JP6296926B2 - Parallel work system - Google Patents

Description

  The present invention relates to a control device for a work machine mounted on a work vehicle, a work machine mounted on an unmanned autonomous travel work vehicle that autonomously travels, and a manned accompanying travel work that travels along with the autonomous travel work vehicle. The present invention relates to a control technology that enables a work machine mounted on a vehicle to be linked via a communication line or a communication device.

  Conventionally, an appropriate sensor that detects the operating state of the machine is connected to the controller on the tractor side, and a controller and an actuator that is driven by this command are connected to the work machine mounted on the rear of the tractor. A technique connected by a communication line is known (for example, see Patent Document 1).

JP-A-6-141605

  In the above technique, the controller on the machine side and the work machine side are connected by a communication line with one tractor, and when working with a plurality of tractors, each tractor is controlled. If the setting values are different for each tractor, the result will not be uniform, and when working with multiple units at the same time, they are not linked to each other. We had to confirm each other to be the set value.

  The present invention has been made in view of the above situation, and when a manned work vehicle and a plurality of unmanned work vehicles run in parallel, they grasp each other's work state and communicate with each other. By using the same setting value so that uniform work can be performed, or when the control amount of one work machine is changed, the other work machine can be changed to have a control quantity that matches the control quantity. Try to provide a parallel running system.

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
That is, in claim 1, an autonomous traveling work vehicle having position calculating means for positioning the position of the aircraft using a satellite positioning system and a control device for automatically traveling and working along a set traveling route. When, and a concomitant traveling working vehicle for performing work while associated travel to the autonomous work vehicle, in travel together working system to perform operations by running parallel to the associated traveling working vehicle and the autonomous work vehicle, the autonomous The working machine mounted on the traveling work vehicle and the working machine mounted on the accompanying traveling work vehicle are fertilizers, and the control device of the machine of the autonomous traveling work vehicle and the control device of the fertilizer serving as the work machine, and, along with connecting the control device of the working machine in which fertilization machine and control device of the machine of the associated traveling working vehicle through a communication line, respectively, wherein the control unit of the autonomous work vehicle Control device for companion traveling working vehicle, and said to the remote control device mounted to the associated traveling working vehicle capable of communicating with a communication device, for controlling the actuator for changing the feeding amount of fertilization machine fertilizer of the autonomous work vehicle Alternatively, the amount of fertilizer applied to the autonomous traveling work vehicle and the amount of fertilization applied to the accompanying traveling work vehicle are simultaneously controlled by controlling an actuator that changes the amount of fertilizer fed from the fertilizer of the accompanying traveling work vehicle. .

In claim 2, the autonomous traveling work vehicle having a position calculating means for positioning the position of the aircraft using a satellite positioning system, and a control device for automatically traveling and working along the set traveling route; An autonomous traveling work vehicle that performs an operation while traveling along with the autonomous traveling work vehicle, wherein the autonomous traveling work vehicle and the accompanying traveling work vehicle travel in parallel to perform the work, the autonomous traveling work The working machine mounted on the vehicle and the working machine mounted on the accompanying traveling work vehicle are a seeding machine, the control device of the main machine of the autonomous traveling work vehicle and the control device of the seeding machine as the working machine, and The control device of the machine of the accompanying traveling work vehicle and the control device of the seeding machine that is a working machine are connected via a communication line, respectively, and the control device of the autonomous traveling work vehicle and the accompanying traveling are connected A control device for the work vehicle and a remote control device mounted on the accompanying travel work vehicle are communicable by a communication device, and controls an actuator for changing the seed feed amount of the seeder of the autonomous travel work vehicle, or The seeding amount of the autonomous traveling work vehicle and the seeding amount of the accompanying traveling work vehicle are simultaneously controlled by controlling an actuator that changes the seed feeding amount of the seeding machine of the accompanying traveling work vehicle .

  In Claim 3, the setting value of the actuator provided in the working machine of the autonomous traveling work vehicle and the setting value of the actuator of the working machine provided in the accompanying traveling work vehicle are the remote operation device for the accompanying traveling work vehicle. Can be changed.

