CN115167401A - Work vehicle control system - Google Patents

Work vehicle control system Download PDF

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Publication number
CN115167401A
CN115167401A CN202210718253.7A CN202210718253A CN115167401A CN 115167401 A CN115167401 A CN 115167401A CN 202210718253 A CN202210718253 A CN 202210718253A CN 115167401 A CN115167401 A CN 115167401A
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CN
China
Prior art keywords
tractor
work vehicle
pitch
work
remote control
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Pending
Application number
CN202210718253.7A
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Chinese (zh)
Inventor
平松敏史
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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
Publication of CN115167401A publication Critical patent/CN115167401A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
    • G05B23/0267—Fault communication, e.g. human machine interface [HMI]
    • G05B23/027—Alarm generation, e.g. communication protocol; Forms of alarm
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Acoustics & Sound (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

A position information acquisition unit (62) acquires position information of a remote control tractor (1) that autonomously travels along a predetermined travel route, and position information of a human tractor (1X) that travels behind the remote control tractor (1) and that operates in cooperation with the remote control tractor (1). A distance determination unit (63) determines the distance between the remote control tractor (1) and the manned tractor (1X). The emergency stop unit (65) stops the engine of the remote control tractor (1) and emergently stops the remote control tractor (1) when the distance exceeds a 1 st threshold value. The pitch adjustment unit (66) decelerates the remote control tractor (1) or temporarily stops the remote control tractor (1) without stopping the engine when the pitch is not less than the 2 nd threshold value and not more than the 1 st threshold value, which are smaller than the 1 st threshold value.

Description

Work vehicle control system
The application is a divisional application of an invention patent application with the application number of 201780022981.1, the application date of 2017, 4 and 7 months, and the invention name of a work vehicle control system.
Technical Field
The present invention relates to a work vehicle control system that controls traveling of a work vehicle. More specifically, the present invention relates to a work vehicle control system that controls the distance between the 1 st work vehicle and the 2 nd work vehicle.
Background
Conventionally, a vehicle control system that controls a distance between two traveling vehicles is known. Patent document 1 discloses a vehicle control system as such a system.
The vehicle control system of patent document 1 includes: a distance sensor mounted on the vehicle and detecting a distance between the vehicle and another vehicle; and an inter-vehicle distance determination unit that determines whether or not another vehicle approaches within a preset inter-vehicle distance based on the inter-vehicle distance acquired by the distance sensor, wherein the inter-vehicle distance determination unit can forcibly operate the inter-vehicle distance control device of the approaching vehicle to secure the inter-vehicle distance when it is determined that the vehicle approaches within the preset inter-vehicle distance.
In patent document 1, when another vehicle is traveling behind the own vehicle, even when the driver of the other vehicle performs the aggressive traveling or the fatigue driving, the distance from the other vehicle can be controlled by the above-described structure.
Documents of the prior art
Patent literature
Patent document 1 Japanese patent laid-open No. 2006-24118
Disclosure of Invention
However, in order to improve the work efficiency in agricultural work on a farm land, for example, two or more work vehicles may be operated in cooperation with each other in one travel area. For example, it is conceivable that the 1 st work vehicle on the front side is caused to travel autonomously (unmanned), and the 2 nd work vehicle on the rear side is caused to be driven manually (manned) by the user, and the two work vehicles perform cooperative work. In this example, wireless communication is enabled between the 1 st work vehicle and the 2 nd work vehicle, and the user who is riding on the 2 nd work vehicle can instruct the 1 st work vehicle to start/stop autonomous traveling or the like.
In this case, if the distance (inter-vehicle distance) between the 1 st work vehicle and the 2 nd work vehicle is too large, there is a possibility that: wireless communication between the 1 st work vehicle and the 2 nd work vehicle is interrupted, the 1 st work vehicle is brought to an emergency stop, or the 1 st work vehicle cannot be sufficiently monitored by a user operating the 2 nd work vehicle. In this regard, the structure of patent document 1 can only control the increase of the inter-vehicle distance, and cannot solve the above-described technical problem.
The present invention has been made in view of the above circumstances, and a potential object thereof is to provide a work vehicle control system capable of preventing an excessive distance between a 1 st work vehicle and a 2 nd work vehicle and efficiently preventing a situation in which the 1 st work vehicle stops suddenly.
As described above, the technical means for solving the technical problems and the effects thereof will be described below.
According to an aspect of the present invention, there is provided a work vehicle control system configured as follows. That is, the work vehicle control system includes a position information acquisition unit, a pitch determination unit, an emergency stop unit, and a pitch adjustment unit. The position information acquisition unit acquires position information of a 1 st work vehicle that autonomously travels along a predetermined travel route, and position information of a 2 nd work vehicle that travels behind the 1 st work vehicle and performs work in cooperation with the 1 st work vehicle. The distance determining section determines a distance between the 1 st work vehicle and the 2 nd work vehicle. The emergency stop unit may cause the 1 st work vehicle to be brought into emergency stop when the pitch exceeds a 1 st threshold value. The pitch adjustment unit decelerates the 1 st work vehicle or temporarily stops the 1 st work vehicle when the pitch is equal to or greater than a 2 nd threshold value smaller than the 1 st threshold value and equal to or less than the 1 st threshold value.
Thus, for example, by setting the 1 st threshold to the limit distance of wireless communication and the 2 nd threshold to a distance slightly smaller than the 1 st threshold, the 1 st work vehicle can be brought to an emergency stop when the distance between the 1 st work vehicle and the 2 nd work vehicle becomes the limit distance of wireless communication, and the 1 st work vehicle can be decelerated or temporarily stopped when the distance increases to a certain extent although the distance does not reach the degree of emergency stop. This prevents the distance between the 1 st work vehicle and the 2 nd work vehicle from becoming excessively large, effectively prevents an emergency stop from occurring, and improves work efficiency.
In the work vehicle control system, the following configuration is preferable. That is, the pitch adjustment unit temporarily stops the 1 st work vehicle when the pitch is equal to or more than the 3 rd threshold value, which is larger than the 2 nd threshold value and smaller than the 1 st threshold value, and equal to or less than the 1 st threshold value. Further, the pitch adjustment unit decelerates the 1 st work vehicle when the pitch is equal to or greater than the 2 nd threshold value and less than the 3 rd threshold value.
Thus, when the distance between the 1 st work vehicle and the 2 nd work vehicle is increased to a certain extent, although not to the extent that the 1 st work vehicle is temporarily stopped, the 1 st work vehicle can be decelerated to continue the work, for example. This can efficiently prevent the occurrence of a temporary stop, thereby avoiding damage to the farmland and improving the work efficiency.
