CN110418570B - Working vehicle - Google Patents

Working vehicle Download PDF

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Publication number
CN110418570B
CN110418570B CN201880009614.2A CN201880009614A CN110418570B CN 110418570 B CN110418570 B CN 110418570B CN 201880009614 A CN201880009614 A CN 201880009614A CN 110418570 B CN110418570 B CN 110418570B
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China
Prior art keywords
work
vehicle speed
command
working
unit
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CN201880009614.2A
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Chinese (zh)
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CN110418570A (en
Inventor
上田良平
平松敏史
北野惠大
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Yanmar Power Technology Co Ltd
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Yanmar Power Technology Co Ltd
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Publication date
Application filed by Yanmar Power Technology Co Ltd filed Critical Yanmar Power Technology Co Ltd
Priority to CN202210201677.6A priority Critical patent/CN114527765A/en
Publication of CN110418570A publication Critical patent/CN110418570A/en
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Publication of CN110418570B publication Critical patent/CN110418570B/en
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    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
    • A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
    • A01B33/082—Transmissions; Gearings; Power distribution
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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

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

Abstract

A command output unit (33) of the tractor (1) outputs a work command for controlling the work machine (3) to a work state and a non-work command for controlling the work machine (3) to a non-work state. A working edge distance storage unit (54) sets a switching target position at which a working machine control unit (34) switches and controls the working state of a working machine. A vehicle speed control unit (35) switches the vehicle speed of the tractor (1) from the vehicle speed during working to the vehicle speed during non-working in response to a non-working command, and switches the vehicle speed of the tractor (1) from the vehicle speed during non-working to the vehicle speed during working in response to a working command. A remaining distance acquisition unit (37) acquires a remaining distance from a work center position of the work machine (3) to the switching target position. A command output unit (33) controls the timing of outputting a non-work command on the basis of the vehicle speed and the remaining distance during work. The command output unit (33) controls the timing of outputting the work command on the basis of the vehicle speed at the time of non-work, the rate of change from the vehicle speed at the time of non-work to the vehicle speed at the time of work, and the remaining distance.

Description

Working vehicle
Technical Field
The present invention relates to a work vehicle capable of performing work while traveling an assembled work machine while switching between a work state and a non-work state.
Background
For example, patent document 1 discloses such a work vehicle. The agricultural work vehicle of patent document 1 is configured such that: a vehicle body is autonomously driven by an orientation sensor and a GPS receiver, and a work machine elevation position sensor for storing a lowering operation of a work machine attached to the vehicle body is provided so that a target tilling start position of the work machine and an end position of the lowering operation coincide with each other. In patent document 1, with this configuration, a good tilling operation without generating tilling omission or the like can be easily achieved.
Patent document 1: japanese laid-open patent publication No. 2002-354905
Disclosure of Invention
However, the structure of patent document 1 does not sufficiently consider the raising operation of the working machine, although the lowering operation of the working machine is considered.
Therefore, in the conventional configuration, when a path for performing work by the working machine while reciprocating in a predetermined direction in a certain region is set, there is a case where a deviation occurs at an end portion of a section where the tilling work is performed at a predetermined depth between a stroke in which the working vehicle travels in the certain direction and a stroke in which the working vehicle travels in the reverse direction of the certain direction, and there is room for improvement from the viewpoint of realizing a fine work with a more beautiful appearance.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a work vehicle in which a state in which a work is performed by a work implement and a state in which the work is not performed by the work implement are controlled to be switched well in consideration of a position in the work implement at which the work is actually performed by the work implement.
The problems to be solved by the present invention are as described above, and a method for solving the problems and effects thereof will be described below.
According to an aspect of the present invention, there is provided a work vehicle having the following configuration. Specifically, the work vehicle includes a vehicle body portion, a command output portion, a work machine control portion, a vehicle speed control portion, a setting portion, and a distance acquisition portion. The body portion is capable of mounting a work machine. The command output unit outputs a work command for controlling the work machine to be in a work state and a non-work command for controlling the work machine to be in a non-work state. The work machine control unit controls the work state of the work machine based on the work command or the non-work command. The vehicle speed control unit can switch and control the vehicle speed of the work vehicle. The setting unit sets a reference position for switching the operation state of the work implement under the control of the work implement control unit. The distance acquisition unit acquires a distance from a work center position of the work implement to the reference position. The vehicle speed control unit switches the vehicle speed of the work vehicle from a 1 st vehicle speed to a 2 nd vehicle speed in accordance with the non-work instruction, and switches the vehicle speed of the work vehicle from the 2 nd vehicle speed to the 1 st vehicle speed in accordance with the work instruction. The command output unit controls the output timing of the non-work command based on the 1 st vehicle speed and the distance. The command output unit controls the output timing of the work command based on the 2 nd vehicle speed, the rate of change in speed from the 2 nd vehicle speed to the 1 st vehicle speed, and the distance.
Thus, the command output unit can output the non-work command and the work command at appropriate timings when the work machine is switched from the work state to the non-work state and when the work machine is switched from the non-work state to the work state. This reduces the error in the boundary between the portion where work is performed and the portion where work is not performed by the work machine.
The work vehicle is preferably configured as follows. That is, after the work machine control unit switches the work machine from the working state to the non-working state in accordance with the non-working instruction, the vehicle speed control unit starts to execute the switching control from the 1 st vehicle speed to the 2 nd vehicle speed. The vehicle speed control unit starts control of switching from the 2 nd vehicle speed to the 1 st vehicle speed before the work machine control unit switches the work machine from the non-work state to the work state in accordance with the work instruction.
Thus, the 1 st vehicle speed can be maintained while the working machine is in the working state.
The work vehicle is preferably configured as follows. That is, the work vehicle includes a measurement unit and a required time storage unit. The measurement unit measures a time required to switch the work implement from the non-work state to the work state. The required time storage unit stores the required time measured by the measurement unit. The command output unit controls the timing of outputting the job command based on the storage content of the required time storage unit. The required time storage unit stores an initially set time when the required time is not measured by the measurement unit. When the required time is measured by the measurement unit, the content stored in the required time storage unit is updated to a measured value.
In this way, by measuring and storing the time required for switching the working machine from the non-working state to the working state and controlling the timing of outputting the work instruction based on the measurement, the work instruction can be output at an appropriate timing. For example, when the non-operating state is switched to the operating state for the first time, the measured value is not obtained in advance, but since an appropriate time is initially set in advance, the command output unit can output the operating command at a substantially good timing.
The work vehicle is preferably configured as follows. That is, the setting of the 1 st vehicle speed and the 2 nd vehicle speed can be changed by the operation of the vehicle speed setting portion. When the setting of the 1 st vehicle speed and/or the 2 nd vehicle speed is changed, the command output unit controls the output timing of the work command or the non-work command based on the changed 1 st vehicle speed and/or the changed 2 nd vehicle speed.
Thus, the vehicle speed can be changed according to the user's demand, and the command output unit can output the work command and the non-work command at appropriate timings.
The work vehicle is preferably configured as follows. That is, the work vehicle includes an autonomous travel control unit that can switch the work vehicle between the 1 st mode and the 2 nd mode to perform autonomous travel. The 1 st mode is a mode in which autonomous travel can be terminated without stopping the work vehicle in association with an operation of the shift operation device. The 2 nd mode is a mode in which the autonomous travel is terminated as the work vehicle is stopped by the operation of the shift operation device. When the work vehicle is in the 1 st mode, the settings of the 1 st vehicle speed and the 2 nd vehicle speed can be changed in accordance with an operation with respect to the vehicle speed setting portion provided in the work vehicle. When the work vehicle is in the 2 nd mode, the settings of the 1 st vehicle speed and the 2 nd vehicle speed can be changed in accordance with an operation of the vehicle speed setting unit provided in a wireless communication device that performs wireless communication with the work vehicle.
Thus, in the 1 st mode, the vehicle speed setting unit on the work vehicle side is operated by the user on board the work vehicle, and in the 2 nd mode, the vehicle speed setting unit of the wireless communication device is operated by the user outside the work vehicle, whereby the vehicle speed can be changed.
The work vehicle is preferably configured as follows. That is, the work vehicle includes a position information acquisition unit, an operation unit, and an autonomous travel control unit. The position information acquiring unit acquires position information of the vehicle body unit. The operation unit is disposed on the vehicle body unit. The autonomous travel control unit causes the vehicle body unit to autonomously travel along a predetermined route. When the autonomous travel control unit autonomously travels the vehicle body, the work machine control unit controls the working state of the work machine based on the work command or the non-work command output by the command output unit, or an operation unit command output in association with an operation on the operation unit. The work machine control unit controls the work state of the work machine in accordance with the operation unit command, in preference to the work command or the non-work command.
Thus, control can be performed in which the user's intention is prioritized with respect to switching between the working state and the non-working state of the working machine.
In the work vehicle, it is preferable that: when the work instruction or the non-work instruction is input when the work state of the work machine is controlled based on the operation portion instruction, the work machine control portion does not control the work state of the work machine based on the work instruction or the non-work instruction.
This enables control that does not interfere with the user's intention.
In the work vehicle, it is preferable that: when the operating unit command is input when the operating state of the work machine is controlled based on the work command or the non-work command, the work machine control unit controls the operating state of the work machine based on the operating unit command.
Thus, when the control by autonomous traveling is performed in advance, the control according to the intention of the user can be performed so as to stop the control.
Drawings
Fig. 1 is a side view showing a state in which a working machine attached to a tractor according to an embodiment of the present invention is not in operation.
Fig. 2 is a top view of the tractor.
Fig. 3 is a plan view showing various operation devices arranged around a seat.
Fig. 4 is a block diagram showing the main electrical structure of the tractor.
Fig. 5 is a schematic diagram showing an example of an autonomous travel route in the case where the tractor performs autonomous travel and autonomous work.
Fig. 6 is a side view showing a state in which the working machine is lowered from the state of fig. 1 and is shifted to the working state.
Fig. 7 is a diagram illustrating a relationship of control timing when the work implement is switched from the non-work state to the work state during autonomous traveling and autonomous work.
Fig. 8 is a diagram illustrating a relationship of control timing when the work implement is switched from the working state to the non-working state during autonomous traveling and autonomous working.
Fig. 9 is a flowchart for explaining the processing performed by the work machine control unit.
Fig. 10 is a diagram showing a wireless communication terminal used in a case where a user performs autonomous travel and autonomous work without riding on a tractor.
Fig. 11 is a diagram showing an example of display of an autonomous traveling monitoring screen on a display of a wireless communication terminal.
Detailed Description
Next, embodiments of the present invention will be described with reference to the drawings. Hereinafter, the same components are denoted by the same reference numerals in the drawings, and redundant description thereof may be omitted. Note that names of components and the like corresponding to the same reference numerals may be described in short, or may be described by names of upper concepts or lower concepts.
