CN110418570A - Working truck - Google Patents
Working truck Download PDFInfo
- Publication number
- CN110418570A CN110418570A CN201880009614.2A CN201880009614A CN110418570A CN 110418570 A CN110418570 A CN 110418570A CN 201880009614 A CN201880009614 A CN 201880009614A CN 110418570 A CN110418570 A CN 110418570A
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- speed
- working rig
- job
- instruction
- working
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- 230000000916 dilatatory effect Effects 0.000 description 3
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/082—Transmissions; Gearings; Power distribution
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/20—Off-Road Vehicles
- B60Y2200/22—Agricultural vehicles
- B60Y2200/221—Tractors
Abstract
Working rig (3) is controlled as the job instruction of job state and working rig (3) is controlled the non-job instruction for non-job state by instruction output section (33) output of tractor (1).Working edge switches over the switching target position of control apart from storage unit (54) setting working rig control unit (34) to the job state of working rig.The speed when speed of tractor (1) is switched to non-operation from speed when operation according to non-job instruction by speed control unit (35), and the speed according to job instruction and when the speed of tractor (1) is switched to operation from speed when non-operation.Distance Remaining acquisition unit (37) is obtained from the activity center position of working rig (3) to the Distance Remaining for switching target position.Instruct output section (33) based on operation when speed and Distance Remaining and to the output of non-job instruction timing control.In addition, instruction output section (33) based on non-operation when speed, from speed when non-operation to the percentage speed variation of speed when operation and Distance Remaining and to the output of job instruction timing control.
Description
Technical field
The present invention relates to a kind of working trucks, can make the working rig of assembly in job state and non-job state on one side
Between switch, travel on one side and carry out operation.
Background technique
For example, Patent Document 1 discloses this working trucks.The agricultural work vehicle of patent document 1 is constituted are as follows: base
Car body is travelled independently in aspect sensor and GPS receiver device, is provided with to being assemblied under the working rig of car body
Drop acts the working rig lifting position sensor that is stored, so that the target ploughing and weeding starting position of working rig and lowering action
End position is consistent.In patent document 1, with this configuration, it can be easily implemented and do not generate the good of ploughing and weeding omission etc.
Ploughing and weeding operation.
Patent document 1: Japanese Unexamined Patent Publication 2002-354905 bulletin
Summary of the invention
However, the structure of above patent document 1 is although it is contemplated that the lowering action of working rig, but do not fully consider operation
The vertical motion of machine.
Therefore, in conventional structure, when be set on one side in an area along defined direction move back and forth a lateral dominance
When carrying out the path of operation with working rig, working truck along certain direction running stroke, with working truck in the direction anti-
To between the stroke of traveling, deviation is generated in the end in the section for carrying out ploughing and weeding operation with defined depth sometimes, it is outer from realizing
From the viewpoint of seeing more attractive fine manipulation, there is room for improvement.
The present invention is completed in view of above situation, it is intended that considering operation in working rig for working truck
The practical position for carrying out operation of body and to work body carry out operation state and work body without operation it is in good condition into
Row switching control.
Problems to be solved by the Invention as described above, next to for solving the project method and its effect say
It is bright.
Viewpoint according to the present invention provides the working truck with flowering structure.That is, the working truck has body portions, instruction
Output section, working rig control unit, speed control unit, configuration part and apart from acquisition unit.The body portions being capable of assembling work machine.
The working rig is controlled as the job instruction of job state and by working rig control by the output of described instruction output section
The non-job instruction of non-job state.The working rig control unit is according to the job instruction or the non-job instruction and to institute
The job state for stating working rig is controlled.The speed control unit can switch over control to the speed of working truck.Institute
It states configuration part and sets the benchmark switched over by the control of the working rig control unit to the job state of the working rig
Position.The distance obtained apart from acquisition unit from the activity center position of the working rig to the base position.The vehicle
The speed of the working truck is switched to the 2nd speed, and root from the 1st speed according to the non-job instruction by fast control unit
The speed of the working truck is switched to the 1st speed from the 2nd speed according to the job instruction.Described instruction is defeated
Portion controls the output of non-job instruction timing based on the 1st speed and the distance out.Described instruction output section
Based on the 2nd speed, from the 2nd speed to the percentage speed variation of the 1st speed and the distance and to the work
The output timing of industry instruction is controlled.
It is cut in the case where working rig is switched to non-job state from job state and from non-job state as a result,
In the case where being changed to job state, instruction output section can be in the non-job instruction of timing output appropriate and job instruction.By
This, can reduce and carry out the part of operation using working rig and without the error on the boundary between the part of operation.
For the working truck, it is preferably configured as with flowering structure.That is, in the working rig control unit according to
Non- job instruction and after the working rig is switched to the non-job state from the job state, the speed control unit
Start to execute the switching control from the 1st speed to the 2nd speed.Referred in the working rig control unit according to the operation
It enables before the working rig is switched to the job state from the non-job state, the speed control unit starts to execute
Switching control from from the 2nd speed to the 1st speed.
As a result, during working rig is in job state, it is able to maintain the 1st speed.
For the working truck, it is preferably configured as with flowering structure.That is, the working truck has measurement portion and institute
Take time storage unit.The measurement portion is switched to needed for the job state to by the working rig from the non-job state
Required time measures.The required time storage unit stores the required time measured by the measurement portion.Institute
It states instruction storage content of the output section based on the required time storage unit and the output of job instruction timing is controlled
System.In the case where not measuring the required time by the measurement portion, the required time storage unit is to initially set
Time is stored.In the case where measuring the required time by the measurement portion, by the required time storage unit
Storage content is updated to measured value.
As a result, by being deposited to for being measured the time required to working rig is switched to job state from non-job state
Storage, and control on this basis and to the timing of output operation instruction, so as to refer in timing output operation appropriate
It enables.In addition, for example, measured value is not obtained ahead of time when being switched to job state from non-job state for the first time, still, due to
Reasonable time is initially set in advance, so instruction output section can be in substantially good timing output job instruction.
For the working truck, it is preferably configured as with flowering structure.That is, the behaviour for speed configuration part can be passed through
Make and the 1st speed and the 2nd speed are set for changing.To the 1st speed and/or described
2 speeds be set for change in the case where, described instruction output section based on after change the 1st speed and/or
2nd speed and to the output of the job instruction or the non-job instruction timing control.
Thereby, it is possible to be changed according to user demand to speed, and instruct output section can be in timing appropriate
Output operation instruction and non-job instruction.
For the working truck, it is preferably configured as with flowering structure.That is, the working truck has autonomous traveling control
Portion, the autonomous driving control portion can make the working truck switch between the 1st mode and the 2nd mode and carry out autonomous row
It sails.1st mode is along with the operation for variable speed operation part not making working truck stopping that capable of terminating autonomous row
The mode sailed.2nd mode is to stop the working truck along with the operation for the variable speed operation part and terminate certainly
The mode of main traveling.When the working truck is in 1 mode, the working truck can be set to according to being directed to
The operation of the speed configuration part and the 1st speed and the 2nd speed are set for changing.When the Operation Van
When being in 2 mode, can be had according to for the wireless communication device that is carried out wireless communication with the working truck
The operation of the standby speed configuration part and the 1st speed and the 2nd speed are set for changing.
As a result, under the 1st mode, the speed configuration part of working truck side is grasped by the user for taking in working truck
Make, under the 2nd mode, is operated by speed configuration part of the user outside working truck to wireless communication device, thus, it is possible to
It is enough that speed is changed.
For the working truck, it is preferably configured as with flowering structure.That is, the working truck has location information acquisition
Portion, operation portion and autonomous driving control portion.The location information acquisition unit obtains the location information of the body portions.The behaviour
The body portions are configured at as portion.The autonomous driving control portion makes the body portions carry out autonomous row along prespecified path
It sails.When the autonomous driving control portion carries out the body portions independently when driving, the working rig control unit is based on the finger
The job instruction or the non-job instruction that enable output section export or along with defeated for the operation of the operation portion
Operation portion out instructs to control the job state of the working rig.With the job instruction or the non-job instruction
It compares, the working rig control unit is preferentially instructed according to the operation portion and controlled the job state of the working rig.
As a result, about the switching between the job state of working rig and non-job state, it can be realized and pay the utmost attention to user
The control of wish.
For the working truck, preferably are as follows: in the operation shape based on operation portion instruction to the working rig
In the case where being entered the job instruction or the non-job instruction when state is controlled, the working rig control unit is not based on
The job instruction or non-job instruction control the job state of the working rig.
Thereby, it is possible to realize not interfere to meet the control of user intention.
For the working truck, preferably are as follows: be based on the job instruction or the non-job instruction to described
In the case where being entered the operation portion instruction when job state of working rig is controlled, the working rig control unit is based on should
Operation portion is instructed and is controlled the job state of the working rig.
In the case where formerly carrying out as a result, based on the control independently travelled, it can be accorded in a manner of stopping the control
Close the control of user intention.
Detailed description of the invention
Fig. 1 is to show to be assemblied in the working rig of tractor involved in one embodiment of the present invention and be in non-job state
Situation side view.
Fig. 2 is the top view of tractor.
Fig. 3 is the top view for showing the various operating devices being configured at around seat.
Fig. 4 is the block diagram for showing the main electrical structure of tractor.
Fig. 5 is to show that tractor is independently travelled, the example of autonomous driving path in the case where AUTONOMOUS TASK shows
It is intended to.
Fig. 6 is the side view for showing working rig and dropping in the state of Fig. 1 and being changed into the situation of job state.
In the case where working rig is switched to job state from non-job state when Fig. 7 is to autonomous traveling, AUTONOMOUS TASK
Control timing the figure that is illustrated of relationship.
In the case where working rig is switched to non-job state from job state when Fig. 8 is to autonomous traveling, AUTONOMOUS TASK
Control timing the figure that is illustrated of relationship.
Fig. 9 is the flow chart being illustrated to the processing carried out by working rig control unit.
Figure 10 be show do not travelled independently in the state that user does not take in tractor, institute in the case where AUTONOMOUS TASK
The figure of the wireless communication terminal used.
Figure 11 be autonomous traveling monitoring screen in the display of wireless communication terminal is shown show exemplary figure.
Specific embodiment
Next, the embodiments of the present invention will be described with reference to the drawings.Hereinafter, sometimes in the drawings to identical
Component marks identical appended drawing reference and repeat description is omitted.In addition, about component corresponding with identical appended drawing reference
Deng title, illustrated in a manner of abbreviation sometimes or illustrated with the title of upperseat concept or subordinate concept.
The present invention relates to following working trucks: 1 or the more working trucks can be in prespecified field experts
It sails and carries out all agricultural operations in field or a part of agricultural operation.In the present embodiment, as working truck with dilatory
It is illustrated for machine, further includes rice transplanter, combine harvester, soil other than tractor as working truck still
The riding formula working rig such as Wood construction apparatus for work, snow sweeper and walk-behind working machine.In the present specification, autonomous traveling meaning
Taste the structure relevant to traveling that has to tractor of the control unit being had by tractor (ECU) control, and to drag
Machine drawing along prespecified route, AUTONOMOUS TASK mean to have tractor by the control unit that tractor has with work
The relevant structure of industry is controlled, and tractor is made to carry out operation along prespecified path.In contrast, travel manually,
Manual working means to operate each structure that tractor has by user and travel, operation.
In the following description, will independently be travelled sometimes, the tractor of AUTONOMOUS TASK be known as " independently travelling tractor ",
And will be travelled manually, the tractor of manual working be known as " travelling tractor manually ".Autonomous traveling, AUTONOMOUS TASK include using
Family take independently travelled in tractor, AUTONOMOUS TASK the case where and user do not take and carry out autonomous row in tractor
Sail, AUTONOMOUS TASK the case where.On the other hand, travelled manually, manual working in the case where, user takes in tractor.
Next, the embodiments of the present invention will be described with reference to the drawings.Fig. 1 is to show to be assemblied in of the invention one in fact
Apply tractor 1 involved in mode working rig 3 be in non-job state situation side view.Fig. 2 is the vertical view of tractor 1
Figure.Fig. 3 is the top view for showing the various operating devices being configured at around seat 13.Fig. 4 is show tractor 1 main
The block diagram of electrical structure.