In the work vehicle system, the following configuration is preferable. That is, the work vehicle system includes a traveling direction information acquiring unit that acquires traveling direction information of the 2 nd work vehicle. When the 1 st work vehicle is located on the opposite side of the traveling direction of the 2 nd work vehicle as viewed from the 2 nd work vehicle, a 2 nd value smaller than a 1 st value set as the 2 nd threshold is set as the 2 nd threshold when the traveling directions of the 1 st work vehicle and the 2 nd work vehicle are the same.
This has the following advantages. That is, in the process of performing the work in cooperation with each other, after the 1 st work vehicle and the 2 nd work vehicle traveling opposite to each other pass by wiping, the 1 st work vehicle may be positioned on the opposite side of the traveling direction of the 2 nd work vehicle as viewed from the 2 nd work vehicle. In this positional relationship, it is difficult for the 1 st work vehicle to come into the field of view of the user riding the 2 nd work vehicle. Therefore, in this case, the 1 st work vehicle is decelerated or temporarily stopped at the timing when the pitch becomes smaller than the normal state, and the monitoring of the 1 st work vehicle by the user is easily performed, so that a smooth cooperative work can be realized.
In the work vehicle control system, the following configuration is preferably adopted. That is, the travel route includes: a plurality of work paths for performing work by the 1 st work vehicle, and a connection path for connecting the work paths. When the 1 st work vehicle traveling pattern on the work path is a special pattern, the pitch adjustment unit may temporarily stop the 1 st work vehicle on the connection path regardless of the pitch.
Thus, the following advantages are obtained. That is, in the case where the 1 st work vehicle is a special mode different from the normal mode in the traveling mode, it is difficult for the 2 nd work vehicle to smoothly travel following the 1 st work vehicle. Therefore, in this case, for example, by temporarily stopping the 1 st work vehicle on the connection route after the completion of the special mode of travel, it is possible to prevent the 1 st work vehicle and the 2 nd work vehicle from being out of synchronization.
In the work vehicle control system, the following configuration is preferable. That is, the temporary stop is a stop mode in which the travel and work of the 1 st work vehicle can be restarted without requiring a predetermined initialization work. The emergency stop is a stop mode in which the travel and work of the 1 st work vehicle cannot be restarted without performing the predetermined initialization work.
This makes it possible to avoid a situation in which the travel of the 1 st work vehicle and the emergency stop of the work cannot be resumed without performing a predetermined initialization work. This can improve the work efficiency.
Drawings
Fig. 1 is a side view showing a remote control tractor controlled by a work vehicle control system according to an embodiment of the present invention and a manned tractor working in cooperation therewith.
Fig. 2 is a side view showing the overall construction of the remote controlled tractor.
Fig. 3 is a top view of the remote tractor.
Fig. 4 is a diagram showing a wireless communication terminal capable of performing wireless communication with a remote control tractor by a user operation.
Fig. 5 is a block diagram showing the main electrical components of the remote control tractor, the manned tractor, and the wireless communication terminal.
Fig. 6 is a diagram showing a state in which a remote control tractor and a man-made tractor work in cooperation.
Fig. 7 is a flowchart showing a process performed by the work vehicle control system in order to control the distance between the remote control tractor and the human tractor.
Fig. 8 is an explanatory diagram showing a relationship between a pitch between a remote control tractor and a human tractor and control performed in accordance with the pitch.
Fig. 9 is a schematic diagram showing an example of the direction and positional relationship between the remote control tractor and the manned tractor.
Detailed Description
Embodiments of the present invention are described below with reference to the drawings. In the following, the same components are denoted by the same reference numerals in the respective drawings, and redundant description thereof may be omitted. In addition, names of components and the like corresponding to the same reference numerals may be simply referred to by conversion or names of upper concepts or lower concepts.
The present invention relates to a work vehicle control system that controls travel of a plurality of work vehicles when all or part of agricultural work in a predetermined farm field is executed by causing the work vehicles to travel in the farm field. In the present embodiment, a tractor is used as an example of the work vehicle, but the work vehicle includes a rice transplanter, a combine harvester, a civil engineering/construction work apparatus, a riding type work machine such as a snow-sweeper, and a hand-held work machine in addition to the tractor. In the present specification, the autonomous operation means that the tractor is caused to travel along a predetermined route by controlling a structure related to travel provided in the tractor by a control unit (ECU) provided in the tractor, and the autonomous operation means that the tractor is caused to operate along a predetermined route by controlling a structure related to operation provided in the tractor by a control unit provided in the tractor. In contrast, the manual travel/manual work refers to travel/work performed by a user operating each structure provided in the tractor.
In the following description, a tractor performing autonomous traveling/autonomous work may be referred to as an "unmanned (remote) tractor" or a "remote control tractor", or a tractor performing manual traveling/manual work may be referred to as a "manned (remote) tractor". In the case where a part of agricultural work is performed by an unmanned tractor in a farm field, the rest of agricultural work is performed by a manned tractor. There are cases where agricultural operations performed by unmanned tractors and manned tractors in a single farm field are referred to as cooperative operations, follow-up operations, and the like of agricultural operations. In this specification, the unmanned tractor is different from the manned tractor in the presence or absence of user operation, and the respective configurations are basically common. That is, even an unmanned tractor can be operated by a user while being carried (seated) (that is, can be used as a manned tractor), or even a manned tractor can be operated by a user while being off-board to perform autonomous traveling/autonomous work (that is, can be used as an unmanned tractor). The cooperative work of agricultural work includes "agricultural work is performed in a single farm land by unmanned vehicles and manned vehicles", and "agricultural work is performed in different farm lands such as adjacent farm lands by unmanned vehicles and manned vehicles at the same time"
Embodiments of the present invention will be described below with reference to the drawings. Fig. 1 is a side view showing a remote control tractor 1 controlled by a work vehicle control system 60 according to an embodiment of the present invention and a human tractor 1X working in cooperation therewith. Fig. 2 is a side view showing the overall configuration of the remote controlled tractor 1. Fig. 3 is a plan view of the remote controlled tractor 1. Fig. 4 is a diagram showing a wireless communication terminal 46 that is operated by a user and that can wirelessly communicate with the remote-controlled tractor 1. Fig. 5 is a block diagram showing the main electrical components of the remote control tractor 1, the human tractor 1X, and the wireless communication terminal 46.
A work vehicle control system 60 according to an embodiment of the present invention controls the travel of the remote-controlled tractor 1 so as to adjust the distance L between the remote-controlled tractor 1 and the manned tractor 1X shown in fig. 1. As shown in fig. 5, each structure of the work vehicle control system 60 is mainly provided in the remote control tractor 1.
First, a remote control tractor (hereinafter, sometimes simply referred to as "tractor") 1 will be described with reference mainly to fig. 2 and 3.