The present invention relates to a work vehicle: the working vehicle 1 or more can travel in a predetermined field to perform all or a part of agricultural work in the field. In the present embodiment, a tractor is used as the work vehicle, but the work vehicle includes, in addition to a tractor, a rice transplanter, a combine harvester, a civil engineering and construction work apparatus, a riding type work machine such as a snow plough, and a walking type work machine. In the present specification, autonomous traveling means that a control unit (ECU) provided in a tractor controls a structure related to traveling provided in the tractor so that the tractor travels along a predetermined route, and autonomous operation means that the control unit provided in the tractor controls a structure related to operation provided in the tractor so that the tractor operates along the predetermined route. In contrast, the manual travel and the manual work mean that the user operates each component provided in the tractor to travel and work.
In the following description, a tractor that performs autonomous travel and autonomous operation is sometimes referred to as an "autonomous travel tractor", and a tractor that performs manual travel and manual operation is sometimes referred to as a "manual travel tractor". The autonomous travel and the autonomous work include a case where the user travels autonomously while riding on a tractor and performs the autonomous work, and a case where the user does not travel autonomously while riding on a tractor and performs the autonomous work. On the other hand, when performing manual travel or manual work, the user rides on a tractor.
Next, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a side view showing a state in which a working machine 3 mounted on a tractor 1 according to an embodiment of the present invention is not in operation. Fig. 2 is a plan view of the tractor 1. Fig. 3 is a plan view showing various operation devices arranged around the seat 13. Fig. 4 is a block diagram showing the main electrical structure of the tractor 1.
A tractor 1 according to an embodiment of the present invention is configured such that: although it can be used as a manual travel tractor, it has a function as an autonomous travel tractor, and performs autonomous travel and autonomous work according to an autonomous travel route (route) generated by a route generation system while a user is riding thereon. However, the tractor 1 can also perform autonomous traveling and autonomous work without the user riding thereon. First, the tractor 1 will be described with reference mainly to fig. 1 and 2.
The tractor 1 has a traveling machine body 2 as a vehicle body portion that autonomously travels in a field. For example, various working machines such as a cultivator (management machine), a plowing machine, a fertilizer applicator, a mower, and a seeder can be selected and mounted on the travel machine body 2, and in the present embodiment, a rotary cultivator is mounted as the working machine 3.
The structure of the tractor 1 will be described in more detail below. As shown in fig. 1, a travel machine body 2 of a tractor 1 has a front portion supported by left and right 1 pairs of front wheels 7, 7 and a rear portion supported by left and right 1 pairs of rear wheels 8, 8.
An engine cover 9 is disposed at the front of the traveling machine body 2. In the present embodiment, an engine 10 or the like as a drive source of the tractor 1 is housed in the engine cover 9. The engine 10 may be constituted by, for example, a diesel engine, but is not limited thereto, and may be constituted by, for example, a gasoline engine. Further, the drive source may be engine 10+ motor, or may be a motor instead of engine 10. The fuel tank may be disposed outside the engine cover 9.
A cab 11 on which a user rides is disposed behind the engine cover 9. The cab 11 is mainly provided with: a steering wheel 12 for a user to perform a steering operation; a seat 13 on which a user can sit; and various operation devices for performing various operations. However, the work vehicle is not limited to the configuration including cab 11, and may be configured without cab 11.
As the operation devices, for example, the monitoring device 70, the throttle lever 15, the reversing lever (reverse lever)26, the main shift lever (shift operation element) 27, the speed/rotation speed selection switch 29, the speed/rotation speed setting change dial (vehicle speed setting portion) 14, the dial setting change switch 16, the sub-shift lever 19, the PTO switch 17, the PTO shift lever 18, the work machine up-down switch (operation portion) 28, the work machine down speed adjustment knob 75, and the like shown in fig. 3 can be given. The operation device is disposed near the seat 13 or near the steering wheel 12.
The monitoring device 70 is configured to be capable of displaying various information of the tractor 1. The monitoring device 70 is provided with input means such as buttons and dials, and a user can input various instructions to the tractor 1 by operating the input means.
The throttle lever 15 is an operation member for setting the output rotation speed of the engine 10.
The reversing lever 26 is an operation member for switching the forward, backward, and stop of the tractor 1. The main shift lever 27 is an operation member for steplessly changing the speed at which the tractor 1 travels in the direction indicated by the selector lever 26.
The speed/rotation speed selection changeover switch 29 is an operation member as follows: when the tractor 1 that performs manual travel and manual work is in a mode of traveling selected from 2 combinations of the vehicle speed of the tractor 1 and the rotation speed of the engine 10 that are set in advance (hereinafter, referred to as a set-selected travel mode), the selection is alternately switched. The speed/rotation speed setting change dial 14 is an operation element for adjusting the set values of the speed of the tractor 1 and the rotation speed of the engine 10 for each of the 2 settings selected in the setting selection travel mode. The dial setting changeover switch 16 is an operation element for changing over whether the speed/rotation speed setting change dial 14 changes the set value of the vehicle speed of the tractor 1 or the set value of the rotation speed of the engine 10.
However, when the user performs autonomous traveling or autonomous operation while riding on the tractor 1, the speed/rotation speed setting change dial 14 and the dial setting changeover switch 16 are also used to instruct the setting of the vehicle speed and the engine rotation speed at the time of operation and at the time of non-operation, which will be described later.
The sub-shift lever 19 is an operation member for switching the gear ratio of the running sub-transmission gear mechanism in the transmission 22.
The PTO switch 17 is an operation member for switching between transmission and disconnection of power to and from a PTO shaft (power transmission shaft) which is not shown and protrudes from the rear end of the transmission 22. The PTO transmission lever 18 is an operation member for performing a transmission operation of the rotational speed of the PTO shaft.
The work implement elevation switch 28 is an operation member for performing an elevation operation of the work implement 3 mounted on the travel machine body 2 within a predetermined range of height. The work machine lowering speed adjustment knob 75 is an operation tool for adjusting the speed of the work machine 3 when it is lowered.
As shown in fig. 3, the seat 13 is provided with a seating sensor (detecting unit) 13a that detects whether or not a user is seated on the seat. The seating sensor 13a may be configured by a membrane switch, for example.
As shown in fig. 1, a chassis 20 of the tractor 1 is provided at a lower portion of the travel machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.
The body frame 21 is a support member for the front portion of the tractor 1, and supports the engine 10 directly or via a vibration isolation member or the like. The transmission 22 varies power from the engine 10 and transmits the power to a front axle 23 and a rear axle 24. The front axle 23 is configured to transmit power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit power input from the transmission 22 to the rear wheels 8.
As shown in fig. 4, the tractor 1 includes a control unit 4 for controlling the operation (forward, backward, stop, and turning) of the travel machine body 2 and the operation (lifting, driving, and stopping) of the working machine 3. The control unit 4 includes a CPU, ROM, RAM, I/O, and the like, which are not shown, and the CPU can read various programs from the ROM and execute the programs. The ROM stores an operation program, an application program, and various data. The control unit 4 can be operated as the storage unit 38, the route generation unit (route generation system) 39, the autonomous driving control unit 32, and the like by cooperation of the hardware and the software. By providing the tractor with various structures such as the positioning antenna 6, the tractor can travel autonomously and perform autonomous operation.
The controller and the like for controlling the respective components (for example, the engine 10 and the like) provided in the tractor 1 are electrically connected to the control unit 4.
The tractor 1 includes, as the above-described controllers, at least an engine controller, a vehicle speed controller, a steering controller, a lift controller, and a PTO controller, which are not shown. Each controller can control each configuration of the tractor 1 based on an electric signal from the control unit 4.
The engine controller controls the rotation speed and the like of the engine 10. The engine controller is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 10. The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, by controlling the opening and closing of the fuel injection valve of the injector for each cylinder of the engine 10, the high-pressure fuel pressure-fed from the fuel tank to the common rail device 41 by the fuel supply pump is injected from each injector to each cylinder of the engine 10, and the injection pressure, the injection time, and the injection period (injection amount) of the fuel supplied from each injector are controlled with high accuracy. The engine controller controls the common rail device 41, and thus, for example, the fuel supply to the engine 10 is stopped and the driving of the engine 10 is stopped.
The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42, which is a movable swash plate type hydraulic continuously variable transmission, for example. The vehicle speed controller changes the speed ratio of the transmission 22 by changing the angle of the swash plate of the transmission 42 by an actuator, not shown, to achieve a desired vehicle speed.
The steering controller controls the turning angle of the steering wheel 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering wheel 12. According to this structure, in the case where the tractor 1 (as an autonomous traveling tractor) travels along a predetermined path, the control portion 4 calculates an appropriate turning angle of the steering wheel 12 that causes the tractor 1 to travel along the path, and sends a control signal to the steering controller so as to achieve the obtained turning angle. The steering controller drives the steering actuator 43 based on a control signal input from the control unit 4, and controls the turning angle of the steering wheel 12. The steering controller may adjust the steering angle of the front wheels 7 of the tractor 1 without adjusting the turning angle of the steering wheel 12. In this case, the steering wheel 12 does not turn even if the swing travel is performed.
The lift controller controls the lifting of the work implement 3. Specifically, the tractor 1 includes a lift actuator 44 formed of a known hydraulic lift cylinder in the vicinity of a 3-point link mechanism for connecting the working machine 3 and the travel machine body 2. According to this configuration, the lift controller opens and closes an electromagnetic valve, not shown, based on a control signal input from the control unit 4 to drive the lift cylinder, thereby appropriately driving the work implement 3 to move up and down. The lift cylinder is of a single-acting type and is configured to: the working machine 3 is raised by supplying the hydraulic oil to the cylinder, and the working machine 3 is lowered by its own weight by discharging the hydraulic oil from the cylinder. Although not shown, a known lowering speed adjusting valve is disposed in a discharge path of the hydraulic oil from the cylinder, and a user can adjust a speed at which the work implement 3 is lowered by operating an opening degree of the lowering speed adjusting valve with the work implement lowering speed adjusting knob 75 of fig. 3.
With the lift controller having the above configuration, the work implement 3 can be supported at a required height such as a non-work height at which no work is performed and a work height at which work is performed. In the present embodiment, the working machine 3 attached to the travel machine body 2 is configured as a rotary tiller, and therefore, the work performed by the working machine 3 means tilling work.
The PTO controller controls rotation of the PTO shaft. Specifically, the tractor 1 includes a PTO clutch 45 for switching transmission/disconnection of power to/from a PTO shaft (power transmission shaft). According to this configuration, the PTO controller can switch the PTO clutch 45 based on the control signal input from the control unit 4, and drive or stop the rotation of the working machine 3 via the PTO shaft.
Since the plurality of controllers, not shown, control the respective units such as the engine 10 based on the signals input from the control unit 4, it is possible to grasp that the control unit 4 substantially controls the respective units.