Tractor 1 involved in one embodiment of the present invention is constituted are as follows: although can be used as traveling tractor manually
It uses, but there is the function as autonomous traveling tractor to be generated in the state that user takes according to path generating system for it
Autonomous driving path (path) and independently travelled, AUTONOMOUS TASK.But the tractor 1 can not also be taken in user
In the state of independently travelled, AUTONOMOUS TASK.Firstly, being illustrated referring especially to Fig. 1 and Fig. 2 to the tractor 1.
Tractor 1 has the travel machine body 2 as body portions independently travelled in field.For example, can choose ploughing and weeding
The various working rigs such as machine (supervisor), ploughing machine, fertilizer applicator, grass trimmer, seeder and be assemblied in travel machine body 2, this
In embodiment, rotary cultivator is equipped with as working rig 3.
Hereinafter, the structure of tractor 1 is described in detail.As shown in Figure 1, before the travel machine body 2 of tractor 1
Portion is supported by 1 pair of left and right front-wheel 7,7, and the rear part is supported by 1 pair of left and right rear-wheel 8,8.
Hood 9 is configured in the front of travel machine body 2.In the present embodiment, as the driving source of tractor 1
Engine 10 etc. is accommodated in the hood 9.The engine 10 can be for example made of diesel engine, but be not limited to
This, such as can also be made of petrol engine.In addition, as driving source, can also using engine 10+ motor or
Replace engine 10 and uses motor.Also, the fuel tank can also be configured at the outside of hood 9.
At the rear of hood 9 configured with the driver's cabin 11 for being taken for user.In the inside master of the driver's cabin 11
It is provided with steering direction disk 12, is used to carry out steering operation for user；Seat 13 can take a seat for user；And it uses
In the various operating devices for carrying out various operations.But working truck is not limited to the structure for having driver's cabin 11, it can also be with
It is the structure for not having driver's cabin 11.
As aforesaid operations device, by way of example, monitoring arrangement 70 shown in Fig. 3, solar term bar 15, reversing bar can be enumerated
(reverser lever) 26, main shift lever (variable speed operation part) 27, speed selection of speed switching switch 29, the setting of speed revolving speed
Change dial (speed configuration part) 14, dial setting switching switch 16, secondary gear lever 19, PTO switch 17, PTO gear lever
18, working rig lifter switch (operation portion) 28 and working rig decrease speed adjustment knob 75 etc..Aforesaid operations device is configured at
Near seat 13 or near steering direction disk 12.
Monitoring arrangement 70 is configured to show the various information of tractor 1.In addition, monitoring arrangement 70 equipped with
The input parts such as button and dial, user operate the input part and various instructions can be input to tractor
1。
Solar term bar 15 is the operating parts for setting the output revolving speed of engine 10.
Reversing bar 26 is for advance, retrogressing and the operating parts for stopping switching over to tractor 1.Main shift lever 27
It is the operating parts that speed for travelling on the direction indicated using reversing bar 26 to tractor 1 carries out stepless change.
Speed selection of speed switching switch 29 is following operating parts: being travelled manually, at the tractor 1 of manual working
Selected in 2 kinds of revolving speed combinations of the speed and engine 10 from preset tractor 1 and travel mode (hereinafter,
Referred to as setting selection driving mode.) in the case where, for alternately being switched over to the selection.The setting change of speed revolving speed is carved
Scale 14 is the speed for setting and adjusting separately tractor 1 for 2 kinds selected under the setting selection driving mode
And the operating parts of the setting value of the revolving speed of engine 10.Dial setting switching switch 16 is become for setting in speed revolving speed
More dial 14 is to change to the setting value of the speed of tractor 1 or carry out to the setting value of the revolving speed of engine 10
The operating parts switched between change.
But when independently travelled in the state that user takes in tractor 1, AUTONOMOUS TASK when, speed revolving speed is set
Surely it changes dial 14 and dial setting switches when switch 16 is also used to aftermentioned operation and speed when non-operation
And engine speed is set for indicating.
Secondary gear lever 19 is the behaviour switched over for the gear ratio to the secondary change gear mechanism of traveling in speed changer 22
Workpiece.
PTO switch 17 is the PTO shaft (power transmission shaft) of the rear end illustration omitted outstanding for opposite direction from speed changer 22
Transmitting/disconnection of power switch over the operating parts of operation.PTO gear lever 18 is the rotation speed for carrying out PTO shaft
The operating parts of variable speed operation.
Working rig lifter switch 28 be for the height to the working rig 3 for being assemblied in travel machine body 2 within the specified scope into
The operating parts of row descending operation.Speed when working rig decrease speed adjustment knob 75 is for declining to working rig 3 is adjusted
Whole operating parts.
As shown in figure 3, taking a seat sensor (test section) what seat 13 was provided with whether detection user occupy seat
13a.This takes a seat sensor 13a for example and can be set to the structure using membrane switch.
As shown in Figure 1, being provided with the chassis 20 of tractor 1 in the lower part of travel machine body 2.The chassis 20 is configured to include machine
Body frame 21, speed changer 22, preceding bridge 23 and rear axle 24 etc..
Organism frame 21 is the bearing part of the front of tractor 1, directly or across antivibrating parts etc. and to engine 10
It is supported.Speed changer 22 changes the power from engine 10 and bridge 23 and rear axle 24 transmit the power forward.Preceding bridge 23
It is configured to transmit from the power that speed changer 22 inputs to front-wheel 7.Rear axle 24 be configured to by from the power that speed changer 22 inputs to
Rear-wheel 8 transmits.
As shown in figure 4, tractor 1 has for the movement (advance, retrogressing, stopping and convolution etc.) to travel machine body 2
And the control unit 4 that the movement (lifting, driving and stopping etc.) of working rig 3 is controlled.Control unit 4, which is configured to have, does not scheme
CPU, ROM, RAM, the I/O etc. shown, CPU can read various programs etc. and be executed from ROM.It is stored with operation sequence in ROM, answers
With program, various data.Enable to control unit 4 raw as storage unit 38, path by the cooperation of above-mentioned hardware and software
Movement is executed at portion (path generating system) 39 and autonomous driving control portion 32 etc..By the way that also positioning antenna 6 is waited respectively together
Kind of structure setting can be such that the tractor is independently travelled in tractor, AUTONOMOUS TASK.
Controller that each structure (for example, engine 10 etc.) for having to tractor 1 is controlled etc. respectively with
Control unit 4 is electrically connected.
As above controller, tractor 1 at least has the engine controller, speed controller, steering of illustration omitted
Controller, lifting controller and PTO controller.Each controller can be respectively according to the electric signal from control unit 4 and to dragging
Each structure of machine drawing 1 is controlled.
Engine controller controls the revolving speed etc. of engine 10.Engine controller with as being set to engine
The common-rail system 41 of 10 fuel injection device is electrically connected.Each cylinder injection fuel of the common-rail system 41 to engine 10.At this
In the case of, control is opened and closed to the fuel injection valve of the injector of each cylinder for engine 10, thus will utilize fuel
Each cylinder injection of the supply pump from fuel tank force feed to the high pressure fuel of common-rail system 41 from each injector to engine 10, thus
Accurately the injection pressure of the fuel supplied from each injector, injecting time, injection period (the amount of injection) are controlled.Hair
Motivation controller controls common-rail system 41, thus can for example make to send out to the fuel of engine 10 supply stopping
The driving of motivation 10 stops.
Speed controller controls the speed of tractor 1.Specifically, speed changer 22 is provided with for example as movable
The speed change gear 42 of the Hyaulic infinite variable speed mechanism of ramp type.Speed controller fills speed change using the actuator of illustration omitted
The angle for setting 42 inclined plate changes, and changes thus, it is possible to the gear ratio to speed changer 22 and realizes desired speed.
Steering controller controls the rotational angle of steering direction disk 12.Specifically, in steering direction disk 12
The middle part of rotary shaft (steering shaft) is provided with steering actuator 43.According to this structure, it (is dragged as autonomous traveling in tractor 1
Machine drawing) in the case where the prespecified route, control unit 4 to make tractor 1 along the steering direction of the route
The rotational angle appropriate of disk 12 is calculated, and sends control signals to steering controller to reach the angle of rotation of acquisition
Degree.Steering controller drives steering actuator 43 based on the control signal inputted from control unit 4, and to steering direction
The rotational angle of disk 12 is controlled.In addition, steering controller can not also adjust the rotational angle of steering direction disk 12
It is whole and the steering angle of the front-wheel of tractor 17 is adjusted.In this case, even if carrying out convolution traveling, steering direction disk 12
Also it does not rotate.
Lifting controller controls the lifting of working rig 3.Specifically, tractor 1 is being used for working rig 3 and row
It sails near 3 point linkage mechanisms that body 2 links up and has the lift actuator being made of the lift cylinders of well known fluid pressure type
44.According to this structure, lifting controller is opened and closed the solenoid valve of illustration omitted based on the control signal inputted from control unit 4
And lift cylinders are driven, lifting driving suitably thus is carried out to working rig 3.Lift cylinders are set as single-acting structure, and constitute are as follows:
Working oil is supplied to cylinder body and working rig 3 is made to increase, by working oil from cylinder body be discharged and make working rig 3 by self weight and
Decline.Although not shown, but on the discharge path of the working oil from cylinder body valve, user are adjusted configured with well known decrease speed
The aperture of decrease speed adjustment valve is operated using the working rig decrease speed adjustment knob 75 of Fig. 3, thereby, it is possible to adjust
Speed when whole working rig 3 declines.
Using the lifting controller of above structure, with the non-operation height without operation and operation can be carried out
Height needed for operation height etc. supports working rig 3.In addition, in the present embodiment, being assemblied in the work of travel machine body 2
Industry machine 3 is configured to rotary cultivator, therefore, means ploughing and weeding operation by the operation that working rig 3 carries out.
PTO controller controls the rotation of the PTO shaft.Specifically, tractor 1 have for power to
The PTO clutch 45 that transmitting/cutting of PTO shaft (power transmission shaft) switches over.According to this structure, PTO controller being capable of base
PTO clutch 45 is switched in the control signal inputted from control unit 4, and drives working rig 3 to rotate by PTO shaft
Or it is made to stop rotating.
In addition, multiple controllers of above-mentioned illustration omitted are based on the signal inputted from control unit 4 and to engine 10 etc.
Each section is controlled, and therefore, will appreciate that the case where control unit 4 substantially controls each section.
The tractor 1 for having control unit 4 as described above is constituted are as follows: is had the function as manual traveling tractor, is led to
User is crossed to take in driver's cabin 11 and carrying out various operations, so as to each section using the control unit 4 to tractor 1
(travel machine body 2, working rig 3 etc.) is controlled, and agricultural operation can be carried out while travelling in field.
In turn, as shown in Figure 4, etc., the tractor of present embodiment 1 has for playing as autonomous traveling tractor
The various structures of function.For example, tractor 1 has to obtain the location information of itself (travel machine body 2) based on positioning system
And the positioning antenna 6 etc. needed.According to this structure, tractor 1 can be obtained based on positioning system itself location information and
It is automatically travelled (in specific region) on field.
Next, in order to make tractor 1 can be realized autonomous traveling, AUTONOMOUS TASK and the structure having is illustrated.
Specifically, as shown in figure 4, the tractor 1 of present embodiment is also equipped with positioning antenna 6 other than control unit 4 above-mentioned.
It positions antenna 6 and receives the signal from the position location satellite for constituting global position system (GNSS).As shown in Figure 1, fixed
The upper surface for the roof 5 that the driver's cabin 11 that position antenna 6 is installed on tractor 1 has.The positioning received using positioning antenna 6
Signal is input to positional information calculation portion shown in Fig. 4 (location information acquisition unit) 49.Positional information calculation portion 49 for example with
Latitude, longitude information form and calculate the position letter of the travel machine body 2 (for stringent, to position antenna 6) of tractor 1
Breath.The location information got using the positional information calculation portion 49 is used for the autonomous traveling executed by control unit 4.
