based on the detection position and target travel position of the slave work vehicle 1C, and the slave work operation parameter.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work vehicle coordination system that links a parent work vehicle and an unmanned pilot-type sub work vehicle that travels on the ground while following the ground work by the parent work vehicle.

  A vehicle control system that sequentially determines a target travel position based on an actual travel position of a parent work vehicle and controls a sub work vehicle aiming at the target travel position is known from Patent Document 1. In this vehicle control system, a control mode or a parent work vehicle that causes the sub work vehicle to follow the parent work vehicle so as to maintain the offset amounts in the X (longitude) direction and the Y (latitude) direction set for the parent work vehicle. A control mode for causing the sub work vehicle to follow the parent work vehicle using a travel route obtained by translating the travel trajectory by the work width as a target travel route is disclosed. Here, the traveling position of the work vehicle is acquired using GPS (Global Positioning Satellite System). However, the unmanned maneuvering control technology of the tractor based on the traveling position information by GPS is described in detail in Patent Document 2.

  The follow-up control according to Patent Document 1 intends to work in a large work area, and is not intended to travel along a complicated route in a work area such as a field with a relatively small area bounded by a fence or the like. . In such work traveling in a field or the like, it is necessary not only to change direction by 180 ° or 90 °, but also to repeat traveling system operations such as deceleration, acceleration, stop, and start. Furthermore, depending on the type of work travel, it is also required to repeat work system operations such as driving of the working device, interruption of driving, raising and lowering of the working device. For example, in rice or wheat harvesting work in a narrow field, etc., a reciprocating traveling that repeats a straight traveling work and a U-turn with respect to the central region of the field, and a rotating work area defined around the U-turn working area It is divided into a round run that works while turning around. For this reason, the field is divided into a U-turn work area and a rotating work area in advance, and traveling system operations and work system operations are frequently performed in each field. However, it is difficult to realize such an unsophisticated work travel with a conventional system that aims to travel on a vast work site with a constant travel system operation and a work system operation.

U.S. Pat. No. 6,732,024 US Patent Publication No. 6,052,647

  There is a need for a work vehicle coordination system that allows a child work vehicle to perform work travel in which travel system operations and work system operations are frequently performed according to the present invention.

  In a work vehicle coordination system in which a ground work using a work machine is performed by a parent work vehicle and an unmanned maneuvering child work vehicle imitating the parent work vehicle, the system according to the present invention includes a parent work vehicle at a position of the parent work vehicle. A parent position detection module that detects a position; a child position detection module that detects a child position that is a position of the child work vehicle; a parent travel locus calculation unit that calculates a travel locus of the parent work vehicle from the parent position; A child travel target calculation unit that calculates a target travel position of the child work vehicle from a travel locus of the parent work vehicle, and a parent work operation parameter related to a work operation performed by the parent work vehicle are linked to the parent position and generated. Based on the parent work generation parameter, the parent parameter generation unit generates a sub work operation parameter for the sub work vehicle linked to the corresponding target travel position of the sub work vehicle. And Turkey parameter generating unit, and a, a steering control unit for robotically the child work vehicle based on the child work operating parameters and the target traveling position and the child position.

According to this configuration, the parent work driving parameter related to the work driving executed on the parent work vehicle is generated by linking with the position of the parent work vehicle. The position of the parent work vehicle where the above operation was performed can be found. In other words, it is possible to grasp what operation is performed at a specific travel position. Based on the parent work operation parameter, a child work operation parameter for the child work vehicle linked to the corresponding target travel position of the child work vehicle is generated. At this time, the sub work operation parameter is generated as data indicating the operation content to be executed at the target travel position of the sub work vehicle.
Therefore, the sub work vehicle is operated based on the work operation parameters, the sub position, the target travel position, and the sub work vehicle, so that the sub work vehicle can perform work operation faithfully following the work operation of the main work vehicle. To do.

  In a work vehicle that performs work while traveling, depending on the type of work, when operations related to traveling such as deceleration, acceleration, stop, start, etc. are important, driving of the work device, driving interruption, raising and lowering of the work device, etc. Both of these cases are important when the operation related to the work apparatus is important. Accordingly, in a preferred embodiment of the present invention, the work operation parameter includes a travel control parameter related to an operation on a travel system including a transmission and a braking device, or an operation related to a work operation and a non-work operation on the work machine. Control parameters or both are included. As a result, a work vehicle coordination system suitable for work can be provided.