The tractor 1 including the control unit 4 as described above is configured such that: the tractor has a function as a manually traveling tractor, and when a user rides in the cab 11 and performs various operations, the control unit 4 can control various parts (the traveling machine body 2, the working machine 3, and the like) of the tractor 1, and agricultural work can be performed while traveling in a field.
Further, as shown in fig. 4 and the like, the tractor according to embodiment 1 has various configurations for functioning as an autonomous traveling tractor. For example, the tractor 1 includes a positioning antenna 6 and the like required to acquire positional information of itself (the traveling machine body 2) based on a positioning system. According to this configuration, the tractor 1 can autonomously travel on the field (within a specific area) based on the position information of the positioning system itself.
Next, a configuration provided to enable the tractor 1 to travel autonomously and perform autonomous operation will be described. Specifically, as shown in fig. 4, the tractor 1 of the present embodiment includes a positioning antenna 6 in addition to the control unit 4 described above.
The positioning antenna 6 receives signals from positioning satellites constituting a satellite positioning system (GNSS). As shown in fig. 1, the positioning antenna 6 is attached to the upper surface of the roof 5 provided in the cab 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to a position information calculation unit (position information acquisition unit) 49 shown in fig. 4. The position information calculation unit 49 calculates the position information of the travel machine body 2 (strictly, the positioning antenna 6) of the tractor 1, for example, in the form of latitude and longitude information. The position information acquired by the position information calculation unit 49 is used for autonomous traveling performed by the control unit 4.
In the present embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems may be used. For example, the use of a relative positioning system (DGPS), or a satellite navigation augmentation system (SBAS) of the geostationary satellite type may be considered.
The tractor 1 is provided with an inertia measuring device, not shown. The inertial measurement unit is a known configuration including an angular velocity sensor and an acceleration sensor, and is configured to: the position of the tractor 1 can be acquired even when radio waves or the like cannot be received in the GNSS positioning.
An antenna 48 for wireless communication is provided at an appropriate position outside the cab 11 of the tractor 1. The wireless communication antenna 48 is electrically connected to the wireless communication unit 40 of the tractor 1. The wireless communication antenna 48 is used for instructing and interacting information with a remote operation device of the user when the user performs autonomous driving and autonomous work without riding on the tractor 1. The remote operation device will be described in detail later.
Next, an autonomous travel route, which is a route traveled by the tractor 1 when performing autonomous travel and autonomous work, will be described. Fig. 5 is a schematic diagram showing an example of the autonomous travel path P in the case where the tractor 1 performs autonomous travel and autonomous work.
When the user intends to cause the tractor 1 to autonomously travel and perform autonomous work while riding on the tractor 1, the autonomous travel route P shown in fig. 5 can be generated by operating the monitoring device 70 shown in fig. 3 and performing various settings.
The autonomous travel route P is generated by connecting a work start position S and a work end position E that have been specified in advance. The autonomous travel route P is configured by alternately connecting a straight or broken-line-shaped autonomous working path (linear path for autonomous working) P1 and a U-shaped connecting path (circular path including a circular arc portion for performing a turning operation and a folding operation) P2 that connects the ends of the autonomous working path P1.
As shown in fig. 5, when the autonomous travel path P is generated, the heading and the non-cultivated land (side edge) are set as the non-working area 62 where the working machine 3 does not perform work in the target field, and the area other than the non-working area 62 becomes the working area 61. The above-described autonomous working paths (paths) P1, P1, and … are arranged in a plurality of rows in the working area 61, and the connecting paths P2, P2, and … are generated so as to be arranged in the non-working area 62 (ground). In the present embodiment, a region in which the non-working region 62 and the working region 61 are merged may be referred to as a specific region 60.
In the example of fig. 5, the autonomous working paths P1, P1, and … are formed in a straight line shape, and the connecting paths P2, P2, and … are formed in a U shape. The main work paths P1, P1, and … are arranged to pass through the work area 61, and the connecting path P2 is arranged to connect the end portions of the adjacent P1 and P1 to each other at the head of the non-work area 62. In the autonomous travel route P thus created, the direction change is performed by 180 ° in each connecting road P2, and therefore, the travel directions of the tractor 1 are directed in the opposite directions between a certain autonomous working road P1 and the autonomous working road P1 adjacent thereto.
The information on the autonomous travel route P may be generated by inputting data generated by an external computer (which may be a wireless communication terminal 81 described later) to the control unit 4 by an appropriate means such as communication, instead of being generated by the route generation unit 39. Then, the user can control the tractor 1 by the control unit 4 (autonomous travel control unit 32) by performing a predetermined operation on the tractor 1, and can perform agricultural work along the autonomous working path P1 by the working machine 3 while autonomously traveling along the autonomous traveling path P.
Next, the raising and lowering of work implement 3 will be described with reference to fig. 1, 6, and the like. Fig. 6 is a side view showing a state in which the working machine 3 is lowered from the state of fig. 1 and is shifted to the working state.
As shown in fig. 1, a working machine 3 is mounted on a rear portion of a travel machine body 2 of a tractor 1. As described above, by transmitting a part of the driving force of the engine 10 to the working machine 3 via the PTO shaft, the working machine 3 can be driven to perform the tilling operation. A plurality of tilling claws (working body) 25 are provided at a lower portion of the working machine 3, and the tilling claws 25 are driven to rotate about a horizontally arranged shaft.
Fig. 1, 2 and the like show a rotation axis 25c of the tilling claw 25. By lowering the working machine 3 to the working height shown in fig. 6, the rotating tilling claws 25 can be brought into contact with the soil, and the tilling work of the field can be performed at a predetermined depth corresponding to the working height. Further, the tilling operation can be stopped by stopping the rotation of the tilling claws 25 or by raising the working machine 3 to the non-working height shown in fig. 1. The user can raise and lower work implement 3 by operating work implement raising and lowering switch 28, and work implement control unit 34 can also perform automatic control.
Here, in the present embodiment, the "working state" of the working machine 3 means a state in which the working machine 3 is lowered to the working height and the tilling claw 25 is rotated. The "non-working state" means a state other than the working state described above, for example, a state in which the working machine 3 is raised to a non-working height and the rotation of the tilling claws 25 is stopped.
In addition, when autonomous traveling and autonomous operation are performed, the tractor 1 of the present embodiment can set the vehicle speed of the tractor 1 and the rotation speed of the engine 10 in advance for the operating state and the non-operating state of the working machine 3, respectively. This setting is performed by the speed/rotation speed setting change dial 14 and the dial setting changeover switch 16. Furthermore, the control is: when the working machine 3 is switched between the working state and the non-working state during autonomous traveling and autonomous working of the tractor 1, the vehicle speed of the tractor 1 and the rotation speed of the engine 10 are also switched between the above settings in conjunction with this.
In addition, the setting of the vehicle speed and the rotation speed of the engine 10 of the tractor 1 in the operating state and the non-operating state can be changed not only during the stop of the tractor 1, but also during the autonomous travel and autonomous operation of the tractor 1, by the user operating the speed/rotation speed setting change dial 14 or the like.
Next, the control unit 4 will be described with reference to fig. 4. As described above, the control unit 4 includes the storage unit 38, the route generation unit 39, and the autonomous travel control unit 32.
The storage unit 38 stores various information required for the tractor 1 to perform autonomous travel and autonomous work. The contents stored in the storage unit 38 will be described in detail later.
The route generation unit 39 generates an autonomous travel route P on which the tractor 1 autonomously travels and autonomously performs an autonomous operation, based on various information stored in the storage unit 38. The information on the autonomous travel route P generated by the route generation unit 39 is stored in the storage unit 38.
The autonomous travel control unit 32 performs collective control related to autonomous travel and autonomous work. The autonomous travel control unit 32 is configured to: the tractor 1 can be switched between a manned autonomous travel mode (mode 1) in which autonomous travel and autonomous operation are performed while the user is riding, and an unmanned autonomous travel mode (mode 2) in which autonomous travel and autonomous operation are performed while the user is not riding, so that the tractor 1 can autonomously travel along the autonomous travel route P stored in the storage unit 38.
The autonomous traveling control unit 32 includes a command output unit 33, a work machine control unit 34, a vehicle speed control unit 35, a steering control unit 36, and a remaining distance acquisition unit (distance acquisition unit) 37.
While the tractor 1 is traveling along the autonomous travel path P in the field (specific area 60) shown in fig. 5, the command output unit 33 outputs a work command for controlling the work implement 3 to the work state and a non-work command for controlling the work implement 3 to the non-work state at appropriate timings in order to perform work on a portion corresponding to the work area 61 by the work implement 3.
Work implement control unit 34 shown in fig. 4 controls work implement 3 to be switched from the non-work state to the work state in response to the work command output from command output unit 33, and controls work implement 3 to be switched from the work state to the non-work state in response to the non-work command output from command output unit 33. Specifically, the work machine control unit 34 transmits a signal to the PTO clutch 45 to switch and control transmission/disconnection of power to the PTO shaft, and also transmits a signal to the lift actuator 44 to control the lifting of the work machine 3.
The vehicle speed control unit 35 transmits a control signal to the transmission 42 and the like to control the vehicle speed of the traveling machine body 2. The vehicle speed control unit 35 controls the vehicle speed of the traveling machine body 2 to be switched from the vehicle speed at the time of non-work to the vehicle speed at the time of work based on the work command output by the command output unit 33, or controls the vehicle speed of the traveling machine body 2 to be switched from the vehicle speed at the time of work to the vehicle speed at the time of non-work based on the non-work command output by the command output unit 33. The vehicle speed at the time of working (1 st vehicle speed) is a vehicle speed at the time of working of the working machine 3, and the vehicle speed at the time of non-working (2 nd vehicle speed) is a vehicle speed at the time of non-working of the working machine 3. As described above, the vehicle speed at the time of the work and the vehicle speed at the time of the non-work are set by the speed/rotation number setting/changing dial 14.
The steering control portion 36 sends a control signal to the steering actuator 43, thereby causing the traveling machine body 2 to perform automatic steering so as to travel along the autonomous travel path P.
The surplus distance acquisition unit 37 acquires the distance between the rotation axis 25c of the tilling claw 25 included in the work machine 3 and a switching target position, which will be described later, and outputs the acquired distance to the command output unit 33. The remaining distance acquiring unit 37 will be described in detail later.
Next, the timing of switching between the working state and the non-working state of working implement 3 during autonomous traveling and autonomous working will be described.
Regarding the timing of switching the working machine 3 from the working state or the non-working state to the non-working state or the working state when the tractor 1 is caused to autonomously travel and work is performed by the working machine 3, for example, it is conceivable to rotate the tilling claw 25 and lower the working machine 3 to the working height at the timing when the tractor 1 traveling along the autonomous travel path P of fig. 5 enters the working area 61 from the non-working area 62. It is also conceivable to stop the rotation of the tilling claw 25 and raise the working implement 3 from the working height at the timing when the tractor 1 moves from the working area 61 to the non-working area 62.