In addition, using the high-precision global position system using GNSS-RTK method in the present embodiment, but not
It is confined to this, other positioning systems can also be used.Such as, it may be considered that using relative positioning mode (DGPS) or static defend
Star-like satellite navigation strengthen the system (SBAS).
Also, tractor 1 has inertial measuring unit (not shown).The inertial measuring unit is that have angular-rate sensor
And the known features of acceleration transducer, and constitute are as follows: even if the situation of electric wave etc. can not be received in above-mentioned GNSS positioning
Under can also obtain the position of tractor 1.
The position appropriate in the outside of the driver's cabin 11 of tractor 1 is provided with wireless communication antenna 48.The channel radio
Credit antenna 48 is electrically connected to wireless communication part 40 possessed by tractor 1.It is not taken in the state of tractor 1 when in user
Independently travelled, AUTONOMOUS TASK when, wireless communication with antenna 48 be used between long-distance operating device possessed by user into
Row instruction and the interaction of information.In addition, hereinafter the long-distance operating device is described in detail.
Next, to tractor 1 independently travelled, AUTONOMOUS TASK in the case where the path that is travelled that is, autonomous row
Path is sailed to be illustrated.Fig. 5 be show tractor 1 independently travelled, the autonomous driving path P in the case where AUTONOMOUS TASK
The schematic diagram of example.
When user is intended to travel tractor 1 independently in the state of taking in tractor 1, AUTONOMOUS TASK when, to Fig. 3
Shown in monitoring arrangement 70 operated and carry out various settings, thus, it is possible to generate autonomous driving path P shown in fig. 5.
Preassigned operation starting position S and operation end position E connection is generated into autonomous driving path P.Alternately
Ground is by AUTONOMOUS TASK road (the linear path for the carrying out AUTONOMOUS TASK) P1 of straight line or polyline shaped and by AUTONOMOUS TASK road P1's
Link road (loop road of the arc-shaped part comprising operation of the being circled round, turned back) P2 of end U-shaped connected to each other links
And constitute the autonomous driving path P.
As shown in figure 5, when generating autonomous driving path P, in the field as object, as not by working rig 3 into
The non-operating area 62 of row operation and set the edge of a field and non-cultivated land (side margins), other than the non-operating area 62
Region becomes operating area 61.Above-mentioned AUTONOMOUS TASK road (path) P1, P1 ... being arranged in the operating area 61, there have to be more
Item, link road P2, P2 ... it is generated in a manner of being configured at non-operating area 62 (edge of a field).In addition, in the present embodiment, having
When non-operating area 62 and operating area 61 are merged after region be known as specific region 60.
In the example of fig. 5, AUTONOMOUS TASK road P1, P1 ... be generated as it is linear, link road P2, P2 ... be generated as U-shaped
Shape.In addition, each AUTONOMOUS TASK road P1, P1 ... it is configured to through operating area 61, link road P2 is configured to as non-operation area
The end of adjacent P1, P1 are connected to each other by the edge of a field in domain 62.In the autonomous driving path P produced in this way, in each connection
The direction conversion that 180 ° are carried out in the P2 of road, therefore, between certain AUTONOMOUS TASK road P1 and AUTONOMOUS TASK road P1 adjacent thereto, is dragged
The driving direction of machine drawing 1 direction opposite toward each other.
About the information of above-mentioned autonomous driving path P, coordinates measurement portion 39 can not also be utilized to generate, but by logical
Computer outside (can be aftermentioned wireless communication terminal 81 by the means appropriate such as letter.) generate data be input to
Control unit 4 generates.Then, user carries out defined operation to tractor 1, so as to utilize (the autonomous traveling control of control unit 4
Portion 32 processed) tractor 1 is controlled, the autonomous driving path P in 1 one edge of tractor can be made automatically to travel, a lateral dominance
Agricultural operation is carried out along AUTONOMOUS TASK road P1 with working rig 3.
Next, referring to Fig.1 and Fig. 6 etc. is illustrated the lifting of working rig 3.Fig. 6 shows working rig 3 from Fig. 1
State declines and is changed into the side view of the situation of job state.
As shown in Figure 1, being equipped with working rig 3 at the rear portion of the travel machine body 2 of tractor 1.As previously mentioned, via described
PTO shaft and a part of the driving force of engine 10 is transmitted to working rig 3, thus, it is possible to working rig 3 is driven and into
Row ploughing and weeding operation.The lower part of working rig 3 is provided with multiple cultivation claws (work body) 25, which is driven to level
It is rotated centered on the axis of configuration.
The rotation axis 25c of cultivation claw 25 is shown in Fig. 1 and Fig. 2 etc..The working rig 3 is set to drop to work shown in fig. 6
Industry height, thus, it is possible to contact the cultivation claw 25 of rotation with soil, so as to regulation corresponding with the operation height
The ploughing and weeding operation in depth progress field.In addition, making that the rotation of cultivation claw 25 stops or to rise to working rig 3 shown in FIG. 1
Non- operation height, thus, it is possible to ploughing and weeding operation is stopped.User operates the working rig lifter switch 28 and can
The lifting for carrying out working rig 3, in addition, working rig control unit 34 can also carry out automatically controlling.
Herein, in the present embodiment, " job state " of working rig 3 mean working rig 3 drop to operation height and
The state that cultivation claw 25 rotates.In addition, " non-job state " means the state other than above-mentioned job state, for example, working rig 3
Rise to the state that non-operation height and cultivation claw 25 stop rotating.
Moreover, independently travelled, AUTONOMOUS TASK in the case where, job state and non-operation shape for working rig 3
The tractor 1 of state, present embodiment can preset the speed of tractor 1 and the revolving speed of engine 10 respectively.Utilize speed
Revolving speed setting change dial 14 and dial setting switching switch 16 carry out the setting.Moreover, control are as follows: if in tractor
1 independently travelled, AUTONOMOUS TASK when working rig 3 is switched between job state and non-job state, then with this connection
The revolving speed of dynamic ground, the speed to tractor 1 and engine 10 also switches between above-mentioned setting.
In addition, not only can be dilatory under change operation state and non-job state in the stopped process of tractor 1
The setting of the revolving speed of the speed and engine 10 of machine 1 is independently travelled in tractor 1, the midway of AUTONOMOUS TASK, can also be led to
User is crossed to operate speed revolving speed setting change dial 14 etc. and change above-mentioned setting.
Next, being illustrated referring to Fig. 4 to control unit 4.As described above, control unit 4 has storage unit 38, path life
At portion 39 and autonomous driving control portion 32.
Storage unit 38 in order to travel tractor 1 independently, AUTONOMOUS TASK and the various information needed store.
In addition, the content hereinafter stored to the storage unit 38 is described in detail.
Coordinates measurement portion 39 is generated tractor 1 based on the various information stored in storage unit 38 and is independently travelled, certainly
The autonomous driving path P of main operation.The information of the autonomous driving path P generated using coordinates measurement portion 39 is stored in storage unit
38。
Autonomous driving control portion 32 carry out with independently travel, AUTONOMOUS TASK is relevant is uniformly controlled.The autonomous traveling control
Portion 32 is constituted are as follows: can be carried out between the autonomous driving mode of someone (the 1st mode) and nobody autonomous driving mode (the 2nd mode)
The autonomous driving path P for switching and tractor 1 being stored along storage unit 38 is independently travelled, wherein the autonomous row of someone
The mode of sailing be independently travelled in the state that user takes, the mode of AUTONOMOUS TASK, nobody autonomous driving mode be with
Family independently travelled in the state of not taking, the mode of AUTONOMOUS TASK.
Autonomous driving control portion 32 has instruction output section 33, working rig control unit 34, speed control unit 35, course changing control
Portion 36 and Distance Remaining acquisition unit (apart from acquisition unit) 37.
During traveling in the field shown in Fig. 5 of tractor 1 (specific region 60) along autonomous driving path P, it is
Operation is carried out to the part for being equivalent to operating area 61 using working rig 3, instruction output section 33 will in timing output appropriate
The control of working rig 3 is the job instruction of job state and working rig 3 is controlled the non-job instruction for non-job state.
Working rig control unit 34 shown in Fig. 4 is controlled according to the job instruction that instruction output section 33 exports as by operation
Machine 3 is switched to job state from non-job state, or is controlled according to the non-job instruction that instruction output section 33 exports as that will make
Industry machine 3 is switched to non-job state from job state.Specifically, working rig control unit 34 sends the signal to PTO clutch
45 and transmitting/cutting to power to PTO shaft switches over control, in addition, also sending the signal to lift actuator 44 and right
Working rig 3 carries out elevating control.
Speed control unit 35 sends control signals to speed change gear 42 and waits and control the speed of travel machine body 2.
Speed control unit 35 according to instruction output section 33 export job instruction and control for by the speed of travel machine body 2 from when non-operation
Speed of speed when being switched to operation, or controlled according to the non-job instruction that instruction output section 33 exports as by travel machine body
Speed when 2 speed is switched to non-operation from speed when operation.In addition, the speed (the 1st speed) when operation refers to operation
Machine 3 is in speed when job state, and the speed (the 2nd speed) when non-operation refers to when working rig 3 is in non-job state
Speed.As described above, setting change dial 14 using speed revolving speed to set the vehicle when speed and non-operation when operation
Speed.
Course changing control portion 36 sends control signals to steering actuator 43, so that travel machine body 2 is along autonomous row
The mode for sailing path P traveling carries out auto-steering.
The rotation axis 25c of cultivation claw 25 possessed by the acquisition working rig 3 of Distance Remaining acquisition unit 37 and aftermentioned switching
The distance between target position, and the distance that will acquire is exported to instruction output section 33.In addition, will be obtained hereinafter to Distance Remaining
Portion 37 is taken to be described in detail.
Next, job state/non-job state switching timing of the working rig 3 when to autonomous traveling, AUTONOMOUS TASK
It is illustrated.
About make tractor 1 independently travel and in the case where using the progress operation of working rig 3 by working rig 3 from operation shape
State or non-job state are switched to the switching timing of non-job state or job state, such as, it may be considered that along the autonomous of Fig. 5
The tractor 1 of driving path P traveling rotates cultivation claw 25 from the timing that non-operating area 62 enters operating area 61 and makes to make
Industry machine 3 drops to operation height.Furthermore it is possible to consider the timing for coming non-operating area 62 from operating area 61 in tractor 1
So that cultivation claw 25 is stopped rotating and increase from operation height working rig 3.
But as described above, tractor 1 independently travel in the case where, using global position system (from the position of Fig. 4
Information calculation part 49) obtain itself location information.However, for example, as shown in Figure 1, in tractor 1, the ploughing and weeding of working rig 3
The position (position of rotation axis 25c) of pawl 25 is configured to position the position of antenna 6 rearward than installation.Therefore, in positioning day
Line 6 passes in and out the timing of operating area 61 and practical function in the cultivation claw 25 that soil carries out operation passes in and out operating area 61
There may be deviations between timing.Moreover, as described above, between 2 AUTONOMOUS TASK roads P1, P1 adjacent to each other, tractor 1
What is travelled is contrary.Thus, it is supposed that if simply carrying out control as follows: entering operating area 61 in the position of positioning antenna 6
Timing carry out ploughing and weeding operation by working rig 3, and make to plough from the timing that operating area 61 is left in the position of positioning antenna 6
Weed operation stopping, then by the end in the practical region for carrying out ploughing and weeding operation of working rig 3 be possible to adjacent AUTONOMOUS TASK road P1,
It is between P1 and unjustified.In this case, aesthetic appearance is poor, can labor intensive for subsequent fine manipulation process.
Additionally, it is also contemplated that not to position on the basis of antenna 6 passes in and out operating area and with the disengaging of the rear end of working rig 3
On the basis of the timing of operating area 61, beginning/stopping timing of ploughing and weeding operation is controlled.However, in this case, when
When using the longer working rig of anterior-posterior length (such as ploughing machine), the practical region for carrying out operation is in adjacent AUTONOMOUS TASK sometimes
Also substantially deviation is generated between road P1, P1.