  If the parent work vehicle and the child work vehicle used in the cooperative system have the same specifications, the parent work vehicle and the child work vehicle have the same work operation if the same operation is performed. However, when a parent work vehicle and a child work vehicle having different specifications are used, the same result as that for the parent work vehicle is not always given to the child work vehicle. Accordingly, in one of the preferred embodiments of the present invention, the child parameter generation unit includes a specification recording unit that records the specifications of the parent work vehicle and the specifications of the child work vehicle, and the parent work The sub work operation parameter is generated by correcting the parent work operation parameter based on a difference between a car specification and the sub work vehicle specification.

  In particular, when the main work vehicle and the sub work vehicle are divided and travel the same work site, in order to eliminate the remaining work on the work site, the ground work width of the parent work vehicle and the ground of the sub work vehicle It is necessary to accurately consider the working width. Therefore, in one preferred embodiment of the present invention, the child travel target calculation unit includes the ground work width of the parent work vehicle, the ground work width of the child work vehicle, and the travel locus of the parent work vehicle. Then, the target travel position of the sub work vehicle is calculated, and the steering control unit unmannedly steers the sub work vehicle so as to follow the ground work trace of the parent work vehicle using the target travel position.

  It is desirable that the function unit for causing the child work vehicle to follow the preceding parent work vehicle is contained in one control unit as much as possible. For this purpose, in one of the preferred embodiments of the present invention, the child position detection module and the steering control unit are mounted on the child work vehicle, and the parent position detection module and the parent travel locus calculation unit are mounted. And the child travel target calculation unit, the parent parameter generation unit, and the child parameter generation unit are mounted on the parent work vehicle, and the child work vehicle and the parent work vehicle are connected to each other so as to transmit data to each other. Has been. In this configuration, the sub work vehicle needs only a slight modification, which is advantageous for a system using a plurality of sub work vehicles.

  In yet another preferred embodiment, the child position detection module and the steering control unit are mounted on the child work vehicle, and the parent position detection module and the parent parameter generation unit are mounted on the parent work vehicle. The parent travel locus calculation unit, the child travel target calculation unit, and the child parameter generation unit are constructed in separate control units, and the control unit, the child work vehicle, and the parent work vehicle are mutually connected. Are connected so that data transmission is possible. In this configuration, the main function for realizing the present invention is constructed in the control unit that is configured separately from the work vehicle, so that the modification of the parent work vehicle and the sub work vehicle can be reduced. If the parent work vehicle and the sub work vehicle are connected to the control unit so as to be able to transmit data using WiFi, a telephone line, or the like, this work vehicle cooperation system can be used as a cloud system.

It is a schematic diagram explaining the flow of data between the main work vehicle and the sub work vehicle in the work vehicle cooperation system of the present invention. In embodiment of a working vehicle cooperation system, it is a side view of the tractor with a cultivator applied as a working vehicle. It is a schematic diagram which shows the driving | running | working driving | running | working in a U-turn work area | region, and the driving | running | working locus | trajectory of the main work vehicle and a sub work vehicle in U-turn driving | running | working. It is a schematic diagram which shows the driving | running | working locus | trajectory of the main work vehicle and the sub work vehicle in the work driving | running | working in a rotation work area | region, and U-turn driving | running | working. It is a schematic diagram explaining the basic principle of the follow of the sub work vehicle from the U-turn work area to the work work area to the parent work car, and (a) shows the travel of the parent worker and the sub work car in the entire work area. (B) shows the trajectory of the turnover travel and the turn work travel of the parent work vehicle, and (c) shows the travel trajectory of the turnback travel and the turn work travel of the sub work vehicle. It is a functional block diagram which shows the function part which builds a working vehicle cooperation system. It is a schematic diagram which shows the flow of the basic control data in a linear work traveling. It is a schematic diagram which shows the flow of the basic control data in U-turn driving | running | working. It is a schematic diagram which shows the flow of the basic control data in a turnback driving | running | working.

  Before describing a specific embodiment of the work vehicle coordination system according to the present invention, a basic data flow in the work travel of a child work vehicle that imitates the parent work vehicle will be described with reference to FIG. In this work vehicle cooperation system, the sub work vehicle 1C performs unmanned maneuvering similar to the manned maneuvering type parent work vehicle 1P and the ground work similar to the parent work vehicle 1P.