However, as described above, when the tractor 1 is autonomously traveling, the position information of the tractor itself is acquired by the satellite positioning system (from the position information calculation unit 49 in fig. 4). However, for example, as shown in fig. 1, in the tractor 1, the position of the tilling claw 25 of the working machine 3 (the position of the rotation axis 25 c) is arranged rearward of the position where the positioning antenna 6 is mounted. Therefore, there is a possibility that a deviation occurs between the timing at which the positioning antenna 6 moves into and out of the working area 61 and the timing at which the tilling claw 25 that actually acts on the soil to perform work moves into and out of the working area 61. Further, as described above, the tractor 1 travels in the opposite direction between the 2 adjacent autonomous working paths P1, P1. Therefore, it is assumed that the following control is simply performed: when the tilling operation is started by the working machine 3 at the timing when the position of the positioning antenna 6 enters the working area 61 and the tilling operation is stopped at the timing when the position of the positioning antenna 6 is separated from the working area 61, there is a possibility that the end portions of the area where the tilling operation is actually performed by the working machine 3 are not aligned between the adjacent autonomous working paths P1, P1. In this case, the appearance is poor in appearance, and the subsequent fine work process is time-consuming.
It is also conceivable to control the timing of starting and stopping the tilling work with reference to the timing when the rear end of the working machine 3 moves into and out of the working area 61, instead of the positioning antenna 6 moving into and out of the working area. However, in this case, when a work machine (for example, a plow) having a long front-rear length is used, a region where work is actually performed may be greatly deviated between the adjacent autonomous working paths P1 and P1.
Therefore, the control unit 4 provided in the tractor 1 of the present embodiment controls the timing of starting and stopping the tilling operation based on the position of the rotation axis 25c of the tilling claw 25 performing the tilling operation, as described below. Since the claw shaft position divides the area in the front-rear direction of the machine body, in which the tilling claws 25 actually work on the soil to perform the tilling work, into two equal parts, the claw shaft position can be referred to as the work center position of the working machine 3.
First, the information stored in the storage unit 38 will be described in detail. As shown in fig. 4, the storage unit 38 includes: a work implement distance storage unit (work implement distance acquisition unit) 51, an area storage unit 52, a route storage unit 53, a work edge distance storage unit 54, a vehicle speed setting storage unit 55, and a required descent time storage unit (required time storage unit) 56.
The work implement distance storage unit 51 stores a work implement horizontal distance L (i.e., a horizontal distance from the position of the rotation axis 25c of the tilling claw 25 to the position of the positioning antenna 6) shown in fig. 1, 2, and the like. In the following description, the position of the rotation axis 25c of the tilling claw 25 is sometimes referred to as a claw shaft position, and the position at which the antenna 6 is positioned is sometimes referred to as an antenna position. The work machine horizontal distance L is input by the user before the tractor 1 starts autonomous traveling. Specifically, when the user inputs the distance between the rotation axis 25c of the tilling claw 25 and the positioning antenna 6 using, for example, the monitoring device 70, the work implement distance storage unit 51 stores the value of the distance as the work implement horizontal distance L.
However, convenience can be improved by configuring as follows: the work machine that can be mounted on the traveling machine body 2 and the work center position of the work machine are stored in the control unit 4 or the like in advance in an associated manner, and the user automatically sets the work machine horizontal distance L by, for example, merely selecting the model name of the work machine or the like in the monitoring device 70.
The area storage unit 52 shown in fig. 4 stores information on the working area 61 (specifically, information on the position, shape, and the like of the working area 61) set in advance by the user and information on the non-working area 62 which is the remaining area. For example, the information of the work area 61 may be set by the user operating the monitoring device 70 appropriately before starting autonomous traveling or autonomous work.
The route storage unit 53 stores information of an autonomous travel route P, which is a route for the tractor 1 to perform autonomous travel and autonomous work.
The working edge distance storage unit 54 stores an edge distance M that is: when the tractor 1 performs autonomous traveling and autonomous work, the margin distance for performing extra work on the non-work area 62 along the connecting path P2 before and after the work on the autonomous work path P1 is set so that a work omission does not occur at the end portion of the work area 61 (in the vicinity of the boundary between the non-work area 62) even if an error occurs in the raising and lowering of the work implement 3 or the like. As shown in fig. 5, for each of the routes of the autonomous working paths P1 arranged in line in the working area 61, a point separated from the upstream end and the downstream end (in other words, the boundary between the working area 61 and the non-working area 62) by the edge distance M toward the non-working area 62 along the connecting path P2 is set as a switching target position (reference position) which is a point at which the working machine 3 should be switched between the working state and the non-working state. Therefore, the work edge distance storage unit 54 may be referred to as a setting unit for setting the switching target position.
The set value of the edge distance M stored in the working edge distance storage unit 54 can be changed by the user operating, for example, the monitoring device 70 of the tractor 1. The edge distance M may be configured such that, for example, a set value at the time of shipment cannot be changed.
The edge distance M is the same between the switching target position set before the non-working area 62 enters the working area 61 and the switching target position set after the working area 61 arrives at the non-working area 62. Further, although a plurality of switching target positions are set on the autonomous travel path P, the edge distance M is constant on all autonomous travel paths P. Therefore, for example, as shown in fig. 5, when the work area 61 is set in a rectangular shape, between a stroke in which the tractor 1 is caused to travel in a certain direction and a stroke in which the tractor 1 is caused to travel in the opposite direction to the certain direction, it is possible to control the end portions of the portions where work is actually performed to be aligned, and it is possible to realize good appearance.
The vehicle speed setting storage unit 55 stores the value set by the speed/rotation speed setting change dial 14 for the vehicle speed during the above-described operation and the vehicle speed during the non-operation.
The required lowering time storage unit 56 stores the time from when the work implement 3 at the non-work height starts to be lowered to when the work height is reached.
In this configuration, in order to cause the work machine control unit 34 to control the raising and lowering of the work machine 3 at an appropriate timing, the command output unit 33 calculates the claw shaft position based on the position of the positioning antenna 6 calculated by the position information calculation unit 49 and the work machine horizontal distance L stored in the work machine distance storage unit 51.
Further, when the tractor 1 enters the working area 61 from the non-working area 62, the command output portion 33 controls the lift actuator 44 and the like via the working machine control portion 34 so that the timing at which the obtained claw shaft position reaches the switching target position before entering the working area 61 shifts to a state in which the working machine 3 is lowered to the working height and the tilling claws 25 rotate (the working machine 3 shifts to the aforementioned working state). When the tractor 1 moves from the working area 61 to the non-working area 62, the command output unit 33 controls the lift actuator 44 and the like via the working machine control unit 34 so that the rotation of the tilling claws 25 is stopped and the working machine 3 starts to ascend from the working height at the timing when the obtained claw shaft position reaches the switching target position after moving to the non-working area 62 (the working machine 3 shifts to the above-described non-working state).
The switching target position may be obtained by calculation based on the information of the work area 61 stored by the area storage unit 52, the information of the autonomous travel route P stored by the route storage unit 53, and the edge distance M stored by the work edge distance storage unit 54.
Next, control by the autonomous travel control unit 32 and the work machine control unit 34 when the travel machine body 2 and the work machine 3 move from the non-work area to the work area will be described. Fig. 7 is a diagram illustrating a relationship of control timing when switching the working machine 3 from the non-working state to the working state during autonomous traveling and autonomous working.
As described above, when the tractor 1 performs autonomous traveling, autonomous operation, and the traveling machine body 2 and the working machine 3 travel in the non-working area 62 (the connecting path P2), the working machine 3 rises to the non-working height (specifically, the highest height) as shown in fig. 1, and is in a state in which the tilling claw 25 does not rotate (non-working state) because the PTO clutch 45 is disengaged. At this time, the work machine control unit 34 is set to a mode (up-down mode) for maintaining the non-working height. Therefore, the tilling claw 25 is stationary without being in contact with the ground surface and does not perform tilling work.
When the travel machine body 2 has almost finished traveling along the connection path P2 and the work implement 3 approaches the switching target position, as shown in fig. 7 a, a control signal (work command) instructing the work implement 3 to switch to the work state is output from the command output unit 33 to the work implement control unit 34 and the vehicle speed control unit 35. The timing at which the command output unit 33 outputs the job command will be described in detail later.
When the work command is input, the work machine control unit 34 transmits a signal to the PTO clutch 45 to instruct the release of the stop of the PTO, as shown in fig. 7 (b). However, in this case, the work machine control unit 34 is configured to: the PTO stop release instruction is transmitted after waiting for a certain time from the time of input of the operation command for the reason of securing a preparation time for control or the like. The waiting time TW1 may be set to a predetermined time between 50 milliseconds and 500 milliseconds, for example. When the PTO clutch 45 receives the PTO stop release instruction, it is shifted to the engaged state, and the tilling claw 25 starts rotating along with this.
At the same time as the PTO stop release instruction, the work machine control unit 34 controls to lower the work machine 3. Specifically, the hydraulic oil of the lift actuator 44 (lift cylinder) is discharged by opening an electromagnetic valve (not shown), and the work machine 3 starts to descend by its own weight as shown in fig. 7 (d). Since the tilling claw 25 has already started rotating, the work machine 3 is shifted to the working state at the time when the work machine 3 descends and reaches the working height. In order to lower the working machine 3 at the non-working height to the working height, a corresponding time is required. Since the lowering speed of the work implement 3 changes depending on the opening degree of the lowering speed adjustment valve, the weight of the work implement 3, and the like, the time (the required lowering time TR1) required for the work implement 3 to reach the working height by lowering varies depending on the actual situation.
Since the weight of work implement 3 varies due to the adhesion of soil or the like, tractor 1 of the present embodiment does not include a sensor for directly detecting the weight of work implement 3, and therefore the accuracy of estimating time TR1 required to decrease is not necessarily high. On the other hand, although not shown, tractor 1 includes a work implement height sensor (e.g., a potentiometer) for detecting the support height of work implement 3, and therefore, the time from the start of lowering of work implement 3 to the actual arrival at the work height can be measured by a not-shown timer circuit (measuring unit). Therefore, command output unit 33 actually measures and stores in necessary-to-descend time storage unit 56 necessary time TR1 for the time when work implement 3 is lowered in advance, and uses the stored contents of necessary-to-descend time storage unit 56 in estimating necessary-to-descend time TR1 for the next time work implement 3 is lowered, thereby improving the accuracy. However, for example, when a new work implement 3 is mounted on travel machine body 2, the required descent time is unclear, and in this case, a predetermined initial value (initially set time) is stored in required descent time storage unit 56 and used for initial estimation. The time required for the average decrease may be examined and the time may be appropriately set initially. When the required descent time TR1 is measured, the content stored in the required descent time storage unit 56 is updated from the initial value to the measurement value. Then, the contents stored in the required descent time storage unit 56 are updated as needed by using the latest measurement value.