The tractor 1 includes a traveling machine body 2 as a vehicle body portion that autonomously travels in a farm field area. Work implement 3 shown in fig. 2 and 3 is detachably mounted to travel machine body 2. The working machine 3 includes, for example, various working machines such as a cultivator (management machine), a plow, a fertilizer applicator, a mower, and a seeder, and a desired working machine 3 can be selected as necessary and attached to the travel machine body 2. The traveling machine body 2 is configured to be capable of changing the height and posture of the work implement 3 mounted thereon.
The structure of the tractor 1 will be described with reference to fig. 2 and 3. 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.
A cover 9 is disposed at the front of the travel machine body 2. An engine 10, a fuel tank (not shown), and the like, which are drive sources of the tractor 1, are housed in the hood 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. In addition, an electric motor may be used as the drive source in addition to engine 10 or instead of engine 10.
A cabin 11 on which a user rides is disposed behind the cover 9. The cabin 11 is provided therein with: a steering wheel 12 for steering by a user; a seat 13 for seating a user; and various kinds of operation devices for performing various operations. However, the work vehicle is not limited to the vehicle with the cabin 11, and may be a vehicle without the cabin 11.
The operating devices include the monitor device 14, the throttle lever 15, the main shift lever 27, the plurality of hydraulic operating levers 16, the PTO switch 17, the PTO shift lever 18, the sub-shift lever 19, the work machine up-down switch 28, and the like shown in fig. 3. These operating devices are disposed near the seat 13 or near the steering wheel 12.
The monitor device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is an operation member for setting the output rotation speed of the engine 10. The main shift lever 27 is an operation member for continuously changing the traveling speed of the tractor 1. The hydraulic operation lever 16 is an operation member for switching a hydraulic external extraction valve, which is not shown. The PTO switch 17 is an operation member protruding from the rear end of the transmission 22, and is used to switch between transmission and blocking of power to and from a PTO shaft (power transmission shaft) not shown. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft, and the PTO shaft rotates to drive the working machine 3, and when the PTO switch 17 is in the OFF state, power transmission to the PTO shaft is blocked, and the PTO shaft does not rotate, and the working machine 3 stops. The PTO transmission lever 18 performs an operation of changing the power input to the work machine 3, specifically, an operation element for performing a transmission operation of the rotational speed of the PTO shaft. 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 work implement elevation switch 28 is an operation member for performing an elevation operation of the height of the work implement 3 attached to the travel machine body 2 within a predetermined range.
As shown in fig. 2, a chassis 20 of the tractor 1 is provided at a lower portion of the travel machine body 2. The chassis 20 is composed of 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 part of the tractor 1, and supports the engine 10 directly or via a vibration-proof member or the like. The transmission 22 changes power from the engine 10 and transmits the power to a front shaft 23 and a rear shaft 24. The front shaft 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. 5, the tractor 1 includes a control unit 4 for controlling the operation (forward, backward, stop, turning, etc.) of the travel machine body 2 and the operation (up-down, driving, stopping, etc.) 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 control unit 4 is electrically connected to a controller that controls each structure (for example, the engine 10) provided in the tractor 1, a wireless communication unit 40 that can wirelessly communicate with another wireless communication device, and the like.
The tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and a lift controller, which are not shown. Each controller can control each structure of the tractor 1 in response to an electric signal from the control section 4.
The engine controller controls the rotation speed and the like of the engine 10. Specifically, the engine 10 is provided with an adjustment device 41, and the adjustment device 41 includes an actuator, not shown, for changing the rotation speed of the engine 10. The engine controller is able to control the rotational speed of the engine 10 by controlling the adjusting device 41. The engine 10 is provided with a fuel injection device 52 for adjusting the injection timing and the injection amount of fuel injected (supplied) into the combustion chamber of the engine 10. The engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10, for example, by controlling the fuel injection device 52.
The vehicle speed controller is a component that 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 can change the gear 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 is a member that controls the turning angle of the steering wheel 12. Specifically, a steering actuator 43 is provided in the middle of the rotation shaft (steering shaft) of the steering wheel 12. In the case where the tractor 1 (assumed to be an unmanned tractor) is caused to travel on a predetermined route by this configuration, the control portion 4 calculates an appropriate turning angle of the steering wheel 12 so that the tractor 1 travels along the route, and outputs a control signal to the steering controller so as to attain the obtained turning angle. The steering controller drives the steering actuator 43 based on a control signal input from the control unit 4 to control the turning angle of the steering wheel 12.
The lift controller controls the lifting of the work implement 3. Specifically, the tractor 1 includes a lift actuator 44, which is configured by a hydraulic cylinder or the like, near a 3-point link mechanism that connects the work implement 3 and the travel machine body 2. With this configuration, the elevation controller drives the elevation actuator 44 based on the control signal input from the control unit 4 to cause the work implement 3 to perform the elevation operation appropriately, thereby enabling the agricultural work to be performed at a desired height by the work implement 3. By this control, the working machine 3 can be supported at a desired height such as a retreat height (a height at which agricultural work is not performed) and a working height (a height at which agricultural work is performed).
Further, 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 can be understood that the control unit 4 substantially controls the respective units.
The tractor 1 including the control unit 4 described above can perform agricultural work while traveling in a farm field by allowing the user to perform various operations while riding in the cabin 11 and controlling the components (the travel machine body 2, the work implement 3, and the like) of the tractor 1 by the control unit 4. In the tractor 1 of the present embodiment, even if the user does not take the tractor 1, the user can autonomously travel and autonomously work based on a predetermined control signal output by the wireless communication terminal 46.
Specifically, as shown in fig. 5 and the like, the tractor 1 has various structures capable of autonomous traveling and autonomous work. For example, the tractor 1 has a structure such as a positioning antenna 6 necessary for acquiring position information of itself (the travel machine body 2) based on a positioning system. With such a configuration, the tractor 1 can autonomously travel on the farm field by acquiring its own position information based on the positioning system.
Next, a structure of the tractor 1 to enable autonomous traveling will be described in detail with reference to fig. 5 and the like. Specifically, the tractor 1 of the present embodiment includes the positioning antenna 6, the wireless communication antenna 48, the storage unit 55, and the like. In addition to this, the tractor 1 further includes an Inertia Measurement Unit (IMU), not shown, capable of determining the attitude (roll angle, pitch angle, yaw angle) of the traveling machine body 2.
The positioning antenna 6 receives signals from positioning satellites constituting a positioning system such as a satellite positioning system (GNSS). As shown in fig. 2, the positioning antenna 6 is disposed on the upper surface of a roof 92 provided in the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculating unit 49 shown in fig. 5. 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 as latitude/longitude information, for example. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous traveling.