  By using the means as described above, when the work is performed while the autonomous traveling work vehicle and the accompanying traveling work vehicle are traveling in parallel, when the actuator of the work machine of the accompanying traveling work vehicle is controlled, the autonomous traveling work vehicle The actuator of the working machine is also controlled, and when the actuator of the working machine of the autonomous traveling work vehicle is controlled, the actuator of the working machine of the accompanying traveling work vehicle is also controlled, so both working machines are controlled simultaneously. , Work can be a uniform finish. Further, when the setting of one work machine is changed, the setting of the other work machine is changed in the same manner, so that the setting work can be easily performed.

The schematic side view which shows an autonomous traveling work vehicle, a GPS satellite, and a reference station. Control block diagram. The figure which shows the state at the time of left-right parallel operation. The figure which shows the state at the time of front-and-back parallel work.

  An autonomous traveling work vehicle 1 that can automatically travel unattended, and an accompanying traveling working vehicle 100 that the operator travels along with the autonomous traveling working vehicle 1 and steers, are used as a tractor, and the working machine of the autonomous traveling working vehicle 1 An embodiment in which a fertilizer seeder 250 is mounted and the accompanying traveling work vehicle 100 is also mounted with a fertilizer seeder 300 as a work machine will be described. In other words, the same working machine is attached to perform parallel work. However, the work vehicle is not limited to a tractor, and may be a combine. The work machine is not limited to a fertilizer seeder, and may be a mower, a chemical spreader, a disinfector, a harvester, or the like. Good.

  1 and 2, an overall configuration of a tractor that becomes an autonomous traveling work vehicle 1 will be described. An engine 3 is installed in the hood 2, a dashboard 14 is provided in a cabin 11 at the rear of the hood 2, and a steering handle 4 serving as a steering operation means is provided on the dashboard 14. The steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the control device 30. The control device 30 includes a CPU (central processing unit), a storage device 30m such as a RAM and a ROM, an interface, and the like, and the storage device 30m stores a program, data, and the like for operating the autonomous traveling work vehicle 1.

  A driver seat 5 is disposed behind the steering handle 4, and a mission case 6 is disposed below the driver seat 5. Rear axle cases 8 and 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles. The power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the rear wheels 10 and 10 can be driven. The transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed. The speed change means 44 is connected to the control device 30. The rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 as the traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

  The transmission case 6 houses a PTO clutch and a PTO transmission. The PTO clutch is turned on and off by a PTO on / off means 45. The PTO on / off means 45 is connected to the control device 30 to connect and disconnect the power to the PTO shaft. It can be controlled.

  A front axle case 7 is supported on a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is configured. The front wheels 9 and 9 are steered wheels, which can be turned by turning the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 comprising a power steering cylinder as a driving means of the steering device. It can be turned. The steering actuator 40 is connected to the control device 30 and is controlled and driven by automatic traveling means.

  An engine controller 60 serving as engine rotation control means is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 detects the load from the set rotational speed and the actual rotational speed and controls it so as not to be overloaded, and transmits the state of the engine 3 to the remote operation device 112 described later so that it can be displayed on the display 113. Yes.

  The fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the control device 30. The display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply. A fuel gauge for displaying the remaining amount is provided and connected to the control device 30. Then, information regarding the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining fuel amount and workable time are displayed on the display 113 of the remote operation device 112.

  On the dashboard 14, display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., an abnormal monitor, a set value, and the like are arranged.

  Further, a fertilizer sowing machine 250 is installed as a working machine behind the tractor body via the work machine mounting device 23 so as to be movable up and down so that the fertilizing work and the sowing work can be performed simultaneously. The fertilizer seeder 250 has a grooving device 251 and a pressure roller 252 arranged at the lower part, a fertilizer hopper 253 at the front upper part, a fertilizer feeding device 254 at the lower part, and a seed hopper 255 and a seed feeding apparatus 256 at the rear part. doing. A feed motor 257 is connected to the feed shaft of the fertilizer feed device 254 as an actuator, and a feed motor 258 is connected to the feed shaft of the seed feed device 256 as an actuator. Further, a remaining amount sensor 259 is disposed in the fertilizer hopper 253, and a remaining amount sensor 260 is disposed in the seed hopper 255, and each of them detects the remaining amount. The feeding motors 257 and 258 and the remaining amount sensors 259 and 260 are connected to the work machine controller 270 by a bus to construct a work machine network, and the work machine network is controlled via a communication line 261 (for example, ISO-BUS). A bus connection is made to the interface of the device 30. The communication line 261 can be easily attached and detached by a connector 262. The work machine controller 270 is housed in a control box (not shown).