On the other hand, as shown in fig. 7(f), when a work command is input from the command output unit 33, the vehicle speed control unit 35 immediately starts increasing/decreasing the speed so that the vehicle speed of the tractor 1 approaches the set value of the vehicle speed at the time of work from the current vehicle speed (which generally coincides with the set value of the vehicle speed at the time of non-work). Since the change control of the vehicle speed is started almost at the same time as the command output unit 33 outputs the work command, the vehicle speed of the tractor 1 is equal to the set value of the vehicle speed at the time of the work at an appropriate timing before the working machine 3 reaches the work height. In addition, how the vehicle speed is changed in the process of shifting from the vehicle speed at the non-working time to the vehicle speed at the working time may be appropriately determined, and for example, the vehicle speed may be linearly changed or may be changed in a broken line or a curved line.
However, when the tractor 1 travels on the connection path P2, the timing at which the claw shaft position of the working implement 3 reaches the switching target position can be estimated based on the distance from the current claw shaft position to the switching target position (hereinafter, sometimes referred to as the remaining distance) and the vehicle speed of the travel machine body 2. The remaining distance acquisition unit 37 can obtain the remaining distance by performing calculation based on the position information of the traveling machine body 2 (strictly, the positioning antenna 6), the work machine horizontal distance L, and the switching target position.
In addition, until the claw shaft position of the working machine 3 reaches the switching target position, the vehicle speed of the traveling machine body 2 (tractor 1) changes from the set value of the vehicle speed at the non-operation time of the tractor 1 to the set value of the vehicle speed at the operation time. Therefore, command output unit 33 obtains the timing of outputting the work command by calculation in consideration of the remaining distance, the set value of the vehicle speed at the time of non-work, the rate of change in the speed from the set value of the vehicle speed at the time of non-work to the set value of the vehicle speed at the time of work, wait time TW1, and required drop time TR1, so that work implement 3 shifts to the work state at the timing when the claw shaft position of work implement 3 reaches the switching target position. Thus, even if the vehicle speed at the time of non-work is the same, the output timing of the work command is advanced when the vehicle speed at the time of work is greater than the vehicle speed at the time of non-work, and the output timing of the work command is retarded when the vehicle speed at the time of work is less than the vehicle speed at the time of non-work. For example, the output timing of the work command differs between a case where the vehicle speed during non-work increases and decreases at a constant rate of change from the vehicle speed during non-work to the vehicle speed during work, and a case where the vehicle speed initially increases and decreases at a large rate of change from the vehicle speed during non-work and then increases and decreases at a small rate of change after approaching the vehicle speed during work. The command output unit 33 outputs a work command at such a timing that the work machine 3 (the tilling claws 25) can start working from the switching target position. In addition, in the present embodiment, since the control is performed with reference to the position of the claw shaft of the working machine 3, the end portion of the region where the tilling claw 25 functions at a desired depth can be accurately matched with the switching target position. Therefore, the appearance of the work is improved.
Further, the switching target position is set to a position slightly on the front side with respect to the boundary between the non-working area 62 and the working area 61 as viewed from the tractor 1 traveling on the connecting path P2. Due to the presence of this edge, even when the timing of lowering the work implement 3 or the like is delayed, it is possible to prevent an unworked portion from being generated in the work area 61.
When the working machine 3 reaches the working height, the working machine control unit 34 switches from the elevation mode to the automatic rotation mode, and performs control for maintaining the working height, as shown in fig. 7 (c). Then, the claw shaft position of the working machine 3 enters the working area 61. The tractor 1 travels in the working area 61 along the autonomous working path P1 at a speed set to a vehicle speed at the time of working while performing work by the tilling claws 25 of the working machine 3.
Next, control when the travel machine body 2 and the work machine 3 move from the work area 61 to the non-work area 62 in reverse to the above-described operation will be described. Fig. 8 is a diagram illustrating a relationship of control timing when work implement 3 is switched from the working state to the non-working state during autonomous traveling and autonomous working.
When the tractor 1 performs autonomous traveling and autonomous operation and the traveling machine body 2 and the working machine 3 travel in the working area 61 (the autonomous working path P1), the working machine 3 performs work at the working height and the PTO clutch is engaged, so that the tilling claws 25 are in a state of rotating (working state). At this time, the work machine control unit 34 is in a mode (automatic rotation mode) for performing control for maintaining the work height. Thus, the rotary tilling claws 25 perform tilling work at a depth corresponding to the working height.
When the travel machine body 2 finishes traveling along the autonomous working path P1 and the working implement 3 approaches the switching target position at an appropriate timing, as shown in fig. 8 a, a control signal (non-working command) for instructing the switching of the working implement 3 to the non-working state is output from the command output unit 33 to the working implement control unit 34 and the vehicle speed control unit 35. Note that, the timing of transmitting the non-job instruction will be described in detail later.
When the non-operation command is input, the operation machine control unit 34 transmits a signal for instructing to stop the PTO to the PTO clutch 45 as shown in fig. 8 (b). However, as in the case of the above-described input of the work instruction, the work machine control unit 34 is configured to: the PTO stop instruction is transmitted after waiting for a predetermined time from when the non-operation command is input. The waiting time TW2 may be a constant time between 50 milliseconds and 500 milliseconds, for example. The waiting time TW2 for the non-job command may be the same as or different from the waiting time TW1 for the job command described above, but the waiting time TW1 is preferably longer than the waiting time TW 2. When the PTO stop instruction is received, the PTO clutch 45 is switched to the disengaged state, and the rotation of the tilling claw 25 is gradually stopped.
At the same time as the PTO clutch 45 is instructed to stop the PTO, the work machine control unit 34 switches from the automatic rotation mode to the elevation mode as shown in fig. 8 (c). Further, the work machine control unit 34 performs control so that the work machine 3 is raised by supplying the hydraulic oil to the hydraulic cylinder after waiting a delay time TD, which will be described later, from the time of the instruction to stop the PTO.
This lag time TD is used to prevent soil from accumulating as work implement 3 rises. That is, if the work machine 3 starts to ascend while the rotation of the tilling claws 25 is stopped, the soil is locally accumulated due to the soil taken up by the stopped tilling claws 25. Therefore, in the present embodiment, the work implement 3 is not raised immediately after the rotation of the tilling claw 25 is stopped, so that the formation of such a pile of soil is avoided, and the appearance can be improved.
After the delay time TD elapses, the work machine 3 starts to ascend. Therefore, work implement 3 shifts to the non-work state at this time. It takes a certain amount of time to raise the working machine 3 from the working height to the non-working height, but since the supply speed of the hydraulic oil to the cylinder block is constant, the raising speed of the working machine 3 is different from that in the lowering and is constant. Therefore, the time until the work implement 3 ascends to reach the non-work height (the time TR2 required for the ascent) is a constant value.
On the other hand, as shown in fig. 8(f), the vehicle speed control unit 35 does not switch the vehicle speed when the non-work command is input from the command output unit 33. When a predetermined time TC has elapsed since the work machine control unit 34 has transmitted the PTO stop instruction to the PTO clutch 45, the vehicle speed control unit 35 starts increasing/decreasing the speed so that the vehicle speed of the tractor 1 approaches the set value of the vehicle speed at the time of non-work from the current vehicle speed (which generally substantially coincides with the set value of the vehicle speed at the time of work). The predetermined time TC is a time longer than the delay time TD. Further, how the vehicle speed is changed from the vehicle speed at the time of the work to the vehicle speed at the time of the non-work may be appropriately determined, and for example, the vehicle speed may be changed linearly, or may be changed in a broken line or a curved line.
However, as described above, the timing at which the claw shaft position of work implement 3 reaches the switching target position may be estimated based on the distance from the current claw shaft position to the switching target position (the remaining distance) and the vehicle speed of traveling machine body 2.
The vehicle speed value of the traveling machine body 2 (tractor 1) is substantially constant and equal to the set value of the vehicle speed at the time of the operation of the tractor 1 until the claw shaft position of the working implement 3 reaches the switching target position. Therefore, command output unit 33 calculates the timing for outputting the non-work command by taking into account the remaining distance, the set value of the vehicle speed at the time of work, wait time TW2, and delay time TD, so that work implement 3 transitions from the work state to the non-work state at the timing when the claw shaft position of work implement 3 reaches the switching target position. By outputting the non-work command at the timing thus obtained, the command output unit 33 can end the work of the working machine 3 (the tilling claw 25) at the switching target position, and the appearance of the work is improved.
Further, the switching target position is set to a position slightly closer to the opposite side with respect to the boundary between the working area 61 and the non-working area 62 when viewed from the tractor 1 traveling on the autonomous working path P1. Due to the presence of this edge, even when the timing of raising the work implement 3 or the like is advanced, it is possible to prevent an unworked portion from being generated in the work area 61.
Since the work machine control unit 34 is shifted to the up-down mode, when the work machine 3 reaches the non-working height, the work machine control unit 34 performs control for maintaining the non-working height. Before or after the working machine 3 reaches the non-working height, the vehicle speed of the tractor 1 is substantially equal to a set value of the vehicle speed at the time of non-working. The tractor 1 travels in the non-work area 62 along the connecting path P2 at a speed set to the vehicle speed at the time of non-work while the work machine 3 is not performing work.
As described above, in the present embodiment, by controlling the timing at which the work machine control unit 34 raises and lowers the work machine 3 based on the claw shaft position, the end portions of the section that is actually tilled by the work machine 3 (at a predetermined tilling depth) on each of the autonomous working paths P1 can be aligned among the plurality of autonomous working paths P1. As a result, fine work with good appearance can be performed.
Next, control of raising and lowering work implement 3 when the set value of the vehicle speed is changed while moving from the non-work area to the work area will be described.
Fig. 7(a) shows the timing at which the work instruction is output, but as described above, the timing is calculated by the instruction output unit 33 at an appropriate previous timing (for example, the timing indicated by reference numeral Tx) based on the set values of the vehicle speed at the time Tx during non-work and during work.
However, it is assumed that after the timing for outputting the work instruction is calculated at the time Tx, the user operates the speed/rotation speed setting change dial 14 before the timing comes, and instructs to change the setting of at least one of the vehicle speed at the time of non-work and the vehicle speed at the time of work. Here, when the tractor 1 moves from the non-working area to the working area, as shown in fig. 7(f), the tractor 1 performs control such that the vehicle speed of the tractor 1 is changed from the vehicle speed at the non-working time to the vehicle speed at the working time from the point before the claw shaft position reaches the switching target position, and the vehicle speed of the tractor 1 is changed to the vehicle speed at the working time before the claw shaft position reaches the switching target position. Therefore, if the vehicle speed during non-work or the vehicle speed during work is changed in accordance with the user's instruction, the timing at which the claw shaft position reaches the switching target position shown in fig. 7(e) is different from the timing estimated at the time Tx.
Whether the timing at which the claw shaft position reaches the switching target position is advanced or retarded differs depending on the content of the instruction to change the vehicle speed by the user. If at least one of the vehicle speed during non-operation and the vehicle speed during operation is increased, the timing is highly likely to be advanced.