Therefore, the control unit 4 that the tractor 1 of present embodiment has as described below, with carry out ploughing and weeding operation plough
It weeds on the basis of the position of the rotation axis 25c of pawl 25 and beginning/stopping timing of ploughing and weeding operation is controlled.Due to pawl axis
25 reality of cultivation claw plays a role to soil and carries out two equal part of region on the body front-rear direction of ploughing and weeding operation by position, because
The pawl shaft position, can be known as the activity center position of working rig 3 by this.
Firstly, the information stored to storage unit 38 is described in detail.As shown in figure 4, storage unit 38 has: working rig away from
From storage unit (acquisition unit with a distance from working rig) 51, region storage unit 52, route storage unit 53, working edge apart from storage unit 54,
Speed sets storage unit (required time storage unit) 56 the time required to storage unit 55 and decline.
Working rig is apart from storage unit 51 to working rig horizontal distance L shown in Fig. 1 and Fig. 2 etc. (that is, from cultivation claw 25
The horizontal distance of the position of rotation axis 25c to the position of positioning antenna 6) it is stored.In addition, in the following description, sometimes
The position of the rotation axis 25c of cultivation claw 25 is known as pawl shaft position, and the position for positioning antenna 6 is known as aerial position.By
User inputs working rig horizontal distance L before tractor 1 starts independently to travel.Specifically, if user for example utilizes monitoring
Device 70 and the rotation axis 25c and positioning the distance between antenna 6 for having input cultivation claw 25, then working rig is apart from storage unit 51
It is stored using the value of the distance as working rig horizontal distance L.
It but can be improved convenience if constituting as follows: allowing to the operation for being assemblied in travel machine body 2 in advance
The activity center position of machine and the working rig is established and is associatedly stored in control unit 4 etc., and user is for example only in monitoring arrangement 70
The type designation etc. of selection working rig has just been automatically set working rig horizontal distance L.
Region storage unit 52 shown in Fig. 4 to by the preset operating area 61 of user information (specifically, for
The relevant information such as the position of operating area 61 and shape) and the information of remaining area that is, non-operating area 62 deposited
Storage.For example, can suitably be operated and be set to monitoring arrangement 70 before autonomous traveling, AUTONOMOUS TASK by user
The information of operating area 61.
Route storage unit 53 independently travels tractor 1, the letter of the path of AUTONOMOUS TASK that is, autonomous driving path P
Breath is stored.
Working edge stores following Edge Distance M apart from storage unit 54, and Edge Distance M is: tractor 1 into
In the case where the autonomous traveling of row, AUTONOMOUS TASK, along P2 pairs of link road before the operation of AUTONOMOUS TASK road P1 and after operation
Non- operating area 62 carries out the Edge Distance of extra operation, so that will not lifting of working rig 3 etc. generates error
Operation is generated in the ora terminalis part (with the near border between non-operating area 62) of operating area 61 to omit.As shown in figure 5, right
It, will be from the end and downstream side of its upstream side in each path for the AUTONOMOUS TASK road P1 being arranged in operating area 61
End (in other words, the boundary of operating area 61 and non-operating area 62) left along link road P2 to non-62 side of operating area
The point of Edge Distance M is set as the point that should be switched between job state and non-job state to working rig 3 that is, cuts
Change target position (base position).Therefore, working edge can be known as being used to set switching target position apart from storage unit 54
Configuration part.
It can be operated and change operation Edge Distance storage unit 54 by such as monitoring arrangement 70 of the user to tractor 1
The setting value of the Edge Distance M stored.In addition, setting value when Edge Distance M is configured to for example change factory.
About Edge Distance M, the switching target position that is set before entering operating area 61 from non-operating area 62, with
And come between the switching target position set after non-operating area 62 from operating area 61, it is identical.In turn, although
Multiple switching target positions are set on autonomous driving path P, but Edge Distance M is on all autonomous driving path P
Constant.Thus, for example, as shown in figure 5, when operating area 61 is set as rectangular shape, make tractor 1 along certain direction row
Between the stroke sailed and the stroke for making the opposite direction traveling of tractor 1 in the direction, it can control to make practical carry out operation
Part end part aligning, so as to realize good aesthetic appearance.
Speed setting storage unit 55 be directed to operation above-mentioned when speed and non-operation when speed and store by speed turn
The value that speed setting change dial 14 is set.
Decline the time required to storage unit 56 to from non-operation height working rig 3 begin to decline until arrival operation
Time until when height is stored.
In this configuration, it in order to make working rig control unit 34 carry out elevating control to working rig 3 in timing appropriate, instructs
Output section 33 is based on the position and working rig by the calculated positioning antenna 6 in positional information calculation portion 49 in storage unit 51
The working rig horizontal distance L of storage and pawl shaft position is calculated.
Moreover, instructing output section 33 by working rig control when tractor 1 enters operating area 61 from non-operating area 62
Portion 34 processed controls lift actuator 44 etc., so that before the pawl shaft position of acquisition arrives into operating area 61
The timing transitions of the switching target position are the state (working rig that working rig 3 drops to that operation height and cultivation claw 25 rotate
3 are changed into job state above-mentioned).In addition, when tractor 1 comes non-operating area 62 from operating area 61, instruction output
Portion 33 controls lift actuator 44 etc. by working rig control unit 34, so that the pawl shaft position arrival in acquisition is come
The timing cultivation claw 25 of switching target position after non-operating area 62 stops rotating and working rig 3 starts from operation height
Rise (working rig 3 is changed into non-job state above-mentioned).
Furthermore, it is possible to the information of operating area 61 stored according to region storage unit 52, route storage unit 53 store from
The information and working edge of main driving path P is calculated apart from the Edge Distance M that storage unit 54 stores and obtains switching mesh
Cursor position.
Next, illustrate travel machine body 2 and working rig 3 from non-operating area to operating area in the case where mobile by
The control that autonomous driving control portion 32 and working rig control unit 34 carry out.By operation when Fig. 7 is to autonomous traveling, AUTONOMOUS TASK
Machine 3 from non-job state to job state switching in the case where control timing the figure that is illustrated of relationship.
As described above, when tractor 1 is independently travelled, AUTONOMOUS TASK and travel machine body 2 and working rig 3 are in non-operation
In region 62 (link road P2) when driving, as shown in Figure 1, working rig 3 rises to non-operation height (specifically, being highest
Highly), and since PTO clutch 45 is cut off it is in the non-rotary state of cultivation claw 25 (non-job state).In addition, this
When, working rig control unit 34 is the mode (lifting pattern) for maintaining above-mentioned non-operation height.Therefore, cultivation claw 25 not with ground
In the state of contact it is static and without ploughing and weeding operation.
Substantially finish to determine along the traveling and working rig 3 of link road P2 close to switching target position in travel machine body 2
When, as shown in Fig. 7 (a), the control signal (job instruction) that switch to job state of working rig 3 will be indicated from instructing output section 33
It exports to working rig control unit 34 and speed control unit 35.In addition, hereinafter will be to instruction 33 output operation of output section instruction
Timing is described in detail.
If being entered job instruction, such as shown in Fig. 7 (b), working rig control unit 34 is used for the transmission of PTO clutch 45
Indicate that expression releases the signal of the meaning of the stopping of PTO.But at this point, working rig control unit 34 is constituted are as follows: based on ensuring to control
The reasons such as the time of system send PTO after waiting certain time from being entered job instruction and stop the finger releasing
Show.It is contemplated that waiting time TW1 is for example set as the stipulated time between 50 milliseconds~500 milliseconds.If PTO clutch 45
It receives the instruction that PTO stops releasing and is then changed into engagement state, along with this, cultivation claw 25 starts to rotate.
While PTO stops the instruction releasing, working rig control unit 34 is controlled such that working rig 3 declines.Specifically
For, the pressure oil of lift actuator 44 (lift cylinders) is discharged and opening solenoid valve (not shown), thus, such as Fig. 7
(d) shown in, working rig 3 is begun to decline by self weight.Since cultivation claw 25 has begun rotation, decline in working rig 3
And at the time of reaching operation height, working rig 3 is changed into job state.In order to decline the working rig 3 in non-operation height
And operation height is reached, need the corresponding time.The decrease speed of working rig 3 adjusts the aperture of valve according to decrease speed above-mentioned
And weight of working rig 3 etc. and change, therefore, decline and time (decline institute until reaching operation height until working rig 3
Take time TR1) it is varied according to actual state.
The weight of working rig 3 is changed because of attachment of soil etc., and the tractor 1 of present embodiment does not have directly to working rig
The sensor that 3 weight is detected, therefore, the supposition precision of TR1 may not be very high the time required to decline.On the other hand, though not
Diagram, but tractor 1 has the working rig height sensor (for example, potentiometer) detected to the support height of working rig 3,
Therefore, can using illustration omitted timing circuit (measurement portion) to from being begun to decline working rig 3 up to being actually reached operation
Time until height measures.Therefore, the time required to instructing output section 33 in advance to decline when making the decline of working rig 3
TR1 carries out practical measurement and is stored in storage unit 56 the time required to decline, the decline when next time declining working rig 3
In the supposition of required time TR1, using the storage content of decline required time storage unit 56, to realize the raising of precision.
But for example, decline required time is indefinite, therefore, in the feelings in the case where new working rig 3 is assemblied in travel machine body 2
Under condition, defined initial value (time initially set) is stored in decline required time storage unit 56 and is pushed away for first
It surveys.As long as investigate etc. and suitably carry out the initial setting of the time the time required to average decline.Once surveying
Decline required time TR1 is made, then the storage content of storage unit 56 the time required to decline is updated to measured value from initial value.So
Afterwards, the storage content of decline required time storage unit 56 is updated at any time using newest measured value.
On the other hand, as shown in Fig. 7 (f), if having input job instruction from instruction output section 33, speed control unit 35 is vertical
Start speedup/deceleration so that the speed of tractor 1 from current speed (usually with the setting value of speed when non-operation
It is substantially uniform.) speed when beginning to approach operation setting value.In this way, almost in instruction 33 output operation of output section instruction
Start simultaneously to speed change control, therefore, working rig 3 reach operation height before it is appropriate at the time of, tractor 1
Speed is equal with the setting value of speed when operation.Furthermore, it is possible to suitably provide that speed when from non-operation is changed into work
Make how speed changes during speed when industry, for example, it can be made linearly to change, it can also be made in broken line
Or curve-like change.
But when tractor 1 on link road P2 when driving, can based on from current pawl shaft position to switching target position
The distance set is (hereinafter, sometimes referred to as Distance Remaining.) and travel machine body 2 speed and to the pawl shaft position of working rig 3 reach
The timing of switching target position is speculated.Distance Remaining acquisition unit 37 can be based on travel machine body 2 (for stringent, for positioning
Antenna 6) location information, above-mentioned working rig horizontal distance L and switching target position calculated and obtained above-mentioned surplus
Remaining distance.
In addition, during before the pawl shaft position of working rig 3 reaches switching target position, travel machine body 2 (tractor 1)
Speed from the setting value of speed when set point change to the operation of speed when the non-operation of tractor 1.Therefore, it instructs defeated
Portion 33 considers the setting value of speed when Distance Remaining, non-operation, is operation from the set point change of speed when non-operation out
When the percentage speed variation of setting value of speed, TR1 and asked by calculating the time required to the waiting time TW1 and decline
The timing of output operation instruction out, so that at 3 turns of timing operation machine of the pawl shaft position arrival switching target position of working rig 3
Become job state.Even if speed when assuming non-operation as a result, is identical, the speed in operation is greater than speed when non-operation
In the case where, the output of job instruction timing can also shift to an earlier date, and the case where speed when the speed in operation is less than non-operation
Under, the output timing of job instruction will be late by.In addition, for example, speed when speed to operation when from non-operation is with constant
Change rate increase and decrease in the case where and speed when non-operation initially with the increase and decrease of biggish change rate and close to operation
When speed after with the increase and decrease of small change rate in the case where, the output of job instruction timing is different.Instruct output section
33 in such timing output job instruction, so as to be carried out since switching target position by working rig 3 (cultivation claw 25)
Operation.In addition, in the present embodiment, being controlled on the basis of the pawl shaft position of working rig 3, therefore, ploughing and weeding capable of being made
The end in the region that pawl 25 is played a role with desired depth and switching target position are accurately consistent.Therefore, operation is outer
Seeing aesthetics becomes good.