  With this configuration, data communication is possible between the control device 30 of the autonomous traveling work vehicle 1 and the work machine controller 270 serving as the control device of the fertilizer seeding machine 250. Furthermore, it is configured to be able to perform data communication with a remote control device 112 described later.

  An elevating cylinder 26 is provided on the transmission case 6, and the elevating / seeding machine 250 can be raised and lowered by rotating the elevating arm constituting the work machine mounting device 23 by extending and lowering the elevating cylinder 26. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the control device 30.

  A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile communicator 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (US), high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.

  The autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the direction sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the autonomous traveling work vehicle 1 in the longitudinal direction (pitch), the angular velocity in the lateral direction (roll), and the angular velocity of turning (yaw). By integrating the three angular velocities, it is possible to obtain the tilt angle and the turning angle of the body of the autonomous traveling work vehicle 1 in the front-rear direction and the left-right direction. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30 and inputs information relating to the three angular velocities to the control device 30.

  The direction sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the direction sensor 32 includes a magnetic direction sensor. The direction sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.

  In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude / azimuth calculation means, and the attitude of the autonomous traveling work vehicle 1 (orientation, forward / backward direction of the body, left / right direction of the body, turning direction) )

  Next, a method for acquiring the position information of the autonomous traveling work vehicle 1 using the GPS (global positioning system) will be described. GPS was originally developed as a navigation support system for aircraft, ships, etc., and is composed of 24 GPS satellites (four on six orbital planes) orbiting about 20,000 kilometers above the sky. It consists of a control station that performs tracking and control, and a user communication device that performs positioning. As a positioning method using GPS, various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used. However, in this embodiment, an RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to FIGS.

  RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.

  In the present embodiment, a mobile communication device 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna. 39 is disposed at a predetermined position that does not interfere with the work in the field. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. Transmit to the data receiving antenna 38.

  The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37. This signal is transmitted to the mobile communication device 33 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by a fixed GPS antenna 36 serving as a reference station, measured by a fixed communication device 35, transmitted to the mobile communication device 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.

  Thus, the control device 30 in the autonomous traveling work vehicle 1 includes automatic traveling means for automatically traveling. The automatic traveling means receives radio waves transmitted from the GPS satellites 37, 37. The position information of the airframe is obtained at time intervals, the displacement information and the direction information of the airframe are obtained from the gyro sensor 31 and the direction sensor 32, and along the set route R set in advance by the airframe based on the position information, the displacement information, and the direction information. The steering actuator 40, the speed change means 44, the lifting / lowering actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled so as to automatically run and work automatically. In addition, the positional information on the outer periphery of the field H which becomes a work range is also set in advance by a known method and stored in the storage device 30m.

  In addition, an obstacle sensor 41 is disposed on the autonomous traveling work vehicle 1 and is connected to the control device 30 so as not to contact the obstacle. For example, the obstacle sensor 41 is composed of a laser sensor or an ultrasonic sensor, and is arranged at the front, side, or rear of the aircraft and connected to the control device 30. Whether or not an obstacle approaches within a set distance is controlled to stop traveling.

  In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42 for photographing the front, rear, and work implements and is connected to the control device 30. The video imaged by the camera 42 is displayed on the display 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100. However, when the display screen of the display 113 is small, it is displayed on another large display, the camera image is always or selectively displayed on another dedicated display, or the display means 49 provided in the autonomous traveling work vehicle 1 is used. It is also possible to display it. In addition, even if one camera 42 is arranged at the center of the aircraft and rotated around the vertical axis to photograph the surroundings, a plurality of cameras 42 are arranged at the front, rear, or four corners of the aircraft. The configuration for photographing the surroundings is not limited.