When the timing at which the claw shaft position reaches the switching target position changes with a delay, the work command may be delayed accordingly. Even when the timing is changed to be advanced, if the timing can be absorbed by a margin in time, the operation command may be advanced accordingly.
However, the timing is advanced and the time margin is insufficient. In this case, 2 kinds of control can be considered. The control of the 1 st type is as follows: the timing at which the work machine 3 is shifted to the working state is allowed to lag, but since the amount of lag is minimized, the work command is immediately output. In this case, it is possible to suppress a reduction in the appearance of the vehicle while ensuring the responsiveness of the vehicle speed changing operation. The 2 nd control is as follows: the change of the set value of the vehicle speed at the time of non-operation or the vehicle speed at the time of operation is retained regardless of the user's operation, and the vehicle speed is controlled by the set value before the change with respect to the switching to the operation state performed this time, and the operation command is output without changing the timing, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance of the work can be made good. Further, after the temporary vehicle speed is temporarily controlled to be different from the temporary vehicle speed instructed by the user, the timing of the work instruction may be changed so that the timing at which the work implement 3 is shifted to the work state can be kept up with.
Next, control in the case where the set value of the vehicle speed is changed by a user operation while moving from the working area to the non-working area will be described.
Fig. 8(a) shows the timing at which the non-work command is output, but as described above, this timing is calculated by the command output unit 33 at an appropriate previous timing (for example, the timing indicated by the reference numeral Tx) based on the set value of the vehicle speed at the time of the work at the time Tx.
However, it is assumed that after the timing for outputting the non-operation command is calculated at the time Tx, the user operates the speed/rotation speed setting change dial 14 before the timing comes, thereby giving an instruction to change the setting of at least one of the vehicle speed at the time of operation and the vehicle speed at the time of non-operation. Here, when the tractor 1 moves from the working area to the non-working area, as shown in fig. 8(f), the tractor 1 travels at the vehicle speed at the working time before the claw shaft position reaches the switching target position, and the vehicle speed of the tractor 1 is switched to the vehicle speed at the non-working time at a timing just after the claw shaft position reaches the switching target position. Therefore, when the setting of the vehicle speed at the time of non-operation is changed, the timing at which the claw shaft position reaches the switching target position shown in fig. 8(e) is not changed, but when the setting of the vehicle speed at the time of operation is changed, if it is assumed that the setting is changed in accordance with the instruction of the user, the timing at which the claw shaft position reaches the switching target position is different from the timing estimated at the time Tx.
Whether the timing at which the claw shaft position reaches the switching target position is advanced or retarded differs depending on the content of the instruction to change the vehicle speed by the user. The timing is advanced when the vehicle speed during operation is increased, and the timing is retarded when the vehicle speed during operation is decreased.
When the timing at which the claw shaft position reaches the switching target position changes with a delay, the non-operation command may be delayed accordingly. Even when the timing is changed to be advanced, if the timing can be absorbed by a margin in time, the non-operation command may be advanced accordingly.
However, the timing is advanced and the time margin is insufficient. As the control in this case, 2 types of control are considered as in the case of the above-described job command. The control of the 1 st type is as follows: the delay in the timing at which the work implement 3 is shifted to the non-work state is allowed, but the delay amount is reduced as much as possible, and therefore, the non-work command is immediately output. In this case, it is possible to suppress a reduction in the appearance of the vehicle while ensuring the responsiveness of the vehicle speed changing operation. The 2 nd control is as follows: the change of the set value of the vehicle speed during the work is maintained regardless of the user's operation, and the vehicle speed is controlled by the set value before the change with respect to the current switching to the non-work state, and the non-work command is output without changing the state, and the set value of the vehicle speed is actually changed after the claw shaft position reaches the switching target position. In this case, the appearance of the work can be made good. Further, after the temporary vehicle speed is temporarily controlled to be different from the temporary vehicle speed instructed by the user, the timing of the non-work instruction may be changed so that the timing at which the working machine 3 is shifted to the non-work state can catch up.
The control shown in fig. 7 and 8 is applied to a case where the rotary drive of the tilling claws 25 via the PTO shaft is required and the elevation control of the working machine 3 is required, such as the rotary tiller used in the present embodiment. Since there is also a configuration in which driving of the working body is not required or lifting control is not required, the tractor 1 of the present embodiment is configured such that: before starting autonomous traveling or autonomous working, the user is caused to input the type of working machine (for example, to the monitoring device 70 or a wireless communication terminal 81 described later), and the PTO control and the elevation control shown in fig. 7 and 8 are performed only when necessary.
That is, in a predetermined working machine, the timing of switching from a non-working state in which work is not performed by a working body provided in the working machine to a working state in which work is performed by the working body (the timing of outputting the work command) is controlled such that: the timing at which the time until the work center position of the work body reaches the switching target position is substantially equal to the total time of the switching preparation time (time equivalent to the waiting time TW 1) from when the work command is output until the switching to the work state is actually started and the switching required time (the falling required time TR1) from when the switching to the work state is started until the switching is completed (i.e., the switching to the work state is completed) is set to be substantially equal to each other. On the other hand, the timing of switching from the job state in which the job is performed by the job entity to the non-job state in which the job is not performed by the job entity (the timing of outputting the non-job command) is controlled to: the time until the work center position of the work body reaches the switching target position is set to be substantially equal to the switching preparation time (time corresponding to the total time of the waiting time TW2 and the delay time TD) from when the work command is output to when the switching to the non-work state is actually started.
Next, control in the case where the user operates the work implement elevation switch 28 in fig. 3 during autonomous traveling and autonomous work while the user is riding on the tractor 1 will be described. Fig. 9 is a flowchart for explaining the processing performed by the work machine control unit 34.
Work implement control unit 34 monitors input of a work command or a non-work command from command output unit 33, and also monitors a control signal (a raising/lowering command as an operation unit command) input to work implement control unit 34 in response to operation of work implement raising/lowering switch 28. When a work command or a non-work command from the command output unit 33 and a raising/lowering command based on the operation of the work machine raising/lowering switch 28 compete with each other, the work machine control unit 34 controls the raising/lowering actuator 44 and the like with priority to the raising/lowering command at all times in order to prevent the control from being contrary to the operator's intention.
Referring to the flowchart of fig. 9, the work machine control unit 34 first determines whether or not a work command or a non-work command output from the command output unit 33 is input (step S101).
When it is determined in step S101 that a work command or a non-work command has been input, work implement control unit 34 further determines whether or not an up-down command is input in association with an operation of work implement up-down switch 28 (step S102).
When it is determined in step S102 that the elevation command is input, the work implement control section 34 performs control of raising and lowering the work implement 3 in accordance with the elevation command without performing the work command or the non-work command (step S103). That is, work implement control unit 34 gives priority to an elevation command over a work command or a non-work command, and performs elevation control of work implement 3 based on the elevation command. Then, the process returns to step S101.
When it is determined in step S102 that the raising/lowering command is not input, the work machine control unit 34 controls raising/lowering of the work machine 3 in accordance with the input work command or non-work command (step S104). Then, the process returns to step S101.
When it is determined in step S101 that no work command or no work command has been input, work implement control unit 34 determines whether or not an up-down command is input based on the operation of work implement up-down switch 28 (step S105).
When it is determined in step S105 that the raising/lowering command is input, the work machine control unit 34 controls the raising/lowering of the work machine 3 in accordance with the raising/lowering command (step S103). Then, the process returns to step S101. When the up-down command is not input, the process of step S103 is not performed, and the process returns to step S101.
By performing the above processing, for example, even when a work command is input from the command output unit 33 to the work machine control unit 34, if the user operates the work machine elevation switch 28 to the elevation side at that time, the control for lowering the work machine 3 is not performed as in fig. 7(d), and the work machine 3 is maintained at the non-working height.
Further, for example, even if a non-work command is input from the command output unit 33 to the work machine control unit 34 and the work machine 3 starts to ascend as shown in fig. 8(d) in response to the non-work command, when the user operates the work machine elevation switch 28 to the descending side during the ascending, the ascending control is suspended and the work machine control unit 34 immediately performs the descending control of the work machine 3.
With this configuration, the tractor 1 of the present embodiment can basically perform autonomous traveling and autonomous operation, and can switch between the operating state and the non-operating state of the work implement 3 in accordance with the user's intention.
Further, as described in step S103, when the elevation control of work implement 3 is performed based on the elevation command based on the operation of work implement elevation switch 28, not based on the work command or the non-work command output from command output unit 33, for example, a message indicating that is displayed on a display (display unit) provided in monitoring device 70, or the user may be notified of the indication by a lamp, a buzzer, or the like.
Next, a case where the user performs autonomous traveling and autonomous work without riding on the tractor 1 will be described. Fig. 10 is a diagram showing the wireless communication terminal 81 used when the user performs autonomous traveling and autonomous work without riding on the tractor 1. Fig. 11 is a diagram illustrating a display example of the autonomous traveling monitoring screen 100 in the display 83 of the wireless communication terminal 81.
As described above, the autonomous travel control unit 32 provided in the tractor 1 can switch between the manned autonomous travel mode in which autonomous travel and autonomous operation are performed while the user is riding thereon, and the unmanned autonomous travel mode in which autonomous travel and autonomous operation are performed while the user is not riding thereon, to perform autonomous travel. The user can switch the mode by operating the monitoring device 70, for example.
If the seating sensor 13a shown in fig. 3 does not detect the seating of the user, the autonomous traveling and autonomous operation of the tractor 1 in the manned autonomous traveling mode cannot be started. On the other hand, when the sitting sensor 13a detects sitting of the user, the autonomous traveling and autonomous operation of the tractor 1 in the unmanned autonomous traveling mode cannot be started. However, the following configuration is also possible: in the unmanned autonomous traveling mode, the autonomous traveling and the autonomous operation can be started even in a state where the seating sensor 13a detects the seating of the user.
When the tractor 1 performs autonomous traveling and autonomous work in the manned autonomous traveling mode, the control performed by the autonomous traveling control unit 32 may be ended when the main shift lever 27 of fig. 3 is operated by the riding user, but the travel machine body 2 may be switched to manual traveling and manual work without being stopped.
On the other hand, when the tractor 1 performs autonomous traveling and autonomous work in the unmanned autonomous traveling mode, it is not assumed that the above-described operation device provided in the tractor 1 is used. Therefore, in the unmanned autonomous traveling mode, the operation of the speed/rotation speed setting change dial 14 shown in fig. 3 and the like is invalidated. When the tractor 1 performs autonomous traveling and autonomous work in the unmanned autonomous traveling mode, if the main shift lever 27 is operated, the control performed by the autonomous traveling control unit 32 is ended, and the tractor 1 is immediately stopped. The user switches from a state in which the travel machine body 2 is stopped to manual travel and manual work.