In addition, switching target position is set as relative to non-work when from the tractor 1 travelled on link road P2
The position of boundary between industry region 62 and operating area 61 slightly towards front side.Due to the presence at the edge, even if in working rig 3
Decline timing etc. lagged in the case where, can also prevent from generating non-operation part in operating area 61.
If working rig 3 reaches operation height, such as shown in Fig. 7 (c), working rig control unit 34 is switched to certainly from lifting pattern
Dynamic rotary mode, carries out the control for maintaining the operation height.Then, the pawl shaft position of working rig 3 enters operating area 61.
Tractor 1 carries out operation using the cultivation claw 25 of working rig 3 on one side, on one side to be set as the speed of speed when operation along autonomous
Operation road P1 is travelled in operating area 61.
Next, to travel machine body 2 and working rig 3 and above-mentioned movement on the contrary from operating area 61 to non-operating area
Control when 62 movement is illustrated.Fig. 8 makes working rig 3 from job state to non-operation when being to autonomous traveling, AUTONOMOUS TASK
The figure that the relationship of control timing in the case where state switching is illustrated.
When tractor 1 is independently travelled, AUTONOMOUS TASK and travel machine body 2 and working rig 3 are (autonomous in operating area 61
Operation road P1) when driving, working rig 3 carries out operation with operation height, also, PTO clutch engages, and therefore, is in cultivation claw
25 states of rotation (job state).In addition, at this point, working rig control unit 34 be in carry out maintaining above-mentioned operation height
The mode (automatic spinning block formula) of control.It is carried out as a result, using the cultivation claw of rotation 25 with depth corresponding with operation height cultivated
Weed operation.
Finish in travel machine body 2 along the appropriate of the close switching target position of the traveling and working rig 3 of AUTONOMOUS TASK road P1
Timing, as shown in Fig. 8 (a), from instruction output section 33 to working rig control unit 34 and speed control unit 35 output for referring to
Show the control signal (non-job instruction) that working rig 3 switches to non-job state.In addition, hereinafter will be to the non-job instruction of transmission
Timing is described in detail.
If being entered non-job instruction, such as shown in Fig. 8 (b), working rig control unit 34 sends to PTO clutch 45 and uses
In the signal for the meaning that instruction stops PTO.But with identical, working rig control unit the case where input job instruction above-mentioned
34 are constituted are as follows: the instruction that PTO stops is sent after waiting the stipulated time from being entered non-job instruction.It is contemplated that will
Waiting time TW2 is for example set as the Time constant between 50 milliseconds~500 milliseconds.In addition, when waiting when non-job instruction
Between TW2 can be identical as waiting time TW1 when job instruction above-mentioned, can also be different, but preferably waiting time TW1 be ratio
The time of waiting time TW2 long.If receiving the instruction of PTO stopping, PTO clutch 45 is changed into dissengaged positions, so that ploughing
The rotation for weeding pawl 25 tapers off.
To PTO clutch 45 send PTO stop instruction while, as shown in Fig. 8 (c), working rig control unit 34 from
Automatic spinning block formula is switched to lifting pattern.In addition, working rig control unit 34 is controlled, so that in the finger stopped from PTO
After having waited aftermentioned lag time TD from when showing, working oil is supplied to hydraulic cylinder and increase working rig 3.
Lag time TD is used to prevent soil from accumulating with the rising of working rig 3.I.e., it is assumed that if stopping in cultivation claw 25
It begins to ramp up working rig 3 while rotation, then makes the soil of soil be deposited in office since the cultivation claw of stopping 25 taking up soil
Portion.Therefore, in the present embodiment, increase working rig 3, to avoid
The accumulation of this soil of formation, can be realized the raising of aesthetic appearance.
After it have passed through lag time TD, working rig 3 is begun to ramp up.Therefore, working rig 3 is changed into non-at the moment
Job state.The corresponding time is needed in order to rise working rig 3 from operation height and reach non-operation height, but due to work
The feed speed of oil to hydraulic cylinder is constant, therefore, different when the rate of climb of working rig 3 is from decline, and is constant.Cause
This, it is steady state value that working rig 3, which rises and reaches the time before non-operation height (TR2 the time required to rising),.
On the other hand, as shown in Fig. 8 (f), at the time of inputting non-job instruction from instruction output section 33, speed control unit
35 switching without speed.It has passed through from the PTO instruction stopped being sent to PTO clutch 45 by working rig control unit 34
The timing of stipulated time TC, speed control unit 35 start speedup/deceleration, so that the speed of tractor 1 is (logical from current speed
It is often substantially consistent with the setting value of speed when operation.) speed when beginning to approach non-operation setting value.Stipulated time TC
It is the time than lag time TD long.Furthermore, it is possible to suitably provide speed when speed to non-operation when from operation
Make how speed changes in the process, for example, can linearly change, can also change in broken line or curve-like.
But as set forth above, it is possible to based on from current pawl shaft position to switching target position distance (it is above-mentioned it is remaining away from
From) and travel machine body 2 speed and to the pawl shaft position of working rig 3 reach switching target position timing speculate.
In addition, travel machine body 2 is (dilatory during until the pawl shaft position of working rig 3 reaches switching target position
Machine 1) vehicle speed value is equal with the setting value of speed when the operation of tractor 1 and constant.Therefore, output section 33 is instructed
Consider setting value, the waiting time TW2 and the lag time TD of speed when Distance Remaining, operation and is asked by calculating
Out for exporting the timing of non-job instruction, so that the timing in the pawl shaft position arrival switching target position of working rig 3 is made
Industry machine 3 is changed into non-job state from job state.Instruct output section 33 in the non-job instruction of timing output being achieved in that, by
This can terminate the operation of working rig 3 (cultivation claw 25) in switching target position, so that the aesthetic appearance of operation becomes good.
In addition, switching target position is set as relative to work when from from the tractor 1 that AUTONOMOUS TASK road P1 is travelled
The position of boundary between industry region 61 and non-operating area 62 slightly towards opposite side.Due to the presence at the edge, even if making
In the case that rising timing of industry machine 3 etc. is advanced by, it can also prevent from generating non-operation part in operating area 61.
Since working rig control unit 34 is changed into lifting pattern, if working rig 3 reaches non-operation height, operation
Machine control unit 34 carries out the control for maintaining the non-operation height.In addition, before and after working rig 3 reaches non-operation height,
The speed of tractor 1 and the setting value of speed when non-operation are roughly equal.Tractor 1 is not carrying out operation by working rig 3
It is travelled along link road P2 in non-operating area 62 under state with the speed for being set as speed when non-operation.
In this way, in the present embodiment, instruction output section 33 is based on pawl shaft position and makes operation to working rig control unit 34
The timing that machine 3 is gone up and down is controlled, thus it enables that by working rig 3 (with defined ploughing and weeding depth) in each AUTONOMOUS TASK road P1
The end in the section of practical ploughing and weeding is aligned between a plurality of AUTONOMOUS TASK road P1.As a result, it is possible to realize that aesthetic appearance is good
Fine manipulation.
Next, to working rig when changing the setting value of speed during mobile to operating area from non-operating area
3 elevating control is illustrated.
Show the timing of output operation instruction in Fig. 7 (a), but as previously mentioned, suitable before this by instruction output section 33
When at the time of (for example, at the time of shown in appended drawing reference Tx) non-operation based on the moment Tx when and speed when operation set
Definite value and calculate the timing.
It is contemplated, however, that after calculating the timing for output operation instruction at the time of Tx, before this is timed to,
User to speed revolving speed set change dial 14 operate, issue to non-operation when speed and operation when speed in
Either one be set for change instruction.Here, the feelings mobile to operating area from non-operating area in tractor 1
Under condition, as shown in Fig. 7 (f), tractor 1 is controlled so that from pawl shaft position reach switching target position before begin to from
Speed when non-operation to speed variation when operation, and before pawl shaft position reaches switching target position tractor 1 vehicle
Speed is changed into speed when operation.Thus, it is supposed that if according to the instruction of user to non-operation when speed or operation when speed
It is changed, then the timing that pawl shaft position reaches switching target position shown in Fig. 7 (e) will differ from supposition at the time of Tx
Timing out.
The timing that pawl shaft position reaches switching target position is in advance or to lag the finger that will be changed according to the speed of user
Show content and different.If either one in speed when speed and operation when increasing non-operation, above-mentioned timing is mentioned
A possibility that preceding, is higher.
In the case where retardation change occurs for the timing that pawl shaft position reaches switching target position, correspondingly make job instruction
Lag.Even if in the case where above-mentioned timing occurs to change in advance, if can be absorbed by temporal have more than needed,
Correspondingly forward job instructs.
However, also it is contemplated that above-mentioned timing advance and temporal rich insufficient situation.In such a case it is possible to examine
Consider 2 kinds of controls.1st kind of control is as follows: the timing for allowing working rig 3 to be changed into job state lags, but minimizes hysteresis,
Therefore, output operation instructs immediately.In this case, it can be ensured that the responsiveness of speed change operation, and be able to suppress outer
See aesthetics decline.2nd kind of control is as follows: vehicle when speed or operation when no matter how the operation of user all retains non-operation
The change of the setting value of speed controls speed with setting value before changing about the switching to job state that this is carried out
System does not change periodically output operation instruction, carries out after pawl shaft position reaches switching target position to the setting value of speed
Practical change.In this case, the aesthetic appearance of operation is enabled to become good.Alternatively, it is also possible to be in temporary control
After the tentative speed different from the instruction of user, the timing of change operation instruction, so that working rig 3 is changed into job state
Timing can be able to catch up with.
Next, explanation is during mobile to non-operating area from operating area by the operation of user and to speed
Setting value change in the case where control.
Show the timing for exporting non-job instruction in Fig. 8 (a), but as previously mentioned, by instruction output section 33 before this
The setting value of speed when operation at the time of (for example, at the time of shown in appended drawing reference Tx) appropriate based on moment Tx and calculate
The timing out.
It is contemplated, however, that after calculating the timing for exporting non-job instruction at the time of Tx, it is timed to and comes it at this
Before, user sets change dial 14 to speed revolving speed and operates, when speed and non-operation when thus issuing to operation
Speed in either one be set for change instruction.Here, in tractor 1 from operating area to non-operating area
Vehicle in the case where movement, as shown in Fig. 8 (f), before pawl shaft position reaches switching target position, when tractor 1 is with operation
Speed is travelled, and reaches the timing later of switching target position in pawl shaft position, when the speed of tractor 1 is switched to non-operation
Speed.Therefore, in the case that the setting of the speed in non-operation is changed, pawl shaft position reaches to be switched shown in Fig. 8 (e)
The timing of target position does not change, but in the case that the setting of the speed in operation is changed, it is assumed that if according to
The instruction at family changes, then what the timing that pawl shaft position reaches switching target position will differ from deducing at the time of Tx determines
When.
The timing that pawl shaft position reaches switching target position is in advance or to lag the finger that will be changed according to the speed of user
Show content and different.If speed when operation increases, above-mentioned timing advance, if speed when operation reduces, timing is lagged.
In the case where retardation change occurs for the timing that pawl shaft position reaches switching target position, correspondingly refer to non-operation
Enable lag.Even if in the case where above-mentioned timing occurs to change in advance, if can be absorbed by temporal have more than needed,
Then correspondingly make non-job instruction in advance.