  The remote control device 112 sets the travel route R of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement, Work data is stored, and includes a CPU, a memory, and the like.

  The accompanying traveling work vehicle 100, which is a manned traveling vehicle, is operated by an operator, and a remote operation device 112 is mounted on the accompanying traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted. The accompanying traveling work vehicle 100 may include a GPS mobile communication device 33 and a mobile GPS antenna 34.

  The remote operation device 112 can be attached to and detached from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 to be carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1. Can be operated. The remote operation device 112 can be configured by, for example, a notebook or tablet personal computer. In this embodiment, a tablet computer is used.

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with transceivers 110 and 111 for communication, respectively. ing. The transceiver 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote operation device 112 is provided with a display 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a transceiver 111, a CPU, a storage device, a battery, and the like are housed in the housing. The display 113 can display surrounding images taken by the camera 42, the state of the autonomous traveling work vehicle 1, the state of work, information on GPS, an operation screen, and the like so that the operator can monitor.

  In addition, the autonomous traveling work vehicle 1 and the fertilizer seeder 250 as a work machine can be remotely operated by the remote operation device 112. For example, an emergency stop, temporary stop, re-start, change of vehicle speed, change of engine speed, raising / lowering of a work machine, turning on / off of a PTO clutch, etc. can be operated by operating the remote control device 112. Further, the set value of the feeding amount of the fertilizer seeder 250 can be changed so that the seeding amount and fertilizer amount can be adjusted. That is, an operator can easily remotely operate the autonomous traveling work vehicle 1 by controlling the accelerator actuator, the speed change means 44, the PTO on / off means 45, and the like from the remote operation device 112 via the transceiver 111, the transceiver 110, and the control device 30. It is possible to remotely control the fertilizing amount and the sowing amount of the fertilizer seeding machine 250. Further, the amount of fertilizer in the fertilizer hopper 253 and the amount of seed in the seed hopper 255 are detected by the remaining amount sensors 259 and 260, and when the detected value becomes smaller than the set value, it can be displayed on the display 113 or an alarm can be issued. I have to.

  Further, when the autonomous traveling work vehicle 1 approaches the end of the field and decelerates the traveling speed, the work machine controller 270 performs calculation so as to reduce the fertilization amount and the sowing amount according to the speed, and controls the feeding motors 257 and 258. . When the map information and the set route R reach the field end, the feeding motors 257 and 258 are stopped, and after traveling, starting from the work resuming position, the feeding motors 257 and 258 are driven to match the traveling speed. The amount of feed is controlled.

  The accompanying traveling work vehicle 100 is provided with a control device 130, and the control device 130 can communicate with the remote operation device 112. The controller 130 is connected to the engine controller 160 and the lifting actuator 164, and, like the autonomous traveling work vehicle 1, the work machine controller 310 of the fertilizer seeder 300 attached to the accompanying traveling work vehicle 100 and the feeding motor 301. 302 and remaining amount sensors 303 and 304 are connected via a communication line 305 to enable data communication. In addition, since the fertilizer seeding machine 250 with which the autonomous traveling work vehicle 1 is mounted | worn and the fertilizer seeding machine 300 with which the accompanying traveling work vehicle 100 is mounted | worn are substantially the same structure and control, description is abbreviate | omitted.

  As described above, the control device 130 of the main unit of the manned accompanying traveling work vehicle 100, the work unit controller 310 serving as the control unit of the fertilizer seeding machine 300 serving as the work unit, and the main unit of the unmanned autonomous traveling work vehicle 1 The control device 30 and the work machine controller 270 of the fertilizer seeder 250 as a work machine are connected via the communication lines 305 and 261, respectively, and the control device 30 of the autonomous mobile work vehicle 1 and the accompanying travel work vehicle 100 The control device 130 and the remote control device 112 mounted on the accompanying traveling work vehicle 100 can be communicated by the communication devices 110, 111, and 133 to control the feeding motors 301 and 302 that serve as actuators of the working machine of the accompanying traveling work vehicle 100. Accordingly, since the feeding motors 257 and 258 which are actuators of the working machine of the autonomous traveling work vehicle 1 are controlled, It is possible to improve.