When the tractor 1 performs autonomous traveling and autonomous work in the unmanned autonomous traveling mode, the control performed by the autonomous traveling control unit 32 is also ended when the user operates the work implement elevation switch 28, and the tractor 1 is immediately stopped along with this. At this time, the wireless communication terminal 81 described later notifies that the autonomous traveling is stopped by displaying a message or the like. Further, the tractor 1 may be notified by the monitoring device 70, for example. Then, the user needs to perform a predetermined operation from the state where the travel machine body 2 is stopped, and switch to manual travel and manual work.
When the tractor 1 is caused to perform autonomous traveling and autonomous work in the unmanned autonomous traveling mode, the user uses a wireless communication terminal (wireless communication device) 81 shown in fig. 10 as a remote operation device and gives an instruction to the tractor 1 from the outside.
As shown in fig. 10, the wireless communication terminal 81 is configured as a tablet-type computer provided with a touch panel 82. The user can refer to and confirm information displayed on the display (display unit) 83 of the wireless communication terminal 81. The user can operate the touch panel 82 or the hardware keys 84 disposed near the display 83 to transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1. Here, as the control signal input to the control unit 4 from the wireless communication terminal 81, a signal relating to a route of autonomous traveling and autonomous work, a start signal and a stop signal of autonomous traveling and autonomous work may be considered, but the present invention is not limited thereto.
The wireless communication terminal 81 is not limited to a tablet computer, and may be configured by a notebook computer instead. Further, the present invention may be configured as follows: the wireless communication terminal 81, not the tractor 1, has a function of generating the autonomous traveling path P.
Next, a screen displayed on the wireless communication terminal 81 when the tractor 1 performs autonomous traveling and autonomous work will be described with reference to fig. 11.
When the autonomous traveling and autonomous operation of the tractor 1 are started in a state where the autonomous traveling control unit 32 is shifted to the unmanned autonomous traveling mode, the display screen of the display 83 is switched to the autonomous traveling monitoring screen 100 shown in fig. 11.
A travel state display unit 103 is disposed on the right side of the autonomous travel monitoring screen 100, and the travel state display unit 103 displays image data including an autonomous travel route on which the tractor 1 travels. As shown in fig. 11, for example, the image data displayed on the travel state display unit 103 may be displayed such that the shape of the field and the shape of the work area are superimposed on the map data, and the travel locus of the tractor 1 may be shown on the image data by hatching.
On the leftmost side of the upper side of the autonomous traveling monitoring screen 100, a start/pause button 105 for starting or pausing autonomous traveling is displayed. The user manually moves the tractor 1 to the start position of the autonomous travel and touches the start/stop button 105, whereby a control signal indicating the start of the autonomous travel is transmitted from the wireless communication terminal 81 to the control unit 4 of the tractor 1, and the tractor 1 can start the autonomous travel. Further, the start/stop button 105 is touched while the tractor 1 is running autonomously, whereby the autonomous running of the tractor 1 can be stopped or resumed.
In the autonomous traveling monitoring screen 100, a vehicle speed display unit 106, an engine speed display unit 107, and a pitch height adjustment unit (operation unit) 108 are arranged vertically on the right side of the start/stop button 105.
The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on data sent from a vehicle speed sensor, not shown.
The engine speed display unit 107 displays the current speed of the engine 10 acquired based on data sent from an engine speed sensor, not shown.
The pitch height adjustment unit 108 numerically displays the height of the work implement 3 acquired based on the data transmitted from the work implement height sensor. Upper and lower buttons are arranged on the right side of the displayed numerical value, and an instruction to raise or lower work implement 3 can be issued by operating the buttons. The wireless communication terminal 81 outputs a lift instruction to the tractor 1 by the operation of the pitch height adjustment unit 108.
A setting adjustment unit capable of adjusting the settings of the vehicle speed and the engine speed of the tractor 1 for the above-described operating state and non-operating state is disposed on the right side of the vehicle speed display unit 106 and the engine speed display unit 107.
Specifically, a working vehicle speed adjusting unit (vehicle speed setting unit) 111, a working engine speed adjusting unit 112, a non-working vehicle speed adjusting unit (vehicle speed setting unit) 113, and a non-working engine speed adjusting unit 114 are disposed on the right side of the vehicle speed display unit 106 and the engine speed display unit 107.
The operating vehicle speed adjusting unit 111 digitally displays a set value of the vehicle speed of the tractor 1 (operating vehicle speed) when the working machine 3 is in the operating state. The operating engine speed adjustment unit 112 digitally displays a set value of the engine speed of the engine 10 when the working machine 3 is in the operating state. Both the during-work vehicle speed adjustment unit 111 and the during-work engine speed adjustment unit 112 have upper and lower buttons disposed on the right side of the displayed set value, and the set value can be increased or decreased by operating the buttons.
The non-operation vehicle speed adjusting unit 113 digitally displays a set value of the vehicle speed of the tractor 1 (vehicle speed during non-operation) when the working machine 3 is in the non-operation state. The non-operation-period engine speed adjustment unit 114 digitally displays a set value of the speed of the engine 10 when the working machine 3 is in the non-operation state. The non-operating vehicle speed adjustment unit 113 and the non-operating engine speed adjustment unit 114 can increase or decrease the set value by operating upper and lower buttons adjacent to the numerical value, as in the case of the operating vehicle speed adjustment unit 111 and the operating engine speed adjustment unit 112.
In this autonomous unmanned traveling mode, the operating vehicle speed adjusting unit 111 and the non-operating vehicle speed adjusting unit 113 have the same functions as the speed and rotation speed setting change dial 14 provided in the tractor 1, and the pitch height adjusting unit 108 has the same functions as the work implement lift switch 28 provided in the tractor 1.
In the unmanned autonomous traveling mode, the output timing of the work command or the non-work command is also controlled substantially in the same manner as in the manned autonomous traveling mode. In the unmanned autonomous traveling mode, when a work command or a non-work command output from the command output unit 33 and an elevation command output based on an operation to the pitch height adjustment unit 108 compete with each other, the elevation command is prioritized similarly to the manned autonomous traveling mode. However, since the user is not riding on the tractor 1, the various messages described above are displayed not on the monitor device 70 but on the display of the wireless communication terminal 81 in principle.
As described above, the tractor 1 of the present embodiment includes the travel machine body 2, the command output unit 33, the work machine control unit 34, the vehicle speed control unit 35, the work edge distance storage unit 54, and the remaining distance acquisition unit 37. The traveling machine body 2 can be equipped with the working machine 3. Command output unit 33 outputs a work command for controlling work implement 3 to a work state and a non-work command for controlling work implement 3 to a non-work state. The work machine control unit 34 controls the work state of the work machine 3 based on the work command or the non-work command. The vehicle speed control unit 35 can switch and control the vehicle speed of the tractor 1. Work edge distance storage unit 54 sets a switching target position at which work control unit 34 performs switching control of the work state of work implement 3 by setting edge distance M. The remaining distance acquiring unit 37 acquires a remaining distance, which is a distance from the claw shaft position of the work machine 3 to the switching target position. The vehicle speed control unit 35 switches the vehicle speed of the tractor 1 from the vehicle speed at the time of work to the vehicle speed at the time of non-work in accordance with the non-work instruction, and switches the vehicle speed of the tractor 1 from the vehicle speed at the time of non-work to the vehicle speed at the time of work in accordance with the work instruction. When outputting a non-work command as shown in fig. 8, the command output unit 33 controls the output timing of the non-work command based on the vehicle speed and the remaining distance during work. When outputting a work command as shown in fig. 7, the command output unit 33 controls the output timing of the work command based on the vehicle speed at the time of non-work, the rate of change from the vehicle speed at the time of non-work to the vehicle speed at the time of work, and the remaining distance.
Thus, when switching work implement 3 from the working state to the non-working state and from the non-working state to the working state, command output unit 33 can output the non-working command and the working command at appropriate timings. This can reduce the error in the boundary between the portion where work is performed by work implement 3 and the portion where work is not performed.
In the tractor 1 of the present embodiment, as shown in fig. 8(f), after the work machine control unit 34 switches the work machine 3 from the working state to the non-working state in response to the non-working command, the vehicle speed control unit 35 starts control to switch from the vehicle speed at the working time to the vehicle speed at the non-working time. As shown in fig. 7(f), before the work machine control unit 34 switches the work machine 3 from the non-work state to the work state in response to the work instruction, the vehicle speed control unit 35 starts control of switching from the vehicle speed at the non-work time to the vehicle speed at the work time.
This allows the vehicle speed during work to be maintained while work implement 3 is in the working state.
The tractor 1 of the present embodiment includes a timer circuit, not shown, and a required descent time storage unit 56. The timer circuit measures a time (a time required to fall TR1) required to switch the working machine 3 from the non-working state to the working state. The required time to fall storage unit 56 stores the required time measured by the timer circuit. The command output unit 33 controls the timing of outputting the job command based on the content stored in the required lowering time storage unit 56. When the required time is not measured by the timer circuit, the required descent time storage unit 56 stores the initially set time. When the required time is measured by the timer circuit, the content stored in the required fall time storage unit 56 is updated to the measured value.
Thus, the time required for switching the working machine 3 from the non-working state to the working state is measured and stored, and the timing of outputting the work command is controlled based on the measurement and storage, whereby the work command can be output at an appropriate timing. For example, when the non-operating state is switched to the operating state for the first time, the measured value is not obtained in advance, but the command output unit 33 can output the operating command at a substantially good timing by preliminarily setting an appropriate time.
In the tractor 1 of the present embodiment, the setting of the vehicle speed during operation and the vehicle speed during non-operation can be changed by operating the speed/rotation speed setting change dial 14 or the operating vehicle speed adjustment unit 111 and the non-operating vehicle speed adjustment unit 113. When the setting of the vehicle speed at the time of the work and/or the vehicle speed at the time of the non-work is changed, the command output unit 33 controls the output timing of the work command or the non-work command based on the changed vehicle speed at the time of the work/vehicle speed at the time of the non-work.
This makes it possible to change the vehicle speed in accordance with the user's demand and cause the command output unit 33 to output the work command and the non-work command at appropriate timings.
The tractor 1 of the present embodiment is provided with an autonomous travel control unit 32, and the autonomous travel control unit 32 can switch the tractor 1 between a manned autonomous travel mode and an unmanned autonomous travel mode to perform autonomous travel. The manned autonomous travel mode is a mode in which autonomous travel can be terminated without stopping the tractor 1 in association with an operation of the main shift lever 27. The unmanned autonomous traveling mode is a mode in which autonomous traveling is terminated with the tractor 1 stopped in association with an operation to the main shift lever 27. When the autonomous travel control unit 32 is in the manned autonomous travel mode, the setting of the vehicle speed at the working time and the vehicle speed at the non-working time can be changed in accordance with the operation of the speed/rotation number setting change dial 14 provided to the tractor 1. When the autonomous travel control unit 32 is in the unmanned autonomous travel mode, the settings of the vehicle speed during operation and the vehicle speed during non-operation can be changed according to the operations of the vehicle speed adjusting unit 111 during operation and the vehicle speed adjusting unit 113 during non-operation provided to the wireless communication terminal 81 that performs wireless communication with the tractor 1.