  When the parent work vehicle 1P precedes and starts working, the parent position, which is the current position of the parent work vehicle 1P, is detected at any time using a positioning function such as GPS, and is converted into data that can be transmitted (#). 001). Furthermore, when the driver of the parent work vehicle 1P performs a traveling system operation such as a brake operation, an accelerator operation, or a gear shift operation, the operation content is converted into data as a driving parameter so that data can be transmitted (# 002). Further, when the driver of the parent work vehicle 1P performs a work system operation such as an on / off operation with respect to the power transmission clutch of the work device, or an operation of switching the work device between the working state and the non-working state by raising and lowering the working device. The operation content is converted into data as work parameters so that data can be transmitted (# 003). The operation parameter and the work parameter are linked with the parent position at the time of the operation, and are handled as the work operation parameter (# 004).

  Although the child work vehicle 1C departs from the parent work vehicle 1P, the child work vehicle 1C also detects the child position that is the current position of the child work vehicle 1C by using a positioning function such as GPS, and transmits data. Data is made possible (# 005).

  The control unit that manages the cooperative control calculates the traveling locus (parent traveling locus) of the parent work vehicle 1P based on the parent position data that is generated and transmitted as needed. In order to travel the sub work vehicle 1C so as to follow the parent travel locus, the target travel position for causing the sub work vehicle 1C to perform unmanned follow-up travel from the child position data and the parent travel locus transmitted from the sub work vehicle 1C. Is calculated. The calculated target travel position is sent to the sub work vehicle 1C.

  If the operation parameter is included in the work operation parameter sent to the control unit, the operation content in the sub work vehicle 1C equivalent to the traveling system operation executed in the parent work vehicle 1P, which is defined in the operation parameter. Is derived using a conversion table created based on the pre-registered parent work vehicle specifications and sub work vehicle specifications. The derived traveling system operation content is linked to the target traveling position which is the position of the sub work vehicle 1C on which the operation is to be performed (# 008). Similarly, when a work parameter is included in the work operation parameter sent to the control unit, the sub work vehicle 1C equivalent to the work system operation executed on the parent work vehicle 1P, which is defined in the work parameter. The operation content in is derived using the above conversion table. The derived work system operation content is linked to the target travel position which is the position of the sub work vehicle 1C on which the operation is to be performed (# 009). The travel system operation content and the work system operation content linked to the target travel position are converted into data so as to be usable in the sub work vehicle 1C as work operation parameters for the sub work vehicle 1C, and transmitted to the sub work vehicle 1C. (# 010).

  In the sub work vehicle 1C, the steering control is performed based on the target travel position received from the control unit so that the detected child position matches the target travel position (# 011). In addition, if the operation parameter received from the control unit includes an operation parameter to be operated at the detected traveling position (child position) of the current child work vehicle 1C, the traveling system is determined based on the operation parameter. If the operation is executed and the work parameter is included, the operation of the work system is executed based on the work parameter (# 012).

  Next, one specific embodiment of the work vehicle coordination system of the present invention will be described. In this embodiment, as shown in FIG. 2, the work vehicle is a tractor equipped with a cultivating device 5 that cultivates a field bordered by ridges as a ground work device. The tilling device 5 is mounted on the rear portion of the vehicle body 3 via a hydraulic lifting mechanism 4. The tilling work is performed by lowering the tilling device 5, and the tilling work is interrupted by raising the tilling device 5. An engine 21 is mounted on the front portion of the vehicle body 3 supported by the front wheels 2 a and the rear wheels 2 b, and a transmission 22 is mounted on the center portion of the vehicle body 3. Above the transmission 22 is a control unit 30 in which an operation tool for performing a traveling system operation such as a steering operation, an engine operation, and a speed change operation and an operation tool for performing a work system operation such as a lifting operation of the lifting mechanism 4 are arranged. Is formed. In this embodiment, the parent tractor 1P as the parent work vehicle 1P and the child tractor 1C as the child work vehicle 1C have substantially the same shape, the parent tractor 1P is steered by the driver, and the child tractor 1C is unmanned. Be maneuvered.

  The ground work site shown in FIG. 3 and FIG. 4 is an agricultural field whose outer periphery is bounded by a basket. Although shown in a simplified manner, this field is defined around a rectangular U-turn work area A where work is performed by repeating a straight-ahead work run and a U-turn, and around this U-turn work area A. It is divided into a rectangular annular work area B. This work area division is generally performed in farm work, and the work area B is also called headland work. In this example, the tilling work by the tractor is taken as an example of the ground work, the work on the U-turn work area A is performed first, and then the work on the turn work area B is performed. The rotating work area B is also used as an area for non-working U-turn travel during tillage work with respect to the U-turn working area A. When shifting from the work in the U-turn work area A to the work in the turn work area B, in order to perform efficient turn work in the turn work area B, the work area from the work end point in the U-turn work area A A turn-around traveling to the work starting point in B is performed.