  Further, the feeding motors 301 and 302 serving as actuators provided in the fertilizer and seeder 300 of the accompanying traveling work vehicle 100 are controlled in accordance with the control of the feeding motors 257 and 258 serving as actuators provided in the fertilizer and seeding machine 250 of the autonomous traveling work vehicle 1. Therefore, the operability can be improved as compared with the case where each is operated.

  The set values of the feeding motors 257 and 258 serving as actuators provided in the fertilizer seeding machine 250 of the autonomous traveling work vehicle 1 and the feeding motors 301 and 302 serving as actuators of the working machine of the accompanying traveling work vehicle 100 are Since it can be changed by the operation device 112, the setting can be easily changed without stopping traveling even after the work is started.

  This will be specifically described. As shown in FIG. 3, the same traveling machine (fertilizer seeding machine 250/300) is mounted on the autonomous traveling working vehicle 1 and the accompanying traveling working vehicle 100, respectively. By running side-by-side (running side by side in the left-right direction) and performing the same work side-by-side, it is possible to work twice the width at a time. At the time of fertilizing and sowing work, the feeding motors 257, 258, 301, and 302 of the fertilizer and sowing machines 250 and 300 are changed in accordance with the traveling speeds of the autonomous traveling work vehicle 1 and the accompanying traveling working vehicle 100, respectively. Be controlled.

  Before the work is started by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100, the remote operation device 112 sets the feeding amount per travel distance of the fertilizer seeding machine 250/300. For example, when the fertilizer feed amount of the fertilizer seeding machine 250 of the autonomous traveling work vehicle 1 is set, the fertilizer feed amount of the fertilizer seeding machine 300 of the accompanying travel work vehicle 100 is also set simultaneously. Similarly, the amount of seed feed can be set. Thus, in order to perform the same work in the same field, the feeding amounts of the fertilizer seeding machines 250 and 300 of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are kept the same so that no variation occurs. With the above configuration, both can be simultaneously set to the same feeding amount by the remote operation device 112, and no setting error occurs. In addition, during work, the soil quality may change if it is a large farm field, but even in this case, the operator can change the setting of the feed amount per mileage using the remote control device 112 at a desired position. It is also possible to simultaneously change the feeding amounts of the fertilizer seeding machines 250 and 300 of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100.

  It is also possible to provide a mode selection switch so that the setting of the work implements of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be changed separately. However, the operating devices of the fertilizer seeding machines 250 and 300 are provided on the main body (for example, on the dashboard) of the autonomous traveling work vehicle 1 and the accompanying traveling working vehicle 100 so that the set values can be manually changed independently. I have to.

  Further, the parallel running work by the autonomous running work vehicle 1 and the accompanying running work vehicle 100 is configured to perform different work by attaching different work machines, and the other work machine is linked to the control of one work machine. It is also possible to control. For example, the autonomous traveling work vehicle 1 is equipped with a rotary tiller, the accompanying traveling work vehicle 100 is equipped with a seeder, and the seeder is provided with a seeding depth adjustment actuator. When the work is carried out in this way, if the soil is hard and the tilling depth is shallow, the sowing depth of the seeder is also preliminarily programmed. When it is detected that the detected value is shallow, information is transmitted from the control device 30 to the work machine controller 310 provided in the work machine of the accompanying traveling work vehicle 100 via the communication device, and the depth adjustment actuator is operated to plant the information. It is also possible to control to reduce the depth of attachment. That is, the detection value of the sensor provided in the working machine of the autonomous traveling working vehicle 1 or the control signal of the controller 270 is transmitted to the working machine controller 310 provided in the working machine of the accompanying traveling working vehicle 100 via the communication line or the communication device. The actuator provided in the work machine can be controlled to operate. In other words, the detection means, actuator, and work controller of the work machine mounted on the autonomous traveling work vehicle 1 can communicate with the detection means, actuator, and work controller of the work machine mounted on the accompanying traveling work vehicle 100, so that autonomous traveling is possible. It can be configured such that the actuator of the other work implement is controlled according to the detected value or command obtained from one work implement of the work vehicle 1 and the accompanying traveling work vehicle 100.