Thus, in the manned autonomous travel mode, the user riding on the tractor 1 can change the vehicle speed by operating the speed/rotation speed setting change dial 14; in the autonomous unmanned traveling mode, the vehicle speed can be changed by operating the operation-time vehicle speed adjustment unit 111 and the non-operation-time vehicle speed adjustment unit 113 of the wireless communication terminal 81 by a user outside the tractor 1.
The tractor 1 of the present embodiment further includes a position information calculation unit 49, a work implement elevation switch 28, and an autonomous travel control unit 32. The position information calculation unit 49 acquires position information of the traveling machine body 2. The work machine up-down switch 28 is disposed on the travel machine body 2. The autonomous travel control unit 32 causes the traveling machine body 2 to perform autonomous travel along a predetermined autonomous travel path P. When the autonomous travel control unit 32 autonomously travels the travel machine body 2, the work machine control unit 34 controls the work state of the work machine 3 based on the work command or the non-work command output from the command output unit 33 and the up-down command output in association with the operation of the work machine up-down switch 28. In comparison with a work command or a non-work command, work implement control unit 34 preferably controls the work state of work implement 3 in response to an elevation command.
This enables control to prioritize the intention of the user with respect to switching between the working state and the non-working state of the work implement 3.
In the tractor 1 of the present embodiment, when a work command or a non-work command is input when the work state of the work implement 3 is controlled based on the elevation command, the work implement control unit 34 does not control the work state of the work implement 3 based on the work command or the non-work command.
This enables control that does not interfere with the user's intention.
In the tractor 1 of the present embodiment, when the elevation command is input when the working state of the working machine 3 is controlled based on the work command or the non-work command, the working machine control unit 34 controls the working state of the working machine 3 based on the elevation command.
Thus, when the control by autonomous traveling is performed in advance, the control according to the intention of the user can be performed so as to stop the control.
The tractor 1 of the present embodiment is provided with a seating sensor 13a that detects whether or not a user is present in the travel machine body 2. The autonomous travel control unit 32 can switch between the manned autonomous travel mode and the unmanned autonomous travel mode to cause the travel machine body 2 to autonomously travel along the autonomous travel path P. In the manned autonomous travel mode, work implement control unit 34 switches the work state of work implement 3 based on the work command or the non-work command output from command output unit 33, and also switches the work state of work implement 3 based on the up-down command output by operating work implement up-down switch 28. In the unmanned autonomous traveling mode, work implement control unit 34 switches the work state of work implement 3 based on the work command or the non-work command output from command output unit 33, and does not switch the work state of work implement 3 based on the elevation command output in association with the operation of work implement elevation switch 28.
In this way, in the unmanned autonomous travel mode in which the user is not assumed to board, control in accordance with the actual situation can be achieved by ignoring the operation of work implement elevation switch 28.
In the tractor 1 of the present embodiment, when the work implement lift switch 28 is operated when the travel machine body 2 is caused to autonomously travel in the manned autonomous travel mode, the autonomous travel control unit 32 does not stop the autonomous travel of the travel machine body 2. On the other hand, when the work implement elevation switch 28 is operated while the travel machine body 2 is caused to autonomously travel in the unmanned autonomous travel mode, the autonomous travel of the travel machine body 2 is stopped.
In this way, in the unmanned autonomous travel mode in which the user is not assumed to board, the autonomous travel is stopped in response to the operation of work implement elevation switch 28, and thus unexpected situations can be appropriately coped with.
In the tractor 1 of the present embodiment, when the work machine control unit 34 performs priority control for controlling the work state of the work machine 3 in accordance with the elevation command in preference to the work command or the non-work command in the manned autonomous travel mode, the monitoring device 70 displays the priority control. When the work machine control unit 34 performs priority control in the unmanned autonomous traveling mode, the wireless communication terminal 81 displays the effect. When the autonomous travel of traveling machine body 2 is stopped in the unmanned autonomous traveling mode based on the operation of work implement elevation switch 28, wireless communication terminal 81 displays the result.
Thus, the user can be appropriately notified of the situation in any of the manned autonomous travel mode and the unmanned autonomous travel mode.
While the preferred embodiments of the present invention have been described above, the above-described configuration may be modified as follows, for example.
The configuration may be such that: the setting of the work machine horizontal distance L and the setting of the edge distance M are performed by the wireless communication terminal 81 or by the monitoring device 70 of the tractor 1 and the wireless communication terminal 81.
The configuration may be such that: the vehicle speed setting and changing dial 14 is provided with 2 speed and rotation speed, and can change the vehicle speed in operation and the vehicle speed in non-operation.
The autonomous traveling monitoring screen 100 displayed on the display 83 is not limited to the screen shown in fig. 11, and the arrangement of the screen and the like may be changed arbitrarily.
The range in which the vehicle speed at the time of work and the vehicle speed at the time of non-work are required to satisfy is predetermined, and when the vehicle speed at the time of work or the vehicle speed at the time of non-work which deviates from the range is set, special elevation control is possible. For example, it is conceivable to start the raising control and lowering control of the work implement 3 earlier or later than normal. Alternatively, it is conceivable to perform the special vehicle speed control, or perform the above-described raising control/lowering control of the work machine 3 earlier than normal or later than normal, and the special vehicle speed control at the same time. For example, switching between the non-working speed and the working speed may be considered to be started earlier or later than normal.
When a plowing machine, a raking machine, a mower, a rake, or a stubble ploughing cultivator (stub cultivator) is used as the working machine, control is performed to lower the working machine in accordance with a working command and to raise the working machine in accordance with a non-working command, as in the case of the rotary cultivator described in the above embodiment. However, the switching between the working state and the non-working state may be performed without involving the raising and lowering. For example, when a spreader, a sprayer, or the like is used as the working machine, the working machine control section 34 performs the spreading/spreading stop control without performing the elevation control. In this case, the user instructs to switch the working state of the working machine not by using the working machine elevation switch 28 but by using an appropriate operation unit, not shown, provided in the cab 11. Therefore, the operation unit command is output in accordance with the operation of the operation unit.
Description of reference numerals
Tractor 1 (working vehicle)
2 traveling body (vehicle body)
3 working machine
33 instruction output unit
34 control part of working machine
35 vehicle speed control part
37 remaining distance acquiring unit
54 working edge distance storage part (setting part)

Claims (8)

1. A working vehicle is characterized in that,
the work vehicle is provided with:
a body section to which a working machine can be attached;
an instruction output unit that outputs a work instruction for controlling the work machine to a work state and a non-work instruction for controlling the work machine to a non-work state;
a work machine control unit that controls a work state of the work machine based on the work command or the non-work command;
a vehicle speed control unit capable of switching and controlling a vehicle speed of the work vehicle;
a setting unit that sets a reference position for switching an operation state of the work implement under control of the work implement control unit; and
a distance acquisition unit that acquires a distance from a work center position of the work machine to the reference position,
the vehicle speed control unit switches the vehicle speed of the work vehicle from a 1 st vehicle speed to a 2 nd vehicle speed in accordance with the non-work instruction, and switches the vehicle speed of the work vehicle from the 2 nd vehicle speed to the 1 st vehicle speed in accordance with the work instruction,
the command output unit controls the output timing of the non-work command based on the 1 st vehicle speed and the distance,
the command output unit controls the output timing of the work command based on the 2 nd vehicle speed, the rate of change in speed from the 2 nd vehicle speed to the 1 st vehicle speed, and the distance.
2. The work vehicle according to claim 1,
the vehicle speed control unit starts switching control from the 1 st vehicle speed to the 2 nd vehicle speed after the work machine control unit switches the work machine from the work state to the non-work state in accordance with the non-work instruction,
the vehicle speed control unit starts control of switching from the 2 nd vehicle speed to the 1 st vehicle speed before the work machine control unit switches the work machine from the non-work state to the work state in accordance with the work instruction.
3. The work vehicle according to claim 1,
the work vehicle is provided with:
a measurement unit that measures a required time required to switch the work implement from the non-work state to the work state; and
a required time storage unit for storing the required time measured by the measuring unit,
the command output unit controls the timing of outputting the job command based on the storage content of the required time storage unit,
the required time storage unit stores an initially set time when the required time is not measured by the measurement unit,
when the required time is measured by the measurement unit, the content stored in the required time storage unit is updated to a measured value.
4. The work vehicle according to claim 1,
the setting of the 1 st vehicle speed and the 2 nd vehicle speed can be changed by the operation of the vehicle speed setting portion,
when the setting of the 1 st vehicle speed and/or the 2 nd vehicle speed is changed, the command output unit controls the output timing of the work command or the non-work command based on the changed 1 st vehicle speed and/or the changed 2 nd vehicle speed.
5. The work vehicle according to claim 4,
the work vehicle is provided with an autonomous travel control unit that can switch the work vehicle between a 1 st mode and a 2 nd mode to perform autonomous travel,
the 1 st mode is a mode in which autonomous travel can be terminated without stopping the work vehicle in association with an operation of the shift operation member,
the 2 nd mode is a mode in which autonomous travel is terminated as the work vehicle is stopped by the operation of the shift operation device,
the setting of the 1 st vehicle speed and the 2 nd vehicle speed can be changed according to an operation to the vehicle speed setting portion provided in the work vehicle when the work vehicle is in the 1 st mode,
when the work vehicle is in the 2 nd mode, the settings of the 1 st vehicle speed and the 2 nd vehicle speed can be changed in accordance with an operation of the vehicle speed setting unit provided in a wireless communication device that performs wireless communication with the work vehicle.
6. The work vehicle according to any one of claims 1 to 5,
the work vehicle is provided with:
a position information acquiring unit that acquires position information of the vehicle body unit;
an operation unit disposed on the vehicle body unit; and
an autonomous travel control unit that autonomously travels the vehicle body along a predetermined route,
the work machine control unit controls the working state of the work machine based on the work command or the non-work command output by the command output unit or an operation unit command output in association with an operation on the operation unit when the autonomous travel control unit autonomously travels the vehicle body unit,
the work machine control unit controls the work state of the work machine based on the operation unit command, in preference to the work command or the non-work command.
7. The work vehicle according to claim 6,
when the work instruction or the non-work instruction is input when the work state of the work machine is controlled based on the operation portion instruction, the work machine control portion does not control the work state of the work machine based on the work instruction or the non-work instruction.
8. The work vehicle according to claim 6,
when the operating unit command is input when the operating state of the work machine is controlled based on the work command or the non-work command, the work machine control unit controls the operating state of the work machine based on the operating unit command.
CN201880009614.2A 2017-03-24 2018-03-23 Working vehicle Active CN110418570B (en)

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