In the present embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited thereto, and other positioning systems may be used as long as high-precision position coordinates can be obtained. For example, consider the use of a relative positioning system (DGPS) or a geostationary satellite navigation augmentation system (SBAS).
The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user, or transmits a transmission signal to the wireless communication terminal 46. As shown in fig. 2, the wireless communication antenna 48 is disposed on the upper surface of a roof 92 provided in the cabin 11 of the tractor 1. The signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in fig. 5 and is input to the control unit 4. The signal transmitted from the control unit 4 to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, transmitted from the wireless communication antenna 48, and received by the wireless communication terminal 46.
The storage unit 55 is a memory that stores a route on which the tractor 1 autonomously travels, that is, a travel route (route) P in which a straight or folded line-shaped working route (route on which agricultural work is performed) P1 and an arc-shaped connecting route P2 for turning are alternately connected, or stores a position transition (travel track) of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel. The storage unit 55 also stores various information necessary for autonomous travel and autonomous operation of the tractor 1.
As shown in fig. 4, the wireless communication terminal 46 is configured by a tablet-type personal computer. In the present embodiment, the user operating the human tractor 1X rides on the human tractor 1X while holding the wireless communication terminal 46, and operates the wireless communication terminal 46 by, for example, placing it on an appropriate support portion in the human tractor 1X. The user can confirm with reference to information (for example, information from various sensors mounted on the remote control tractor 1) displayed on the display 37 of the wireless communication terminal 46. The user can transmit a control signal for controlling the tractor 1 to the control unit 4 of the tractor 1 by operating a hardware button 38 disposed near the display 37, a touch panel, not shown, disposed so as to cover the display 37, or the like. Further, as the control signal output from the wireless communication terminal 46 to the control unit 4, a signal relating to a route of autonomous traveling/autonomous working, a start signal, a stop signal, an end signal, an emergency stop signal, a temporary stop signal, a restart signal after temporary stop, and the like can be considered, but the present invention is not limited thereto.
The wireless communication terminal 46 includes; a display control unit 31 for performing control to appropriately switch a screen displayed on the display 37; a route generation unit 47 for generating a travel route; a storage unit 32 for storing information on a farmland and a traveling area registered by the user, information on a traveling route generated by the route generation unit 47, and the like.
The wireless communication terminal 46 is not limited to a tablet personal computer, and may be constituted by a notebook personal computer, for example, instead. Alternatively, a monitor device mounted on the manned tractor 1X which operates in cooperation with the remote control tractor 1 may be used as the wireless communication terminal.
The tractor 1 configured as described above can travel along a route on a farm land and perform agricultural work on the working machine 3 based on an instruction from a user using the wireless communication terminal 46.
Specifically, the user can generate the travel route (route) P shown in fig. 6 by the route generation unit 47 by performing various settings using the wireless communication terminal 46. The travel path P is composed of a series of paths in which a straight or folded line-shaped working path (a path in which the tractor 1 performs agricultural work) P1 for performing agricultural work and an arc-shaped connecting path (a path in which the tractor 1 turns) P2 for connecting ends of the working path are alternately connected. Then, by storing the information on the travel route P generated as described above in the storage unit 32 and then inputting (transmitting) the information to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 as a predetermined operation, the tractor 1 can be controlled by the control unit 4, and the autonomous operation can be performed by the working machine 3 while the tractor 1 autonomously travels along the travel route P.
As shown in fig. 6, in the present embodiment, a human tractor (the 2 nd work vehicle) 1X performs manual travel/manual work in cooperation with a remote control tractor (the 1 st work vehicle) 1 that performs autonomous travel/autonomous work along a travel path P. Fig. 6 is a diagram showing a mode in which the remote control tractor 1 and the human tractor 1X cooperatively operate. Specifically, in the present embodiment, in two adjacent work paths P1, the remote control tractor 1 performs work while traveling on one work path P1, and the human tractor 1X performs work while traveling on the other work path P1.
In this cooperative operation, the remote control tractor 1 is caused to travel on the leading side and the manned tractor 1X is caused to travel on the trailing side in such a manner that the user riding the manned tractor 1X can easily observe the remote control tractor 1 directly with the naked eye. In other words, the human tractor 1X runs diagonally right behind or diagonally left behind the remote control tractor 1. The user carrying the human tractor 1X monitors the remote control tractor 1 on the leading side while performing manual running/manual work, operates the wireless communication terminal 46 as necessary, and gives an instruction related to autonomous running to the remote control tractor 1.
In the present embodiment, as shown in fig. 5, the human tractor 1X further includes a positioning antenna 6, a position information calculation unit 49, a wireless communication unit 40, a wireless communication antenna 48, and the like. The human tractor 1X further includes a position information output unit 58 capable of outputting the position information acquired by the position information calculation unit 49 to the remote control tractor 1 side. In this configuration, the manned tractor 1X can acquire the position of itself (traveling machine body 2) based on the positioning system, and transmit the position to the remote-controlled tractor 1 by wireless communication.
As shown in fig. 5, the remote control tractor 1 of the present embodiment includes a work vehicle control system 60, and the work vehicle control system 60 controls the travel of the remote control tractor 1 so as to adjust the pitch (inter-vehicle distance) with respect to the human tractor 1X. The work vehicle control system 60 is configured to perform control for avoiding a further increase in the distance or reducing the distance when the distance between the remote control tractor 1 and the human tractor 1X is too large.
The configuration of work vehicle control system 60 is described in detail below with reference to fig. 5. The work vehicle control system 60 includes a position information acquisition unit 62, a pitch determination unit 63, a deceleration stop determination unit 64, an emergency stop unit 65, a pitch adjustment unit 66, a traveling direction information acquisition unit 67, and the like.
The control unit 4 of the remote control tractor 1 is configured by a computer as described above, and includes a CPU, ROM, RAM, and the like. In addition, the ROM stores an appropriate program or the like for causing the remote control tractor 1 to autonomously travel. The position information acquiring unit 62, the pitch determining unit 63, the deceleration stop determining unit 64, the emergency stop unit 65, the pitch adjusting unit 66, the traveling direction information acquiring unit 67, and the like are configured by the cooperative operation of the software and the hardware.
The positional information acquiring unit 62 shown in fig. 5 acquires positional information of the remote control tractor 1 and the manned tractor 1X. The position information acquisition unit 62 acquires the position information of the remote controlled tractor 1 calculated by the position information calculation unit 49 of the remote controlled tractor 1 via the control unit 4. The position information acquiring unit 62 acquires the position information of the human tractor 1X calculated by the position information calculating unit 49 of the human tractor 1X via the position information outputting unit 58, the wireless communication antenna 48, the wireless communication unit 40, the control unit 4, and the like.