However, also it is contemplated that above-mentioned timing advance and temporal rich insufficient situation.As control in this case
System, with the above-mentioned job instruction the case where in the same manner as consider 2 kinds of controls.1st kind of control is as follows: working rig 3 being allowed to be changed into non-work
The lag of the timing of industry state, but reduce hysteresis to the greatest extent, therefore, non-job instruction is exported immediately.It in this case, can be true
The responsiveness of speed change operation is protected, and is able to suppress aesthetic appearance decline.2nd kind of control is as follows: no matter the behaviour of user
The change for making how all to retain the setting value of speed when operation, about the switching to non-job state that this is carried out, to become
More preceding setting value controls speed, does not change and periodically exports non-job instruction, reaches switching target in pawl shaft position
Practical change is carried out to the setting value of speed after position.In this case, the aesthetic appearance of operation is enabled to become good
It is good.Furthermore it is possible to become after temporary control is the tentative speed different from the instruction of user to the timing of non-job instruction
More, so that the timing that working rig 3 is changed into non-job state can be able to catch up with.
In addition, Fig. 7 and it is shown in Fig. 8 control be applied to the rotary cultivator as used in present embodiment need by
The case where rotation of the cultivation claw 25 of PTO shaft drives and needs the elevating control of working rig 3.There is also do not need in working rig
Therefore the driving of work body or the structure for not needing elevating control are constituted are as follows: opening in the tractor 1 of present embodiment
User is set to input the type of working rig (for example, being input to monitoring arrangement 70 or aftermentioned nothing before starting from main traveling, AUTONOMOUS TASK
Line communication terminal 81), Fig. 7 and PTO shown in Fig. 8 control and elevating control are only carried out in the case of necessary.
Also that is, in defined working rig, the non-operation of operation will be never carried out using the standby work body of the work tool
State is controlled to the timing (exporting the timing of above-mentioned job instruction) that the job state for being carried out operation using work body is switched are as follows: is made
Work body activity center position reach switching target position before time with from export the job instruction up to reality
Switching time (time for being equivalent to above-mentioned waiting time TW1) until starting to switch to job state and from starting to work
Industry state switches the switching required time until switching finishes (that is, being changed into job state), and (above-mentioned decline is taken
Between TR1) total ascent time roughly equal timing.It on the other hand, will be from the job state of operation be carried out using work body to not
Timing (timing of the above-mentioned non-job instruction of output) control of the non-job state switching of operation is carried out using work body are as follows: so that
The activity center position of work body reach time before switching target position with from exporting the job instruction up to actually opening
Switching time until beginning to switch to non-job state (is equivalent to the total of above-mentioned waiting time TW2 and lag time TD
The time of time) roughly equal timing.
Next, to user take the state in tractor 1 independently travelled, the midway of AUTONOMOUS TASK, by with
Control in the case that family operates the working rig lifter switch 28 in Fig. 3 is illustrated.Fig. 9 is that explanation utilizes operation
The flow chart for the processing that machine control unit 34 carries out.
Working rig control unit 34 inputs the same of job instruction or non-job instruction from instruction output section 33 above-mentioned in monitoring
When, also monitoring is input to the control signal of working rig control unit 34 (as behaviour with the operation to working rig lifter switch 28
Make the lifting instruction of portion's instruction).Moreover, in the job instruction or non-job instruction from instruction output section 33 and based on to work
In the case that the lifting instruction of the operation of industry machine lifter switch 28 competes, the control of the wish of operator is violated in order to prevent
System, working rig control unit 34 is preferential with lifting instruction always and controls lift actuator 44 etc..
It is illustrated according to the flow chart of Fig. 9, working rig control unit 34, which initially determines whether to input, to be had by instructing output section
The job instruction or non-job instruction (step S101) of 33 outputs.
In the case where being judged as that input has job instruction or non-job instruction in step s101, working rig control unit 34 into
One step, which determines whether to input to have, instructs (step S102) along with the lifting of the operation to working rig lifter switch 28.
In the case where being judged as that input has lifting to instruct in step s 102, working rig control unit 34 is not according to job instruction
Or non-job instruction and the control (step S103) that make working rig 3 to go up and down according to lifting instruction.That is, with job instruction or non-
Job instruction is compared, and working rig control unit 34 pays the utmost attention to lifting instruction, and carries out the liter to working rig 3 based on lifting instruction
Drop control.Then, make that processing returns to step S101.
It is judged as that working rig control unit 34 is according to the operation of input in the case where not inputting lifting instruction in step s 102
The control (step S104) that instruction or non-job instruction and carrying out go up and down working rig 3.Then, make that processing returns to step
S101。
It is judged as that working rig control unit 34 is sentenced in the case where not inputting job instruction or non-job instruction in step s101
The fixed lifting instruction (step S105) whether inputted based on the operation to working rig lifter switch 28.
In the case where being judged as that input has lifting to instruct in step s105, working rig control unit 34 is instructed according to the lifting
And carry out the control (step S103) for going up and down working rig 3.Then, make that processing returns to step S101.Lifting finger is not being inputted
In the case where order, without step S103 processing and make that processing returns to step S101.
By carrying out the above processing, for example, even if referring to inputting operation from instruction output section 33 to working rig control unit 34
It, will not be such as Fig. 7 (d) when user is when working rig lifter switch 28 is ramped up side and carried out operation by the moment in the case where order
The control for declining working rig 3 is carried out like that, and working rig 3 maintains non-operation height.
In addition, for example, even if from instruction output section 33 to working rig control unit 34 have input non-job instruction and with this phase
The midway that begins to ramp up working rig 3 as Fig. 8 (d), but ought rise on it with answering is by user by working rig lifter switch 28
When having carried out operation to decline side, rise control break, working rig control unit 34 carries out the decline control of working rig 3 immediately.
According to this structure, the tractor 1 of present embodiment is able to carry out autonomous traveling, AUTONOMOUS TASK and energy in principle
The switching of enough job states and non-job state that working rig 3 is carried out in a manner of meeting user intention.
In addition, as illustrated in step S103, in the job instruction or non-work for being not based on the output of instruction output section 33
Industry instruction and based on the lifting of the operation to working rig lifter switch 28 instruction to working rig 3 carry out elevating control in the case where,
For example, can show in the display (display unit) that monitoring arrangement 70 has to the message of the meaning, or utilize lamp
Or buzzer etc. is notified to the meaning to user.
Next, to independently travelled in the state that user does not take in tractor 1, AUTONOMOUS TASK the case where progress
Explanation.Figure 10 be show do not travelled independently in the state that user does not take in tractor 1, AUTONOMOUS TASK when use it is wireless
The figure of communication terminal 81.Figure 11 is show autonomous traveling monitoring screen 100 in the display 83 of wireless communication terminal 81 aobvious
Exemplary figure.
As described above, the autonomous driving control portion 32 that has of tractor 1 can the autonomous driving mode of someone and nobody from
Switch and independently travelled between main driving mode, wherein the autonomous driving mode of someone be in the state that user takes into
The autonomous traveling of row, the mode of AUTONOMOUS TASK, nobody autonomous driving mode be independently travelled in the state that user does not take,
The mode of AUTONOMOUS TASK.User is for example able to carry out the switching of the mode and operating to monitoring arrangement 70.
If the sensor 13a shown in Fig. 3 that takes a seat does not detect that user takes a seat, can not start under the autonomous driving mode of someone
Tractor 1 it is autonomous traveling, AUTONOMOUS TASK.On the other hand, in the case where taking a seat sensor 13a and detecting that user takes a seat,
It can not start autonomous traveling, the AUTONOMOUS TASK of the tractor 1 under nobody autonomous driving mode.But it is also possible to constitute are as follows: in nothing
Under the autonomous driving mode of people, can start in the state of taking a seat sensor 13a and detecting that user takes a seat independently travel,
AUTONOMOUS TASK.
In addition, when tractor 1 independently travelled under the autonomous driving mode of someone, AUTONOMOUS TASK when, in the use taken
In the case that family operates the main shift lever 27 of Fig. 3, the control executed by autonomous driving control portion 32 can be terminated, but
Stop travel machine body 2 and be converted to traveling, manual working manually with keeping intact.
On the other hand, when tractor 1 independently travelled under nobody autonomous driving mode, AUTONOMOUS TASK when, do not set
Want the aforesaid operations device having using tractor 1.Therefore, under nobody autonomous driving mode, to speed revolving speed shown in Fig. 3
The operation of setting change dial 14 etc. is invalidated.In addition, when tractor 1 carries out autonomous row under nobody autonomous driving mode
Sail, AUTONOMOUS TASK when, in the case where being operated to main shift lever 27, terminate the control that is executed by autonomous driving control portion 32
System, along with this, tractor 1 stops immediately.User is converted to traveling, manual working manually from the state that travel machine body 2 stops.
In addition, when tractor 1 independently travelled under nobody autonomous driving mode, AUTONOMOUS TASK when, by user couple
In the case that working rig lifter switch 28 is operated, also terminate the control executed by autonomous driving control portion 32, and and this
Together, tractor 1 stops immediately.At this point, being notified to stop by display of message etc. in aftermentioned wireless communication terminal 81
The meaning of autonomous traveling.In turn, in tractor 1, for example, it is also possible to be notified to using monitoring arrangement 70.Then, user
The state stopped from travel machine body 2 is needed to carry out defined operation and be converted to traveling, manual working manually.
When tractor 1 is independently travelled under nobody autonomous driving mode, AUTONOMOUS TASK when, user is by Figure 10 institute
The wireless communication terminal (wireless communication device) 81 shown is used as long-distance operating device, issues and indicates to tractor 1 from outside.
As shown in Figure 10, wireless communication terminal 81 is configured to the plate computer for having touch panel 82.User's energy
Enough references simultaneously confirm the information shown in the display (display unit) 83 of wireless communication terminal 81.In addition, user can be to upper
It states touch panel 82 or the hardware button 84 being configured near display 83 etc. is operated, and will be used to control tractor 1
Control signal be sent to the control unit 4 of tractor 1.Herein, as the control for being input to control unit 4 by wireless communication terminal 81
Signal, it may be considered that start letter to autonomous traveling, the relevant signal in the path of AUTONOMOUS TASK and autonomous traveling, AUTONOMOUS TASK
Number, stop signal, but not limited to this.
In addition, wireless communication terminal 81 is not limited to plate computer, for example, can be instead by taking down notes
The computer of this type is constituted.Furthermore it is also possible to constitute are as follows: not tractor 1 but wireless communication terminal 81 have autonomous traveling
The systematic function of path P.
Next, referring to Fig.1 1 illustrate tractor 1 independently travelled, AUTONOMOUS TASK when in wireless communication terminal 81 show
The picture shown.
If starting the autonomous row of tractor 1 in the state that autonomous driving control portion 32 is changed into nobody autonomous driving mode
It sails, AUTONOMOUS TASK, then the display screen switching of display 83 is independently to travel monitoring screen 100 shown in Figure 11.
Driving status display unit 103, the driving status display unit are configured on the right side of independently traveling monitoring screen 100
103 for showing the image data including the autonomous driving path travelled comprising tractor 1.For aobvious in driving status
Show the image data shown in portion 103, for example, as shown in figure 11, the shape in field, the shape of operating area and map can be made
Data overlap and shown, and the driving trace of tractor 1 can be shown with hatching on it.
In the leftmost side of the upside of autonomous traveling monitoring screen 100, show for making autonomous traveling start or suspend
Beginning/pause button 105.User make in a manual manner tractor 1 be moved to the starting position independently travelled and touch start/temporarily
Stop button 105, thus, it is possible to the control signal of the meaning independently travelled indicating is sent to since wireless communication terminal 81 to drag
The control unit 4 of machine drawing 1 and make tractor 1 start independently to travel.In addition, being touched in the state that tractor 1 is independently travelled
Beginning/pause button 105, thus it enables that the autonomous traveling of the pause of autonomous traveling or recovery of tractor 1.
In independently traveling monitoring screen 100, configured in a manner of being arranged above and below on the right side of beginning/pause button 105
There are speed display unit 106, engine speed display unit 107 and spacing height adjusting part (operation portion) 108.
In speed display unit 106, got to based on the data sent from the vehicle speed sensor of illustration omitted
The current vehicle speed of tractor 1 is shown.