  First, with reference to FIG. 3, the cooperative traveling of the parent tractor 1P and the child tractor 1C in the U-turn work area A will be described. In the U-turn work area A, the tilling work is performed while repeating the straight-ahead work traveling and the U-turn. Normally, since the U-turn work area A is located at the center of the field, the U-turn work area A is simply referred to as the center area A, and the turning work area B is located near the periphery of the farm field. Is simply referred to as a peripheral region B.

  The work travel (substantially linear travel) in the central area A by the parent tractor 1P is started in the work state in which the tiller 5 is lowered. Following the predetermined time, the follow-up work traveling by the child tractor 1C is started in the work state in which the tilling device 5 is lowered. Thereby, cooperative tilling work by the work width of the parent tractor 1P and the work width of the child tractor 1C is performed. At that time, the amount of positional deviation in the crossing direction between the parent tractor 1P and the child tractor 1C is ideally (parent work width + slave work width) / 2. For example, an overlap of about several tens of centimeters is set. As shown in FIG. 3, when the parent tractor 1P reaches the peripheral region B from the central region A, the tilling device 5 is raised and the U-turn traveling of the parent tractor 1P is started. The position of the parent tractor 1P at that time is recorded as the parent U-turn start point P1. When the parent tractor 1P travels a U-turn and enters the central area A again, the tilling device 5 is lowered and the working travel of the parent tractor 1P is resumed. The position of the parent tractor 1P at that time is recorded as the parent U-turn end point P2. When the parent U-turn start point P1 and the parent U-turn end point P2 are recorded, the child U-turn start point Q1 and the child U-turn end point Q2 of the child tractor 1C are calculated. In the corresponding peripheral region B shown in the figure, the child U-turn start point Q1 is shifted from the parent U-turn start point P1 in consideration of the lateral distance and the overlap amount between the parent tractor 1P and the child tractor 1C. Become. The child U-turn end point Q2 is a position between the parent U-turn end point P2 and the child U-turn start point Q1, and is, for example, an intermediate position in the example of FIG. Although not shown, when the U-turn is performed on the opposite side, the positional relationship between the parent U-turn start point P1 and the parent U-turn end point P2, the child U-turn start point Q1, and the child U-turn end point Q2 is exactly Conversely, the child U-turn end point Q2 is obtained from the tilling width of the parent tractor 1P and the child tractor 1C and the overlap amount at a position further outside the parent U-turn end point P2.

  When the child U-turn start point Q1 and the child U-turn end point Q2 are calculated, the child U-turn travel path from the child U-turn start point Q1 to the child U-turn end point Q2 is calculated. Further, the position at which the child tractor 1C substantially reaches the direction of work travel is calculated as the follow-up start point Qs before the child U-turn end point Q2. That is, the follow-up start point Qs starts to follow the parent tractor 1P from here, so that the work travel locus of the child tractor 1C starting from the child U-turn end point Q2 accurately corresponds to the work travel locus of the parent tractor 1P. It is a position that can be done.

  When the child tractor 1C reaches the child U-turn start point Q1, the tilling device 5 is raised, and the U-turn traveling of the child tractor 1C in the non-working state is started. In the U-turn traveling of the child tractor 1C, it is checked whether or not the child tractor 1C reaches the follow-up start point Qs. When the child tractor 1C reaches the follow-up start point Qs, the U-turn travel of the child tractor 1C is finished, the tiller 5 is raised, and the follow-up travel of the child tractor 1C in the working state, that is, the work travel is resumed. By repeating such work travel (substantially straight travel) in the central area A and non-work travel (U-turn travel) in the peripheral area B, the tilling work for the central area A is completed.

Next, the cooperative traveling of the parent tractor 1P and the child tractor 1C in the rotating work area B will be described with reference to FIG. In FIG. 4, the traveling locus of the parent tractor 1P is indicated by a thick black line, the traveling locus of the child tractor 1C is indicated by a thick white line, and the turning traveling locus is distinguished by a dotted line drawing. In FIG. 4, the ground work widths of the parent tractor 1P and the child tractor 1C are indicated by WP and Wc, respectively.
First, the parent tractor 1P is in a non-working state (the tillage device 5 is raised), and starts from a turn-around travel start point Pp1, which is a work end point of the central area (U-turn work area A). The vehicle travels forward and turns so that the rear end of the tractor faces the turning work start point (turnback running completion point Pp3). The rear end of the tractor stops at the turning point Pp2 facing the turning work start point (turnback running completion point Pp3), and then travels backward until reaching the turning work start point (turnback running completion point Pp3), thereby completing the turning work. . When the turn-back traveling is completed, the parent tractor 1P travels forward in the peripheral area (turning work area B) in the working state (the tilling device 5 is lowered). This revolving work travel is performed so as to have a substantially linear travel locus.