The pitch determining unit 63 determines the pitch (inter-vehicle distance) between the remote control tractor 1 and the human tractor 1X. The pitch determining section 63 obtains (determines) the pitch between the remote-controlled tractor 1 and the human tractor 1X by calculation based on the position information of the remote-controlled tractor 1 and the human tractor 1X obtained by the position information obtaining section 62.
The traveling direction information acquiring unit 67 acquires traveling direction information of the remote control tractor 1 and the human tractor 1X. The traveling direction information acquisition unit 67 calculates the traveling direction of the remote-controlled tractor 1 based on the evolution of the position of the remote-controlled tractor 1 acquired by the position information acquisition unit 62. The traveling direction information acquiring unit 67 calculates the traveling direction of the human tractor 1X based on the evolution of the position of the human tractor 1X acquired by the position information acquiring unit 62.
The deceleration stop determination unit 64 determines whether to perform control for stopping the remote-controlled tractor 1 in an emergency, control for temporarily stopping the remote-controlled tractor, control for decelerating the remote-controlled tractor, or control not to perform any control. Here, the temporary stop refers to a stop mode in which the travel and work of the remote control tractor 1 can be resumed without requiring a predetermined initialization work. On the other hand, the emergency stop is a stop mode in which the travel and work of the remote tractor 1 cannot be restarted without performing a predetermined initialization work.
The deceleration stop determination unit 64 determines whether to perform control for urgently stopping the remote-controlled tractor 1, control for temporarily stopping the remote-controlled tractor 1, control for decelerating the remote-controlled tractor, or control not to perform any control, based on the distance between the remote-controlled tractor 1 and the human tractor 1X acquired from the distance determination unit 63 and the traveling direction information of the remote-controlled tractor 1 and the human tractor 1X acquired from the traveling direction information acquisition unit 67.
The emergency stop unit 65 performs control for emergency stop of the travel of the remote control tractor 1. Specifically, the emergency stop unit 65 according to the present embodiment controls the transmission 42 by the control unit 4 to adjust the angle of the swash plate, and stops the running of the remote tractor 1 by setting the vehicle speed to 0. At substantially the same time, the emergency stop portion 65 blocks the transmission of power to the PTO shaft of the remote tractor 1. Therefore, in the present embodiment, when the remote control tractor 1 is brought to an emergency stop by the control of the emergency stop unit 65, the travel and operation of the remote control tractor 1 cannot be resumed unless an initialization operation (a predetermined initialization operation) is performed, in which the user moves to a place where the remote control tractor 1 is stopped and the power transmission to the PTO shaft can be resumed by operating the PTO switch 17 or the like.
The pitch adjustment unit 66 performs control for decelerating the traveling speed of the remote control tractor 1 or temporarily stopping the traveling. Specifically, the pitch adjustment unit 66 according to the present embodiment changes the speed ratio to the deceleration side or 0 by controlling the transmission 42 by the control unit 4 to adjust the angle of the swash plate. At this time, the pitch adjusting portion 66 does not block the power transmission to the PTO shaft of the remote tractor 1. Therefore, in the present embodiment, when the remote-controlled tractor 1 is temporarily stopped by the control of the pitch adjustment unit 66, the user can easily resume the running and work of the remote-controlled tractor 1 by outputting a work resumption signal to the control unit 4 by operating the wireless communication terminal 46 without performing the initialization work.
Next, the flow of processing performed by the work vehicle control system 60 and the like in order to avoid an excessive distance between the remote control tractor 1 and the human tractor 1X will be described in detail with reference to fig. 7 to 9. Fig. 7 is a flowchart showing a process performed by the work vehicle control system 60 in order to control the pitch L between the remote control tractor 1 and the human tractor 1X. Fig. 8 is an explanatory diagram showing a relationship between a pitch between the remote control tractor 1 and the human tractor 1X and control performed in accordance with the pitch. Fig. 9 is a schematic diagram showing an example of the direction and positional relationship between the remote control tractor 1 and the human tractor 1X.
First, in step S101 shown in fig. 7, the work vehicle control system 60 determines whether or not at least one of the remote control tractor 1 and the human tractor 1X is located on the connecting route (turning route) P2.
When one or both of the remote control tractor 1 and the human tractor 1X are located on the connection path P2 (yes in step S101), the possibility that the traveling direction of at least one of the remote control tractor 1 and the human tractor 1X changes greatly after a short time is high, and therefore, it is not significant to adjust the distance between the remote control tractor 1 and the human tractor 1X. Therefore, in this case, the work vehicle control system 60 waits until both the remote control tractor 1 and the human tractor 1X are positioned on the work path P1 without performing the pitch adjustment control.
On the other hand, if the determination result in step S101 is that neither the tractor 1 nor the human tractor 1X is located on the connecting route P2 (no in step S101), the work vehicle control system 60 performs the processing after step S102.
In step S102, the work vehicle control system 60 determines whether or not the remote control tractor 1 is traveling in a special manner. The special mode traveling refers to traveling in a mode different from a normal mode, and specific examples thereof include a case where test traveling in which the vehicle travels on a work route without performing agricultural work, a case where the vehicle travels while changing the number of skips for traveling on a work route in several rows from a normal case, and a case where the vehicle travels on a route bypassing a barrier in order to avoid the barrier. Specifically, the work vehicle control system 60 determines whether or not the special mode is being performed by acquiring the operating state of the lift actuator 44, the evolution of the position information of the remote control tractor 1, and the like via the control unit 4.
If the control tractor 1 is traveling in the special mode as a result of the determination at step S102 (yes at step S102), the work vehicle control system 60 temporarily stops the remote control tractor 1 at the end point of the next arrival connecting route P2 (i.e., the start point of the next work route P1) at step S103. Specifically, the pitch adjustment unit 66 of the work vehicle control system 60 controls the transmission 42 via the control unit 4 so as to temporarily stop the remote control tractor 1 at the end point of the next arriving connection path P2, thereby changing the gear ratio to 0 at an appropriate time. Thus, even if the manned tractor 1X traveling following the remote-controlled tractor 1 traveling in the special mode slows down, the remote-controlled tractor 1 temporarily stops waiting at the end point of the connection path P2, and the manned tractor 1X can catch up with the remote-controlled tractor 1. In the present embodiment, since the remote control tractor 1 is temporarily stopped at the starting point of the work path P1 on which the work is to be started next, the user of the human tractor 1X can easily grasp on which work path P1 the work is to be performed next. The user operates the wireless communication terminal 46 at an appropriate timing, outputs a job resume signal to the control unit 4, and resumes the running and the job of the remote control tractor 1.
On the other hand, if the remote control tractor 1 is traveling normally but not in a special mode as a result of the determination at step S102 (no at step S102), the work vehicle control system 60 proceeds to the processing at and after step S104 in order to control the travel of the remote control tractor 1 in accordance with the distance and the traveling direction between the remote control tractor 1 and the human tractor 1X.