  Further, the parallel running work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be performed even when the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 perform separate work in front and back as shown in FIG. It is. Also in this work, the detection means, actuator, and work controller of the work machine mounted on the autonomous traveling work vehicle 1 and the detection means, actuator, and work controller of the work machine mounted on the accompanying travel work vehicle 100 can communicate with each other. Thus, the actuator of the other working machine can be controlled in accordance with the detected value or command obtained from one working machine of the autonomous traveling working vehicle 1 and the accompanying traveling working vehicle 100. However, in this case, since the autonomous traveling work vehicle 1 and a part of the accompanying traveling work vehicle 100 wrap when turning on the adjacent strip, one turn is skipped when turning on the headland.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work vehicle 30 Control apparatus 100 Accompanying traveling work vehicle 112 Remote control apparatus 130 Control apparatus 250 Fertilizer sowing machine 261/305 Communication line 257/258 Feeding motor 270 Work machine controller 300 Fertilizer seeding machine 310 Work machine controller 301/302 Feeding motor

Claims (3)

An autonomous traveling work vehicle having position calculating means for positioning the position of the aircraft using a satellite positioning system, and a control device that automatically travels and works along a set traveling route, and the autonomous traveling work vehicle In a parallel running work system comprising an accompanying traveling work vehicle that performs work while traveling accompanying, and performing work by traveling the autonomous traveling working vehicle and the accompanying traveling working vehicle in parallel ,
The working machine attached to the autonomous traveling work vehicle and the working machine attached to the accompanying traveling work vehicle are fertilizers,
The control device of the machine of the autonomous traveling work vehicle and the control device of the fertilizer machine as a work machine , and the control device of the machine of the accompanying traveling work vehicle and the control device of the fertilizer machine as a work machine are respectively connected to communication lines. And connected via the communication device, the control device of the autonomous traveling work vehicle and the control device of the accompanying traveling work vehicle, and a remote control device mounted on the accompanying traveling work vehicle,
The autonomous traveling work is controlled by controlling an actuator that changes the fertilizer feed amount of the fertilizer of the autonomous traveling work vehicle, or by controlling an actuator that changes the fertilizer feed amount of the fertilizer of the accompanying traveling work vehicle. A parallel running work system for simultaneously controlling a fertilizing amount of a vehicle and a fertilizing amount of the accompanying traveling work vehicle . An autonomous traveling work vehicle having position calculating means for positioning the position of the aircraft using a satellite positioning system, and a control device that automatically travels and works along a set traveling route, and the autonomous traveling work vehicle In a parallel running work system comprising an accompanying traveling work vehicle that performs work while traveling accompanying, and performing work by traveling the autonomous traveling working vehicle and the accompanying traveling working vehicle in parallel,
The working machine mounted on the autonomous traveling work vehicle and the working machine mounted on the accompanying traveling work vehicle are seeding machines,
A control device for the machine of the autonomous traveling work vehicle and a control device for the seeding machine that is a work machine, and a control device of the machine for the accompanying traveling work vehicle and a control device for the seeding machine that is the work machine are respectively connected to communication lines. And connected via the communication device, the control device of the autonomous traveling work vehicle and the control device of the accompanying traveling work vehicle, and a remote control device mounted on the accompanying traveling work vehicle,
The autonomous traveling work is controlled by controlling an actuator that changes the seed feeding amount of the seeding machine of the autonomous traveling work vehicle, or by controlling an actuator that changes the seed feeding amount of the seeding machine of the accompanying traveling work vehicle. A parallel running work system that simultaneously controls a sowing amount of a vehicle and a sowing amount of the accompanying traveling work vehicle .   The setting value of the actuator provided in the work machine of the autonomous traveling work vehicle and the setting value of the actuator of the work machine provided in the accompanying traveling work vehicle can be changed by the remote operation device of the accompanying traveling work vehicle. The parallel operation system according to claim 1 or 2, characterized in that

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