  When it is detected from the above-described traveling locus of the parent tractor 1P that the parent tractor 1P has carried out turning traveling, the traveling locus and the ground work width of the parent tractor 1P and the child tractor 1C (hereinafter simply referred to as working width). Based on the above, the turning travel start point Pc1 and the turning travel completion point Pc3 of the child tractor 1C are calculated. When the reverse travel start point Pc1 and the reverse travel completion point Pc3 are calculated, a stop point Pc2 (turnback point) of the turning forward travel in the same direction as the reverse travel of the parent tractor 1P is also calculated. The tractor 1C is turned forward in a non-working state. At that time, the turning forward traveling of the child tractor 1C is prohibited until the interference with the parent tractor 1P performing the turning work traveling is avoided. The target travel position in the reverse travel from the stop point Pc2 of the turning forward travel of the child tractor 1C to the turn-back travel completion point Pc3 is determined under the condition that the saddle of the child tractor 1C does not enter the work width around the parent tractor 1P. It is calculated regardless of the travel locus of 1P reverse reverse travel. The travel target position in the turn work travel from the turn work travel start point, which is the turn travel completion point Pc3, is determined from the work width of the parent tractor 1P, the work width of the child tractor 1C, and the travel work trajectory of the parent tractor 1P. It is calculated under the condition that the predetermined overlap of the working width is maintained. Prior to the turning work traveling starting from the turning work traveling start point which is the turnover traveling completion point Pc3, the tilling device 5 is lowered. Since the travel target position in the turn work travel is calculated, the travel work travel of the child tractor 1C is executed in the work state in which the tilling device 5 is lowered based on the travel target position. The tilling work in the turning work area B is completed by repeating the turn-back running by forward and reverse as described above and the turning work running by linear advance.

  As shown in FIG. 5, in this embodiment, the electronic control unit for constructing the work vehicle coordination system includes the master unit control unit 6 provided in the master tractor 1P and the slave unit control unit provided in the slave tractor 1C. It is divided into seven. The master unit control unit 6 and the slave unit control unit 7 include communication modules 60 and 70, respectively, so that data can be transmitted with each other wirelessly.

  The master unit control unit 6 further includes a parent position detection module 61, a parent travel locus calculation unit 62, a U-turn work area travel control module 63, a rotating work area travel control module 64, a child travel target calculation unit 65, and work operation parameter management. A functional unit such as a module 8 is provided. These functional units may perform a cooperative operation with hardware, but are substantially realized by starting a computer program.

  The parent position detection module 61 uses GPS to detect its own position, that is, the position of the parent tractor 1P. The parent travel locus calculation unit 62 calculates and records the travel locus of the parent tractor 1P from the position detected by the parent position detection module 61.

The U-turn work area travel control module 63 is a control module that controls travel in the U-turn work area A. The U-turn work area travel control module 63 has the following functions:
(1) In order to show the assignment of the rotating work area B in the field, the position coordinates specifying the outer shape of the U-turn work area A are recorded, but this recording is not essential and may be omitted.
(2) Area in which a U-turn in a non-working state is required between the substantially straight forward traveling and the backward traveling in the working state of the parent tractor 1P and the child tractor 1C in the U-turn working region A However, a U-turn in a certain work area B is detected.
(3) Based on the tilling width of the parent tractor 1P and the tilling width of the child tractor 1C, the working travel trajectory of the parent tractor 1P, and the position of the child tractor 1C, the overlapping of the mutual tilling widths is also considered. The target travel route of the child tractor 1C in the turn work area A is calculated. The target travel path of the child tractor 1C in the U-turn work area A includes a linear reciprocation travel path in the U-turn work area A of the child tractor 1C and a U-turn travel path in the work area B around the child tractor 1C. A U-turn travel route calculated based on a turn travel route calculation algorithm is included.