In step S104, the traveling direction information acquisition unit 67 of the work vehicle control system 60 determines whether or not the traveling direction of the remote control tractor 1 is the same as the traveling direction of the human tractor 1X.
If the determination result in step S104 indicates that the traveling directions of the remote control tractor 1 and the human tractor 1X are the same as shown in fig. 9 a (yes in step S104), in step S105, the pitch determining unit 63 of the work vehicle control system 60 determines (calculates) and acquires the pitch L between the remote control tractor 1 and the human tractor 1X based on the position information of the remote control tractor 1 and the human tractor 1X acquired by the position information acquiring unit 62.
In step S106, the deceleration stop determination unit 64 of the work vehicle control system 60 determines whether the pitch L is higher than the 1 st threshold. In the present embodiment, as shown in fig. 8, a limit distance (for example, 100 m) of wireless communication is set as the 1 st threshold, and the limit distance is a distance at which wireless communication between the remote control tractor 1 and the human tractor 1X may be interrupted if the distance increases to or above the limit distance.
When the pitch L exceeds the 1 st threshold value in the determination of step S106 (yes in step S106), the emergency stop unit 65 of the work vehicle control system 60 performs control for emergency stop of the remote control tractor 1 (step S107). Specifically, the emergency stop unit 65 controls the transmission 42 via the control unit 4 so that the vehicle speed becomes 0 to immediately stop the travel of the remote control tractor 1. Thus, in the case where the distance L between the remote control tractor 1 and the human tractor 1X exceeds the limit distance of wireless communication, the remote control tractor 1 can be immediately brought to an emergency stop, so that it is possible to prevent interruption of communication with the human tractor 1X and to prevent the monitoring by the user from becoming incomplete. In this case, the work vehicle control system 60 may transmit a signal to the display control unit 31 of the wireless communication terminal 46 to cause the display 37 of the wireless communication terminal 46 to display a notification message, for example, indicating that the remote tractor is stopped urgently due to an excessively long inter-vehicle distance. In order to restart the travel and work after the remote control tractor 1 is brought to an emergency stop, the user needs to get off the vehicle from the manned tractor 1X and move to the location where the remote control tractor 1 is disposed to perform the initialization work.
On the other hand, when the pitch L is equal to or smaller than the 1 st threshold in the determination of step S106 (no in step S106), the deceleration stop determination unit 64 of the work vehicle control system 60 determines whether the pitch L is equal to or larger than the 3 rd threshold and equal to or larger than the 1 st threshold (step S108).
When the pitch L is equal to or more than the 3 rd threshold value and equal to or less than the 1 st threshold value as a result of the determination in step S108 (yes in step S108), the pitch adjustment unit 66 of the work vehicle control system 60 performs control to temporarily stop the remote control tractor 1 (step S109). Specifically, the pitch adjustment unit 66 controls the transmission 42 through the control unit 4 to set the transmission ratio to 0. Thus, in the present embodiment, when the distance L between the remote control tractor 1 and the human tractor 1X does not reach the limit distance of the wireless communication but increases to a certain extent (for example, 90m or more and 100m or less, that is, in the present embodiment, the 3 rd threshold is set to 90 m.), the remote control tractor 1 can be temporarily stopped, and a situation in which the distance L between the remote control tractor 1 and the human tractor 1X increases to the limit distance of the wireless communication or more and the remote control tractor 1 has to be stopped urgently can be prevented. In this case, the work vehicle control system 60 may transmit a signal to the display control unit 31 of the wireless communication terminal 46 to cause the display 37 of the wireless communication terminal 46 to display a notification message, for example, indicating that the remote control tractor temporarily stops due to a large inter-vehicle distance. When the remote control tractor 1 is stopped temporarily and then resumes running and work, the user may operate the wireless communication terminal 46 to output a work resumption signal to the control unit 4.
On the other hand, if the pitch L is smaller than the 3 rd threshold as a result of the determination in step S108 (no in step S107), the deceleration stop determination unit 64 determines whether the pitch L is equal to or larger than the 2 nd threshold and smaller than the 3 rd threshold in step S110. In the present embodiment, the 2 nd threshold value is set as an upper limit value (for example, 80 m) of an appropriate distance as the distance between the remote control tractor 1 and the human tractor 1X.
When the pitch L is equal to or greater than the 2 nd threshold value and smaller than the 3 rd threshold value as a result of the determination in step S110 (yes in step S110), the deceleration stop determination unit 64 performs control for decelerating the remote control tractor 1 (step S111). Specifically, the pitch adjustment unit 66 changes the gear ratio to the deceleration side by controlling the transmission 42 via the control unit 4. Thus, when the distance L between the remote control tractor 1 and the human tractor 1X is slightly large (not to the extent that the remote control tractor 1 is temporarily stopped), the remote control tractor 1 can be decelerated, and therefore, the distance L between the remote control tractor 1 and the human tractor 1X can be prevented from further increasing. At this time, the work vehicle control system 60 may transmit a signal to the display control unit 31 of the wireless communication terminal 46 to cause the display 37 of the wireless communication terminal 46 to display a notification message indicating that the remote control tractor is decelerated due to a slightly large inter-vehicle distance, for example.
On the other hand, if the pitch L is smaller than the 2 nd threshold as a result of the determination in step S110 (no in step S110), it indicates that the pitch L between the remote-controlled tractor 1 and the human tractor 1X is an appropriate size. In this case, the work vehicle control system 60 returns to the process of step S101 without decelerating or stopping the remote control tractor 1 and without particularly giving an instruction to the emergency stop unit 65 and the pitch adjustment unit 66.
If the determination result in step S104 indicates that the remote control tractor 1 and the human tractor 1X are traveling in different directions (no in step S104), the work vehicle control system 60 determines in step S112 whether or not the remote control tractor 1 is located on the opposite side (rear side) of the direction of travel of the human tractor 1X when viewed from the human tractor 1X.
As a result of the determination in step S112, as shown in fig. 9 c, when the remote control tractor 1 is located on the opposite side of the traveling direction of the human tractor 1X when viewed from the human tractor 1X (yes in step S112), the remote control tractor 1 is unlikely to enter the field of view of the user, and the inter-vehicle distance between the two vehicles may increase rapidly, and the user cannot monitor the inter-vehicle distance sufficiently. Therefore, in this case, work vehicle control system 60 sets a value (2 nd value, for example, 5 m) smaller than a normal value (1 st value, for example, 80 m) as the 2 nd threshold value (step S113). This allows the remote control tractor 1 to be decelerated at a time when the inter-vehicle distance between the remote control tractor 1 and the human tractor 1X is smaller than a distance L (for example, 5 m) in which the two vehicles travel in the same direction, thereby effectively preventing the user from being unable to monitor the vehicle sufficiently.