In engine speed display unit 107, to based on the number sent from the engine speed sensor of illustration omitted
According to and the current rotating speed of engine 10 that gets shown.
In spacing height adjusting part 108, to based on sending from above-mentioned working rig height sensor in the form of numerical value
Data and the height of working rig 3 that gets shown.It is configured with upper and lower button on the right side of shown numerical value, is led to
It crosses and the button is operated and the instruction for going up and down working rig 3 can be issued.By the behaviour for being directed to spacing height adjusting part 108
Make, wireless communication terminal 81 exports lifting instruction to tractor 1.
On the right side of speed display unit 106 and engine speed display unit 107 configured with setting adjustment section, the setting tune
The whole speed that tractor 1 can be adjusted separately for above-mentioned job state and non-job state and engine speed
Setting.
Specifically, the speed when the right side of speed display unit 106 and engine speed display unit 107 is configured with operation
Speed adjustment section (speed setting when engine speed adjustment section 112, non-operation when adjustment section (speed configuration part) 111, operation
Portion) 113 and engine speed adjustment section 114 when non-operation.
In operation in speed adjustment section 111, the tractor 1 when job state is in working rig 3 in digital form
The setting value of speed (speed when operation) shown.In operation in engine speed adjustment section 112, with the shape of number
The setting value of the revolving speed of engine 10 when formula is in job state to working rig 3 is shown.Speed adjusts when for operation
Engine speed adjustment section 112 is configured with upper and lower button on the right side of shown setting value when portion 111 and operation, leads to
It crosses and the button is operated and setting value can be increased and decreased.
In non-operation in speed adjustment section 113, drawn when being in non-job state to working rig 3 in digital form
The setting value of the speed (speed when non-operation) of machine 1 is shown.In non-operation in engine speed adjustment section 114, with
The setting value of the revolving speed of engine 10 when the form of number is in non-job state to working rig 3 is shown.For non-work
Speed adjustment section 113 and engine speed adjustment section 114 when non-operation when industry, also with speed adjustment section 111 when operation and
Engine speed adjustment section 112 similarly, can operate increase and decrease by the upper and lower button beside logarithm when operation
Setting value.
At this under nobody autonomous driving mode, speed adjustment section 111 and speed adjustment section 113 has when non-operation when operation
Have and set the identical function of change dial 14 with the speed revolving speed for being set to tractor 1, spacing height adjusting part 108 have with
It is set to the identical function of working rig lifter switch 28 of tractor 1.
Under nobody autonomous driving mode, also substantially in the same manner as the autonomous driving mode of above-mentioned someone to job instruction or
The output timing of non-job instruction is controlled.In addition, under nobody autonomous driving mode, when the work that instruction output section 33 exports
When industry instruction or non-job instruction and the lifting exported based on the operation to spacing height adjusting part 108 instruction are competed,
Lifting instruction is paid the utmost attention in the same manner as the autonomous driving mode of someone.But since user does not take in tractor 1, it is former
It is not in monitoring arrangement 70 on then but is shown to above explained various message in the display of wireless communication terminal 81
Show.
As described above, the tractor 1 of present embodiment has travel machine body 2, instruction output section 33, working rig control unit
34, speed control unit 35, working edge are apart from storage unit 54 and Distance Remaining acquisition unit 37.Travel machine body 2 can assemble work
Industry machine 3.It is non-that working rig 3 is controlled the job instruction for job state and control working rig 3 by the output of instruction output section 33
The non-job instruction of job state.Working rig control unit 34 is according to job instruction or the non-job instruction and to working rig 3
Job state is controlled.Speed control unit 35 can switch over control to the speed of tractor 1.Working edge distance storage
Portion 54 sets the switching control that the job state of working rig 3 is executed by working rig control unit 34 by setting Edge Distance M
Switch target position.Distance Remaining acquisition unit 37 obtain from the pawl shaft position of working rig 3 to the distance of switching target position that is,
Distance Remaining.The speed of tractor 1 is switched to non-work from speed when operation according to non-job instruction by speed control unit 35
Speed when industry, and the vehicle according to job instruction and when the speed of tractor 1 is switched to operation from speed when non-operation
Speed.Instruct output section 33 in the case where exporting non-job instruction as shown in Figure 8, speed when based on operation and it is remaining away from
From and to the non-job instruction output timing control.Output section 33 is instructed to instruct in output operation as shown in Figure 7
In the case where, speed when based on non-operation, from speed when the non-operation to the percentage speed variation of speed when operation and
Distance Remaining and to the output of job instruction timing control.
It is cut in the case where working rig 3 is switched to non-job state from job state and from non-job state as a result,
In the case where being changed to job state, instruction output section 33 can be in the non-job instruction of timing output appropriate and job instruction.
Thereby, it is possible to reduce to carry out the part of operation using working rig 3 and without the error on the boundary between the part of operation.
In addition, as shown in Fig. 8 (f), making operation according to non-job instruction in the tractor 1 of present embodiment
After working rig 3 is switched to non-job state from job state by machine control unit 34, speed control unit 35 starts from when operation
Switching control of the speed to speed when non-operation.In addition, making working rig control according to job instruction as shown in Fig. 7 (f)
Before working rig 3 is switched to job state from non-job state by portion 34 processed, speed control unit 35 starts from vehicle when non-operation
Switching control of the speed to speed when operation.
As a result, during working rig 3 is in job state, it is able to maintain speed when operation.
In addition, the tractor 1 of present embodiment has the timing circuit and decline required time storage unit of illustration omitted
56.Timing circuit to by working rig 3 from non-job state be switched to job state needed for required time (decline the time required to
TR1 it) measures.It is stored using the required time that timing circuit is measured for 56 pairs of storage unit the time required to decline.Instruction
Output section 33 controls the output of job instruction timing based on the storage content of storage unit 56 the time required to declining.Not
In the case where the time required to being measured using timing circuit, storage unit 56 deposits the time initially set the time required to decline
Storage.In the case where the time required to being measured using timing circuit, the storage content of storage unit 56 is updated to the time required to decline
Measured value.
As a result, to for measuring storage the time required to working rig 3 is switched to job state from non-job state,
And control based on this and to the timing of output operation instruction, thus, it is possible in timing output job instruction appropriate.
In addition, for example, measured value is not obtained ahead of time, but by first in advance when being switched to job state from non-job state for the first time
Begin setting reasonable time, and instruction output section 33 can be in substantially good timing output job instruction.
In addition, in the tractor 1 of present embodiment, by setting change dial 14 or operation to speed revolving speed
When speed adjustment section 111 and when non-operation the operation of speed adjustment section 113 and can change operation when speed and non-work
The setting of speed when industry.In the case where the setting of speed when speed and/or non-operation when changing operation, refer to
Enable speed when speed/non-operation of the output section 33 based on operation after change when and to the defeated of job instruction or non-job instruction
It is periodically controlled out.
Thereby, it is possible to change according to the demand of user to speed and make call instruction output section 33 in timing appropriate
Output operation instruction and non-job instruction.
In addition, the tractor 1 of present embodiment has autonomous driving control portion 32, which can make
The tractor 1 switches between the autonomous driving mode of someone and nobody autonomous driving mode and is independently travelled.Someone is autonomous
Driving mode is the mode along with the operation for main shift lever 27 not making tractor 1 stop to terminate independently to travel.
Nobody autonomous driving mode is the mould for making tractor 1 stop just terminating independently to travel along with the operation for main shift lever 27
Formula.When autonomous driving control portion 32 is in the autonomous driving mode of someone, can turn according to for the speed for being set to tractor 1
The operation of speed setting change dial 14 and speed when speed and non-operation when to operation are set for changing.When certainly
It, can be according to wireless for being carried out wireless communication with tractor 1 when main driving control portion 32 is in nobody autonomous driving mode
When the operation that communication terminal 81 has speed adjustment section 111 and when non-operation the operation of speed adjustment section 113 and to operation
When speed and non-operation when speed be set for changing.
As a result, under the autonomous driving mode of someone, the user taken in tractor 1 sets change dial to speed revolving speed
14 are operated, and thus, it is possible to change to speed；Under nobody autonomous driving mode, the user couple of the outside of tractor 1
Speed adjustment section 111 and speed adjustment section 113 is operated when non-operation when the operation of wireless communication terminal 81, thus, it is possible to
Speed is changed.
In addition, the tractor 1 of present embodiment be also equipped with positional information calculation portion 49, working rig lifter switch 28 and
Autonomous driving control portion 32.The location information of the acquisition of positional information calculation portion 49 travel machine body 2.Working rig lifter switch 28 configures
In travel machine body 2.Autonomous driving control portion 32 travels travel machine body 2 independently along prespecified autonomous driving path P.
When autonomous driving control portion 32 keeps travel machine body 2 autonomous when driving, output section 33 exports working rig control unit 34 based on instruction
Job instruction or non-job instruction and the lifting exported along with the operation to working rig lifter switch 28 instruction, to work
The job state of industry machine 3 is controlled.Compared with job instruction or non-job instruction, working rig control unit 34 is preferably according to lifting
It instructs and the job state of working rig 3 is controlled.
Switching about the job state of working rig 3 and non-job state as a result, can be realized and pay the utmost attention to user intention
Control.
In addition, being carried out in the tractor 1 of present embodiment when based on job state of the lifting instruction to working rig 3
In the case where being entered job instruction or non-job instruction when control, working rig control unit 34 is not based on the job instruction or non-work
Industry instructs to control the job state of working rig 3.
Thereby, it is possible to realize not interfere to meet the control of user intention.
In addition, in the tractor 1 of present embodiment, when based on job instruction or non-job instruction to working rig 3
In the case where being entered lifting instruction when job state is controlled, working rig control unit 34 is based on lifting instruction and to operation
The job state of machine 3 is controlled.
In the case where formerly carrying out as a result, based on the control independently travelled, it can be accorded in a manner of stopping the control
Close the control of user intention.
In addition, the tractor 1 of present embodiment, which has in detection travel machine body 2, takes a seat sensor with the presence or absence of user
13a.Autonomous driving control portion 32 can switch between the autonomous driving mode of someone and nobody autonomous driving mode and be made
Travel machine body 2 is obtained independently to be travelled along autonomous driving path P.Under the autonomous driving mode of someone, working rig control unit 34 was both
The job instruction or non-job instruction that output section 33 exports based on instruction switch over the job state of working rig 3, are also based on
The job state of working rig 3 is switched over by the lifting instruction that the operation to working rig lifter switch 28 exports.In nothing
Under the autonomous driving mode of people, working rig control unit 34 based on instruction output section 33 export job instruction or non-job instruction and it is right
The job state of working rig 3 switches over, and on the other hand, is not based on along with the operation to working rig lifter switch 28 and exports
Lifting instruction the job state of working rig 3 is switched over.
As a result, in the case where not imagining nobody the autonomous driving mode that user takes, ignore to working rig lifter switch 28
It operates and can be realized the control for meeting actual state.
In addition, in the tractor 1 of present embodiment, when make travel machine body 2 with the autonomous driving mode of someone carry out from
In the case that master when driving operates working rig lifter switch 28, autonomous driving control portion 32 does not make travel machine body 2
Autonomous traveling stops.On the other hand, when to carry out travel machine body 2 with nobody autonomous driving mode autonomous when driving to working rig
In the case that lifter switch 28 is operated, stop the autonomous traveling of travel machine body 2.
As a result, in the case where not imagining nobody the autonomous driving mode that user takes, by according to working rig lifter switch 28
Operation and make independently travel stop, so as to validly cope with unexpected situation.
In addition, in the tractor 1 of present embodiment, under the autonomous driving mode of someone, when with job instruction or non-work
Industry instruction is compared to the priority acccess control that working rig control unit 34 preferentially controls the job state of working rig 3 according to lifting instruction
When, the meaning is shown in monitoring arrangement 70.Under nobody autonomous driving mode, when working rig control unit 34 carry out it is excellent
When first controlling, the meaning is shown in wireless communication terminal 81.Also, when under nobody autonomous driving mode based on pair
Working rig lifter switch 28 carry out operation and make travel machine body 2 autonomous traveling stopping when, it is right in wireless communication terminal 81
The meaning is shown.