The turning work area traveling control module 64 is a control module that controls traveling in the turning work area B. The work area travel control module 64 has the following functions:
(1) Rotation traveling including turning-back traveling consisting of forward movement and backward traveling and traveling work traveling in the rotational work area B of the parent tractor 1P and the child tractor 1C is detected. For this detection, position coordinates that specify the outer shape of the U-turn work area A and position coordinates that specify the outer shape of the field that is the work target are used.
(2) From the working width of the parent tractor 1P and the working width of the child tractor 1C, and the turnback trajectory including the turnback start point Pp1 and the turnover completion point Pp3 in the turnover of the parent tractor 1P, the turnover of the child tractor 1C A target travel locus in the reverse travel including the travel start point Pc1 and the reverse travel completion point Pc3 is calculated.
(3) From the work width of the parent tractor 1P, the work width of the child tractor 1C, and the rotation work travel trajectory of the parent tractor 1P, the rotation work of the child tractor 1C from the turnover completion point Pc3 to the next turnover start point Pc1 Calculate the target travel route for travel.

  The child travel target calculation unit 65 calculates the target travel position of the child tractor 1C from the travel locus of the parent tractor 1P in cooperation with the U-turn work area travel control module 63 and the rotating work area travel control module 64. The child travel target calculation unit 65 transmits the calculated target travel position of the child tractor 1 </ b> C to the child device control unit 7 via the communication module 60.

  The work operation parameter management module 8 realizes the transfer of parameters relating to the traveling system operation and the working system operation between the parent tractor 1P and the child tractor 1C described with reference to FIG. Therefore, the work operation parameter management module 8 includes a parent parameter generation unit 81, a child parameter generation unit 82, and a parameter conversion unit 83. The parent parameter generation unit 81 generates a parent work operation parameter related to the work operation executed by the parent tractor 1P by linking it to the parent position detected by the parent position detection module 61. The child parameter generation unit 82 generates a child work operation parameter linked to the corresponding target travel position of the child tractor 1C based on the parent work operation parameter. If the specifications of the parent tractor 1P and the child tractor 1C are exactly the same, the parent work operation parameter can be applied as it is as the child work operation parameter. However, if the specifications are different from each other, the specifications of the parent tractor 1P and the child tractor 1C are registered, and the parameter conversion in which the operation content of the other child tractor 1C that is adapted to the operation content of the parent tractor 1P is related. The unit 83 performs parameter conversion.

  The generated work operation parameters are transmitted to the slave unit control unit 7 via the communication module 60 in a form linked to or linked to the target position calculated by the slave travel target calculation unit 65.

  The slave unit control unit 7 includes a communication module 70, a slave position detection module 71, and a steering control unit 72. Similar to the parent position detection module 61, the child position detection module 71 detects its own position, that is, the position of the child tractor 1C using GPS. The obtained position data of the child tractor 1C is transmitted to the parent device control unit 6 via the communication module 70 in order to confirm the position of the child tractor 1C on the parent device control unit 6 side. The steering control unit 72 sequentially sets the child tractors 1C by controlling the steering of the front wheels 2a and the driving of the rear wheels 2b of the child tractors 1C based on the travel target position wirelessly transmitted from the parent device control unit 6. Unmanned maneuver to the target travel position. Furthermore, when the child tractor 1C reaches the travel target position to which the work operation parameter is linked, the steering control unit 72 executes the travel system operation and the work system operation included in the work operation parameter. The traveling speed of the child tractor 1C is changed, and the raising / lowering control of the tilling device 5 by the lifting mechanism 4 is performed.

  Next, the flow of basic control data in the cooperative control between the manned parent tractor 1P and the unmanned child tractor 1C will be described with reference to FIGS. FIG. 6 schematically shows a flow of control data in the cooperative control for work traveling that leaves a substantially linear traveling locus. FIG. 7 schematically shows the flow of control data in cooperative control for U-turn travel. FIG. 8 schematically shows a data flow in the cooperative control for the turn-back running.

  As shown in FIG. 6, in the cooperative control in the work travel that leaves a linear travel locus, the parent tractor travels from the parent tractor position (parent position) that indicates the actual travel position of the parent tractor 1P generated at a predetermined sampling cycle. A trajectory (parent travel trajectory) is calculated (#a). Using the calculated parent tractor traveling locus and the child tractor position (child position) indicating the actual traveling position of the child tractor 1C at each time point, the work of both the parent work vehicle work width and the child work vehicle work width is further performed. The work travel target position for the child tractor 1C is calculated in consideration of the overlap amount of the width (#b). The calculated work travel target position data becomes the steering control target value, and the child tractor 1C is unmannedly maneuvered to perform wide ground work in cooperation with the parent tractor 1P (#c).