On the other hand, as a result of the determination at step S112, as shown in fig. 9 (b), when the remote control tractor 1 is positioned in the traveling direction of the human tractor 1X when viewed from the human tractor 1X, the user can easily visually observe the remote control tractor 1, and it is difficult to imagine that the inter-vehicle distance between the two vehicles is too large. Therefore, in this case, the work vehicle control system 60 returns to step S101 without performing the control of adjusting the pitch.
In the present embodiment, by performing the above control by the work vehicle control system 60, it is possible to prevent the distance between the remote control tractor 1 and the human tractor 1X from becoming excessively large. That is, as shown in fig. 8, when the distance L between the remote control tractor 1 and the human tractor 1X reaches the limit distance of wireless communication (when the 1 st threshold value is exceeded), the remote control tractor 1 is stopped urgently. On the other hand, when the pitch L is large to some extent (not to the extent of an emergency stop) (not less than the 2 nd threshold value but not more than the 1 st threshold value), the remote control tractor 1 is decelerated or temporarily stopped. This can prevent the distance between the remote control tractor 1 and the human tractor 1X from becoming excessively large, and can effectively prevent the occurrence of a situation in which the user cannot restart the travel and the work is stopped suddenly without performing a predetermined initialization work, thereby improving the work efficiency.
In the present embodiment, by performing the above-described control by the work vehicle control system 60, after the remote control tractor 1 travels in the special mode, the remote control tractor 1 is temporarily stopped at the end point of the next link route, and the user is waited for an instruction to start the next travel/work. Thus, even if the user who operates the human tractor 1X becomes unskilled and slows down while the remote-controlled tractor 1 travels in a special manner, the remote-controlled tractor 1 can be temporarily stopped until the human tractor 1X approaches the remote-controlled tractor 1. Therefore, the remote control tractor 1 can be prevented from being out of synchronization with the manned tractor 1X, and smooth cooperative operation can be realized.
As described above, the work vehicle control system 60 of the present embodiment includes the position information acquisition unit 62, the pitch determination unit 63, the emergency stop unit 65, and the pitch adjustment unit 66. The position information acquiring unit 62 acquires position information of the remote control tractor 1 that autonomously travels along a predetermined travel path P and position information of the human tractor 1X that travels behind the remote control tractor 1 and performs work in cooperation with the remote control tractor 1. The pitch determining section 63 determines the pitch L between the remote control tractor 1 and the human tractor 1X. The emergency stop section 65 emergently stops the remote control tractor 1 when the pitch L exceeds the 1 st threshold value. The pitch adjustment unit 66 decelerates the remote control tractor 1 or temporarily stops the remote control tractor 1 when the pitch L is equal to or more than the 2 nd threshold value smaller than the 1 st threshold value and equal to or less than the 1 st threshold value.
Thus, for example, by setting the 1 st threshold to the limit distance (for example, 100 m) of the wireless communication and the 2 nd threshold to a distance (for example, 80 m) slightly smaller than the 1 st threshold, it is possible to make the remote tractor 1 stop urgently when the distance L between the remote tractor 1 and the human tractor 1X becomes the limit distance of the wireless communication, and to make the remote tractor 1 decelerate or stop temporarily when the distance L increases to a certain extent although the distance L is not to the extent of the emergency stop. This can prevent the distance L between the remote tractor 1 and the human tractor 1X from becoming excessively large, and effectively prevent the occurrence of a situation where emergency stop occurs, so that it is possible to improve the work efficiency, and at the time of emergency stop, it is necessary to perform a predetermined initialization operation such as operating the PTO switch 17 when restarting the work.
In the work vehicle control system 60 according to the present embodiment, the pitch adjustment unit 66 stops the remote control tractor 1 temporarily when the pitch L is greater than the 2 nd threshold, is equal to or greater than the 3 rd threshold which is smaller than the 1 st threshold, and is equal to or less than the 1 st threshold. The pitch adjustment unit 66 decelerates the remote tractor 1 when the pitch L is equal to or greater than the 2 nd threshold value and smaller than the 3 rd threshold value.
Thus, when the distance L between the remote control tractor 1 and the human tractor 1X is increased to a certain extent (for example, 80m or more and less than 90 m) although it is not so large that the remote control tractor 1 is temporarily stopped, the remote control tractor 1 can be decelerated to continue the work, for example. This effectively prevents the temporary stop from occurring, thereby preventing damage to the farmland and improving the work efficiency.
Further, the work vehicle control system 60 of the present embodiment includes a traveling direction information acquisition unit 67 that acquires traveling direction information of the human tractor 1X. When the remote control tractor 1 is located on the opposite side of the traveling direction of the human tractor 1X as viewed from the human tractor 1X, the work vehicle control system 60 sets a 2 nd value (for example, 5 m) smaller than a 1 st value (for example, 80 m) set as a 2 nd threshold value as the 2 nd threshold value when the traveling directions of the human tractor 1X and the remote control tractor 1 are the same.
This can provide the following effects. That is, during the cooperative work, after the remote control tractor 1 and the human tractor 1X traveling opposite to each other have rubbed each other, as shown in fig. 9 (c), the remote control tractor 1 may be positioned on the opposite side of the traveling direction of the human tractor 1X when viewed from the human tractor 1X. In this positional relationship, it is difficult for the remote-controlled tractor 1 to enter the field of vision of the user riding the human tractor 1X. Therefore, in this case, the remote control tractor 1 is decelerated at the timing when the pitch reaches the pitch (5 m) smaller than the normal case, and the user can easily and sufficiently monitor the remote control tractor 1, so that a smooth cooperative work can be realized.
In the work vehicle control system 60 of the present embodiment, the travel route P includes a plurality of work routes P1 on which work is performed by the remote control tractor 1, and a connection route P2 connecting the work routes P1. When the travel mode of the remote-controlled tractor 1 on the working path P1 is the special mode, the pitch adjustment unit 66 can temporarily stop the remote-controlled tractor 1 on the connection path P2 regardless of the pitch L.
This can provide the following effects. That is, in the case where the running mode of the remote control tractor 1 is a special mode different from the usual one, it is difficult for the human tractor 1X to smoothly follow the remote control tractor 1. Therefore, in this case, the remote control tractor 1 can be prevented from being out of synchronization with the human tractor 1X by temporarily stopping the remote control tractor 1 on the connection path P2 after the completion of, for example, the special mode of travel.
In the work vehicle control system 60 of the present embodiment, the temporary stop is a stop mode in which the travel and work of the remote control tractor 1 can be resumed without requiring a predetermined initialization work. The emergency stop is a stop mode in which the travel and work of the remote tractor 1 cannot be restarted without performing a predetermined initialization work.