It as a result, can be suitably under the arbitrary patterns in the autonomous driving mode of someone and nobody autonomous driving mode
It is notified to situation to user.
The preferred embodiment of the present invention is illustrated above, but for example can as follows to above structure into
Row change.
It may be constructed are as follows: using wireless communication terminal 81 or utilize the monitoring arrangement 70 of tractor 1 and wireless communication whole
End 81 carries out setting and setting of Edge Distance M of working rig horizontal distance L etc..
May be constructed are as follows: have 2 speed revolving speeds setting change dials 14, and can simultaneously to operation when speed and
Speed when non-operation changes.
The autonomous traveling monitoring screen 100 shown in display 83 is not limited to picture shown in Figure 11, can be right
The configuration etc. of picture arbitrarily changes.
The range that speed when speed and non-operation when prespecified operation needs to meet, is being set as deviating from this
In the case where speed when speed or non-operation when the operation of range, special elevating control can be carried out.For example, can examine
Consider and starts or lag the rising control for starting working rig 3/decline control in advance compared with usually.Or, it may be considered that it carries out
Special speed control carries out the above-mentioned rising control started in advance compared with usually or lag beginning working rig 3 simultaneously
System/decline control and special speed control.Such as, it may be considered that when starting in advance compared with usually or lagging the non-operation of beginning
Speed and operation when speed switching.
By ploughing machine, raker, grass trimmer, rake or stubble-cleaning cultivator (stubble cultivator) etc.
It is identical as the rotary cultivator illustrated in above embodiment in the case where as working rig, carry out according to job instruction make its decline,
The control for increase it according to non-job instruction.But the switching of job state and non-job state can also be not accompanied by lifting.
For example, working rig control unit 34 carries out dispensing/dispensing stopping in the case where seed broadcaster or sprayer etc. are used as working rig
Control and without elevating control.In addition, in this case, user is not using working rig lifter switch 28 but utilizes setting
Instruction is issued to the switching of the job state of working rig in the operation portion appropriate (not shown) of driver's cabin 11.Therefore, along with
Operation portion instruction is exported to the operation of the operation portion.
The explanation of appended drawing reference
1 tractor (working truck)
2 travel machine bodies (body portions)
3 working rigs
33 instruction output sections
34 working rig control units
35 speed control units
37 Distance Remaining acquisition units
54 working edges are apart from storage unit (configuration part)
Claims (8)
1. a kind of working truck, which is characterized in that
The working truck has:
Body portions, being capable of assembling work machine；
Output section is instructed, the working rig is controlled as the job instruction of job state and controls the working rig by output
For the non-job instruction of non-job state；
Working rig control unit, according to the job instruction or the non-job instruction to the job state of the working rig into
Row control；
Speed control unit can switch over control to the speed of working truck；
Configuration part, what setting switched over the job state of the working rig by the control of the working rig control unit
Base position；And
Apart from acquisition unit, the distance from the activity center position of the working rig to the base position is obtained,
The speed of the working truck is switched to the 2nd from the 1st speed according to the non-job instruction by the speed control unit
Speed, and the speed of the working truck is switched to from the 2nd speed by the 1st vehicle according to the job instruction
Speed,
Described instruction output section is controlled based on the 1st speed and the distance and to the output of non-job instruction timing,
Described instruction output section based on the 2nd speed, from the 2nd speed to the percentage speed variation of the 1st speed and
The distance and to the output of the job instruction timing control.
2. working truck according to claim 1, which is characterized in that
The working rig is switched to from the job state by institute according to the non-job instruction in the working rig control unit
After stating non-job state, the speed control unit starts to execute the switching control from the 1st speed to the 2nd speed,
The working rig is switched to from the non-job state by institute according to the job instruction in the working rig control unit
Before stating job state, the speed control unit starts to execute the switching control from the 2nd speed to the 1st speed.
3. working truck according to claim 1 or 2, which is characterized in that
The working truck has:
Measurement portion, to by the working rig from the non-job state be switched to the job state needed for required time into
Row measurement；And
Required time storage unit stores the required time measured by the measurement portion,
Storage content of the described instruction output section based on the required time storage unit and to the output of the job instruction timing
It is controlled,
In the case where not measuring the required time by the measurement portion, the required time storage unit is to initially set
Time is stored,
In the case where measuring the required time by the measurement portion, more by the storage content of the required time storage unit
It is newly measured value.
4. working truck according to any one of claim 1 to 3, which is characterized in that
The 1st speed and the 2nd speed can be set for changing by the operation for speed configuration part,
To the 1st speed and/or in the case where being set for change of the 2nd speed, described instruction output
Portion is based on the 1st speed and/or the 2nd speed after change and to the job instruction or the non-job instruction
Output timing controlled.
5. working truck according to claim 4, which is characterized in that
The working truck has autonomous driving control portion, which can make the working truck in the 1st mould
Switch and independently travelled between formula and the 2nd mode,
1st mode is along with the operation for variable speed operation part not making working truck stopping that capable of terminating autonomous row
The mode sailed,
2nd mode is to stop the working truck along with the operation for the variable speed operation part and terminate autonomous traveling
Mode,
It, can be according to for the speed for being set to the working truck when the working truck is in 1 mode
The operation of configuration part and the 1st speed and the 2nd speed are set for changing,
It, can be according to for being carried out wireless communication with the working truck when the working truck is in 2 mode
The operation for the speed configuration part that wireless communication device has and setting to the 1st speed and the 2nd speed
It changes.
6. working truck according to any one of claim 1 to 5, which is characterized in that
The working truck has:
Location information acquisition unit obtains the location information of the body portions；
Operation portion is configured at the body portions；And
Autonomous driving control portion travels the body portions independently along prespecified path,
When the autonomous driving control portion carries out the body portions independently when driving, the working rig control unit is based on the finger
The job instruction or the non-job instruction that enable output section export or along with defeated for the operation of the operation portion
Operation portion out instructs to control the job state of the working rig,
Compared with the job instruction or the non-job instruction, the working rig control unit is preferentially based on the operation portion instruction
And the job state of the working rig is controlled.
7. working truck according to claim 6, which is characterized in that
Based on the operation portion instruction job state of the working rig is controlled when be entered the job instruction or
In the case where the non-job instruction, the working rig control unit is not based on the job instruction or non-job instruction to the operation
The job state of machine is controlled.
8. working truck according to claim 6 or 7, which is characterized in that
It is entered when being controlled based on the job instruction or the non-job instruction the job state of the working rig
In the case where the operation portion instruction, the working rig control unit is based on operation portion instruction and to the operation shape of the working rig
State is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210201677.6A CN114527765A (en) | 2017-03-24 | 2018-03-23 | Autonomous travel work system and work vehicle |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-060088 | 2017-03-24 | ||
| JP2017060088A JP6663382B2 (en) | 2017-03-24 | 2017-03-24 | Work vehicle |
| PCT/JP2018/011714 WO2018174249A1 (en) | 2017-03-24 | 2018-03-23 | Work vehicle |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210201677.6A Division CN114527765A (en) | 2017-03-24 | 2018-03-23 | Autonomous travel work system and work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110418570A true CN110418570A (en) | 2019-11-05 |
| CN110418570B CN110418570B (en) | 2022-03-22 |
Family
ID=63585798
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210201677.6A Pending CN114527765A (en) | 2017-03-24 | 2018-03-23 | Autonomous travel work system and work vehicle |
| CN201880009614.2A Active CN110418570B (en) | 2017-03-24 | 2018-03-23 | Working vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210201677.6A Pending CN114527765A (en) | 2017-03-24 | 2018-03-23 | Autonomous travel work system and work vehicle |
Country Status (4)
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|---|---|
| JP (1) | JP6663382B2 (en) |
| KR (4) | KR102325719B1 (en) |
| CN (2) | CN114527765A (en) |
| WO (1) | WO2018174249A1 (en) |
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| JP7117980B2 (en) * | 2018-11-26 | 2022-08-15 | 株式会社クボタ | agricultural machine |
| JP7113726B2 (en) * | 2018-11-26 | 2022-08-05 | 株式会社クボタ | agricultural machine |
| JP7324330B2 (en) * | 2018-12-11 | 2023-08-09 | ヤンマーパワーテクノロジー株式会社 | Autonomous driving system |
| JP7146675B2 (en) * | 2019-03-14 | 2022-10-04 | ヤンマーパワーテクノロジー株式会社 | automatic driving system |
| JP7217655B2 (en) * | 2019-03-26 | 2023-02-03 | 日立建機株式会社 | work vehicle |
| JP7200853B2 (en) | 2019-06-28 | 2023-01-10 | トヨタ自動車株式会社 | Vehicle speed controller for self-driving vehicles |
| JP7381230B2 (en) | 2019-06-28 | 2023-11-15 | トヨタ自動車株式会社 | Autonomous vehicle operating device |
| JP7206176B2 (en) * | 2019-10-24 | 2023-01-17 | 株式会社クボタ | agricultural vehicle |
| JP7276073B2 (en) * | 2019-10-29 | 2023-05-18 | 井関農機株式会社 | work vehicle |
| US11650095B2 (en) * | 2019-10-30 | 2023-05-16 | Cnh Industrial Canada, Ltd. | System and method for identifying plugging of ground engaging tools based on tool weight |
| JP7275011B2 (en) * | 2019-11-29 | 2023-05-17 | 株式会社クボタ | agricultural machine |
| JP7223680B2 (en) * | 2019-12-18 | 2023-02-16 | 株式会社クボタ | work machine |
| KR20210091644A (en) * | 2020-01-14 | 2021-07-22 | 가부시끼 가이샤 구보다 | Travel route management system of working machine |
| JP2021108621A (en) * | 2020-01-14 | 2021-08-02 | 株式会社クボタ | Travel path management system |
| JP7407600B2 (en) * | 2020-01-14 | 2024-01-04 | 株式会社クボタ | work equipment |
| JP7235686B2 (en) * | 2020-01-14 | 2023-03-08 | 株式会社クボタ | agricultural machine |
| US20230166750A1 (en) * | 2020-05-28 | 2023-06-01 | Kawasaki Motors, Ltd. | Utility vehicle |
| JP2022131274A (en) * | 2021-02-26 | 2022-09-07 | 株式会社クボタ | harvester |
| JP7472075B2 (en) | 2021-04-27 | 2024-04-22 | 株式会社クボタ | Work equipment monitoring system |
| WO2022230473A1 (en) * | 2021-04-27 | 2022-11-03 | 株式会社クボタ | Monitoring system for work machinery |
| JP7408597B2 (en) | 2021-04-27 | 2024-01-05 | 株式会社クボタ | Work equipment monitoring system |
| JP7392700B2 (en) | 2021-10-06 | 2023-12-06 | 井関農機株式会社 | work vehicle |
| JP7344453B2 (en) | 2021-11-15 | 2023-09-14 | 井関農機株式会社 | work vehicle |
| JP2023150415A (en) * | 2022-03-31 | 2023-10-16 | ヤンマーホールディングス株式会社 | Travel control method, travel control system, work vehicle, and travel control program |
| KR102527799B1 (en) * | 2022-11-07 | 2023-05-03 | 주식회사 긴트 | Method for controlling the autonomous work function of a tractor connected to operational machine and apparatus thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20240000626A (en) | 2024-01-02 |
| WO2018174249A1 (en) | 2018-09-27 |
| KR102616945B1 (en) | 2023-12-21 |
| KR20190099263A (en) | 2019-08-26 |
| JP2018161085A (en) | 2018-10-18 |
| CN110418570B (en) | 2022-03-22 |
| KR20210136171A (en) | 2021-11-16 |
| JP6663382B2 (en) | 2020-03-11 |
| KR102413466B1 (en) | 2022-06-24 |
| KR102325719B1 (en) | 2021-11-11 |
| KR20220088950A (en) | 2022-06-28 |
| CN114527765A (en) | 2022-05-24 |
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