  When a driving system operation or a work system operation is performed by the driver during the work travel of the parent tractor 1P, a work driving parameter (parent parameter) indicating the operation content in the parent tractor 1P is generated. Linked with the parent position (#d). The work operation parameter linked to the parent position is converted into a work operation parameter (child parameter) suitable for the child tractor 1C using the parameter conversion table of the parameter conversion unit 83 (#e). The converted child parameter is linked to the corresponding work target travel position (#f). When the child tractor 1C reaches a traveling position where an operation based on the child parameter is to be performed, the child tractor 1C is converted into a control command for operation (#g), and the traveling system operation device and the work system operation device are controlled by this control command. . Thereby, a substantially linear work travel of the child tractor 1C following the parent tractor 1P is realized.

  As shown in FIG. 7, in the cooperative control in the U-turn traveling, which is the direction change during the reciprocating work traveling, the parent tractor 1P is determined from the U-turn start operation and the U-turn end operation in the parent tractor 1P, which are associated with the parent position. The parent U-turn start point P1 and the parent U-turn end point P2 are calculated (# a1). Further, the U-turn travel locus (parent U-turn travel locus) of the parent tractor 1P is calculated from the parent U-turn start point P1, the parent U-turn end point P2, and the parent position in the travel between them (# a2). Further, the U-turn travel target position for the child tractor 1C is calculated in consideration of the parent work width and the child work width and the overlap amount of both in the locus corresponding to the parent U turn (#b). The calculated child U-turn travel target position becomes the steering control target value, and the child tractor 1C is unmanned to perform U-turn travel (#c).

  Even in this U-turn traveling, when a driving system operation or a working system operation is performed by the driver during the U-turn traveling of the parent tractor 1P, a work driving parameter (parent parameter) indicating the operation content is obtained. It is generated and linked with the parent position at the time of the operation (#d). The work operation parameter linked to the parent position is converted into a work operation parameter (child parameter) suitable for the child tractor 1C (#e). The converted child parameter is linked with the corresponding U-turn target travel position (#f). When the child tractor 1C reaches a traveling position where an operation based on the child parameter is to be performed, the child tractor 1C is converted into a control command for operation (#g), and the traveling system operation device and the work system operation device are controlled by this control command. . Thereby, the U-turn traveling of the child tractor 1C following the parent tractor 1P is realized.

  As shown in FIG. 8, in the cooperative control in the turnover operation in the turn work area B, the parent tractor 1P is determined from the turnback start operation, the stop operation for turnback and the turnover completion operation associated with the parent position. The reverse travel start point Pp1, the reverse travel point Pp2 (forward / reverse switching point), and the reverse travel completion point Pp3 are calculated (# a1). Further, the turning travel locus (parent turning traveling locus) of the parent tractor 1P is calculated from the turning traveling start point Pp1, the turning point Pp2, the turning traveling completion point Pp3, and the parent position in the traveling between them (# a2). Further, the turnover travel target position for the child tractor 1C is calculated in consideration of the parent work vehicle work width and the child work vehicle work width and the overlap amount of both of them in the parent turnover travel locus (#b). The calculated child turnback travel target position becomes the steering control target value, and the child tractor 1C is unmannedly maneuvered to perform turnback travel (#c). In FIG. 8, the reverse travel start point is simply referred to as the reverse start point, and the reverse travel completion point is simply referred to as the reverse completion point.

  Also in this turning traveling, as in the previous U-turn traveling, when a driving system operation or a working system operation is performed by the driver during the turning traveling of the parent tractor 1P, a work driving parameter ( Parent parameter) is generated and linked to the parent position at the time of the operation (#d). The work operation parameter linked to the parent position is converted into a work operation parameter (child parameter) suitable for the child tractor 1C (#e), and the converted child parameter is linked to the corresponding work target travel position ( #F). When the child tractor 1C reaches a traveling position where an operation based on the child parameter is to be performed, the child tractor 1C is converted into a control command for operation (#g), and the traveling system operation device and the work system operation device are controlled by this control command. . Thereby, the turn-back traveling of the child tractor 1C following the parent tractor 1P is realized.

[Another embodiment]
(1) In the embodiment described above, there is one child tractor 1C. However, the present invention can also be applied to a plurality of child tractors 1C by a similar control method. At that time, if there are two child tractors 1C, two follow-up control methods are possible. In one of them, the first child tractor 1C is follow-up controlled in consideration of the working width of the parent tractor 1P based on the locus of the parent tractor 1P, and the second child tractor 1C is based on the locus of the parent tractor 1P. Accordingly, the follow-up control is performed in consideration of the work width of the first child tractor 1C. In the other, the first child tractor 1C is subjected to follow-up control based on the trajectory of the parent tractor 1P, and the second child tractor 1C is subjected to follow-up control using the first child tractor 1C as the parent tractor 1P. That is, when there are a plurality of child tractors 1C, follow-up control is possible in which the preceding child tractor 1C is the parent tractor 1P.
(2) In the above-described embodiment, the parent tractor 1P is manned, but this parent tractor 1P can also be operated unattended by adopting a program control method or a remote control method. The present invention is also directed to a form in which the parent tractor 1P, that is, the parent work vehicle is also driven unattended. Furthermore, in the present invention, both the parent tractor 1P and the child tractor 1C may be manned. For example, the master tractor 1P is operated by an expert, the child tractor 1C is operated by an unskilled person, and a part of the traveling system operation and work system operation of the child tractor 1C is generated based on the work operation parameters generated by the parent tractor 1P. If executed, the burden on the unskilled person can be reduced.
(3) In the above-described embodiment, the tractor equipped with the tillage device 5 is taken up as a work vehicle. However, even if another working device such as a spraying device or a fertilizer is installed instead of the tillage device 5, the features of the present invention. Can be used effectively. Furthermore, the present invention can be applied to other work vehicles such as combine, rice transplanter, lawn mower, weeder, and civil construction machines such as bulldozers. Further, the parent work vehicle and the child work vehicle may not be the same model, for example, a combination of a combine and a transport truck.

  The present invention can be applied to a control system in which a plurality of work vehicles work in cooperation.

1P: Parent work vehicle (parent tractor)
1C: Sub work vehicle (child tractor)
61: Parent position detection module 62: Parent travel locus calculation unit 63: U-turn control module 64: Rotation travel control module 65: Travel target calculation unit 7: Slave unit control unit 70: Communication module 71: Child position detection module 72: Steering Control unit 8: Work operation parameter management module 81: Parent parameter generation unit 82: Child parameter generation unit 83: Parameter conversion unit

Claims (7)

A work vehicle coordination system that performs ground work using a work machine by a parent work vehicle and an unmanned pilot-type child work vehicle that imitates the parent work vehicle,
A parent position detection module for detecting a parent position which is a position of the parent work vehicle;
A child position detection module for detecting a child position which is the position of the child work vehicle;
A parent travel locus calculator that calculates a travel locus of the parent work vehicle from the parent position;
A child travel target calculation unit that calculates a target travel position of the child work vehicle from a travel locus of the parent work vehicle;
A parent parameter generation unit that links and generates a parent work driving parameter related to a work driving performed by the parent work vehicle;
Based on the parent work driving parameter, a child parameter generating unit that generates a child work driving parameter for the child work vehicle linked to a corresponding target travel position of the child work vehicle;
A work vehicle coordination system comprising: a steering control unit that unmannedly steers the slave work vehicle based on the slave position, the target travel position, and the slave work operation parameters.   The work operation parameter includes a travel control parameter related to an operation on a travel system including a transmission and a braking device, a work control parameter related to a work operation and a non-work operation for the work machine, or both. The work vehicle cooperation system according to 1.   The child parameter generation unit includes a specification recording unit that records the specification of the parent work vehicle and the specification of the child work vehicle, and based on the difference between the specification of the parent work vehicle and the specification of the child work vehicle. The work vehicle coordination system according to claim 1, wherein the parent work driving parameter is corrected to generate the sub work driving parameter.   The slave travel target calculation unit calculates a target travel position of the slave work vehicle from a ground work width of the master work vehicle, a ground work width of the slave work vehicle, and a travel locus of the master work vehicle, and the operation 4. The work vehicle coordination system according to claim 1, wherein the control unit unmannedly steers the child work vehicle so as to follow the ground work trace of the parent work vehicle using the target travel position. 5. The child position detection module and the steering control unit are mounted on the child work vehicle,
The parent position detection module, the parent travel locus calculation unit, the child travel target calculation unit, the parent parameter generation unit, and the child parameter generation unit are mounted on the parent work vehicle,
The work vehicle cooperation system according to any one of claims 1 to 4, wherein the sub work vehicle and the parent work vehicle are connected to each other so as to be able to transmit data to each other. The child position detection module and the steering control unit are mounted on the child work vehicle,
The parent position detection module and the parent parameter generation unit are mounted on the parent work vehicle,
The parent travel locus calculation unit, the child travel target calculation unit, and the child parameter generation unit are constructed in separate control units,
The work vehicle cooperation system according to any one of claims 1 to 4, wherein the control unit, the sub work vehicle, and the parent work vehicle are connected to each other so as to be able to transmit data to each other.   The work vehicle coordination system according to claim 1, wherein the parent work vehicle is manned.

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