This makes it possible to avoid as much as possible the occurrence of a situation in which the remote tractor 1 cannot be restarted to travel and the work is stopped urgently without performing a predetermined initialization work (operating the PTO switch 17 or the like). This can improve the work efficiency.
The preferred embodiments of the present invention have been described above, but the above-described structure can be modified, for example, as follows.
In the above-described embodiment, the work vehicle control system 60 decelerates the remote control tractor 1 (reduces the vehicle speed) when the pitch L between the remote control tractor 1 and the human tractor 1X is the 2 nd threshold value or more and less than the 3 rd threshold value, but instead, may temporarily stop the remote control tractor 1 when the pitch L is the 2 nd threshold value or more and less than the 3 rd threshold value, as in the case where the pitch L is the 3 rd threshold value or more and the 1 st threshold value or less. Alternatively, when the distance L is equal to or greater than the 2 nd threshold value and smaller than the 3 rd threshold value, only a report notifying the user of this fact (when the distance between the vehicles is slightly large) may be made.
In the above embodiment, when the pitch L is excessively large, the work vehicle control system 60 immediately stops the remote control tractor 1 temporarily, emergently, or the like. However, the present invention is not limited to this, and when the deceleration stop determination unit 64 determines that the pitch L is excessively large, the remote control tractor 1 may be temporarily stopped or emergently stopped on the connection path P2 to which the remote control tractor 1 next arrives. With the above configuration, it is possible to avoid the influence of destruction of the farm field and the like accompanying stopping of the remote control tractor 1 on the growth of crops and the like in the farm field. Further, in consideration of the speed of at least one of the remote control tractor 1 and the human tractor 1X, when it is predicted that the distance L will exceed the limit distance (for example, 100 m) of the wireless communication when the remote control tractor 1 is driven until reaching the next arrival connection route P2, it is preferable that the remote control tractor 1 is immediately stopped urgently at the time determined by the deceleration stop determination unit 64 when the distance L is excessively large as in the above-described embodiment.
In the above embodiment, the human tractor 1X is also provided with the positioning antenna 6 for acquiring the position of the human tractor 1X by the positioning system, the position information calculating unit 49 for calculating the position information of the human tractor, and the like, in the same manner as the remote control tractor 1, and the position information of the human tractor 1X calculated by the position information calculating unit 49 is acquired by the position information acquiring unit 62. However, the human tractor 1X may not have a structure for acquiring its own position by using a positioning system. In this case, for example, the remote control tractor 1 has a structure including a camera for capturing an image of the periphery (front, rear, etc.) of the tractor, and by using the remote control tractor 1 as the working vehicle control system 60 to analyze an image of the human tractor 1X captured by the camera, the position information acquiring unit 62 can acquire the relative position information between the remote control tractor 1 and the human tractor 1X.
Alternatively, the remote control tractor 1 may be provided with a sensor such as an infrared sensor or an ultrasonic sensor, and the position information acquiring unit 62 may acquire the relative position information between the remote control tractor 1 and the human tractor 1X based on the detection result of the distance sensor.
Alternatively, a configuration may be adopted in which the manned tractor 1X is provided with a distance meter for acquiring the travel distance of the manned tractor 1X, and the position information acquiring unit 62 may acquire the relative position information between the remote-controlled tractor 1 and the manned tractor 1X by comparing the travel distance of the manned tractor 1X acquired by the distance meter with the travel distance of the remote-controlled tractor 1 acquired based on the travel trajectory, the vehicle speed setting, the travel time, and the like of the remote-controlled tractor 1 acquired by the positioning system.
Alternatively, it may be estimated that the user enters the vehicle of the human tractor 1X by holding the wireless communication terminal 46 by hand, and the position information acquired by using the positioning function of the wireless communication terminal 46 may be acquired by the position information acquiring unit 62 and processed as the position information of the human tractor 1X.
In the above embodiment, the work vehicle control system 60 performs control for decelerating or stopping the remote control tractor 1 when the distance L between the remote control tractor 1 and the human tractor 1X is excessively large, but may perform the following control simultaneously when the distance L is excessively small: the remote control tractor 1 is accelerated (the vehicle speed is increased) to increase the inter-vehicle distance, and a warning is issued.
In the above embodiment, the work vehicle control system 60 may perform control for decelerating or stopping the remote control tractor 1 in accordance with the distance between the remote control tractor 1 and the human tractor 1X, but may perform control for performing different reports in accordance with the distance L between the remote control tractor 1 and the human tractor 1X, in addition to or instead of this control. Examples of the "different notification" may be different between a warning sound generated when the pitch L is too small, a warning sound generated when the pitch L is too large although the pitch L is not so large as to stop urgently, and a warning sound generated when the pitch L is too large and an urgent stop is necessary.
In the above embodiment, the pitch L is not adjusted when at least one of the remote control tractor 1 and the human tractor 1X is positioned on the connection path P2. Alternatively, for example, when both the remote control tractor 1 and the human tractor 1X are located on the connection path P2, a 4 th threshold value (for example, 5 m) may be set, and when the pitch L is smaller than the 4 th threshold value, the pitch determining unit 63 determines that the remote control tractor 1 needs to be temporarily stopped, and the deceleration stop determining unit 64 may immediately temporarily stop the remote control tractor 1. This prevents the remote control tractor 1 and the human tractor 1X from approaching too closely on the connecting path P2.
In the above embodiment, when the travel pattern of the remote control tractor 1 on the work path P1 during travel is a special pattern, the pitch adjustment unit 66 temporarily stops the remote control tractor 1 at the end point of the next arriving connection path P2 regardless of the pitch L. However, the present invention is not limited to this, and the remote control tractor 1 may be temporarily stopped at a middle portion of the connection path P2 to which the remote control tractor 1 reaches next, for example.
In the processing of step S113 in fig. 7, not only the 2 nd threshold but also the 3 rd threshold may be set to a value smaller than normal.
As shown in fig. 6, instead of the remote control tractor 1 and the human tractor 1X traveling along different travel paths P to perform the cooperative work, the remote control tractor and the human tractor may travel along the same travel path P to perform the cooperative work. In this case, the remote control tractor 1 and the manned tractor 1X may perform the same operation or different operations.
In the above embodiment, the respective parts constituting the work vehicle control system 60 are provided in the remote control tractor 1, but the present invention is not limited to this, and for example, a part or all of the respective parts constituting the work vehicle control system 60 may be provided in the human tractor 1X or the wireless communication terminal 46 instead.
In parallel with the control for adjusting the distance between the remote control tractor 1 and the human tractor 1X, the speed of the remote control tractor 1 and the human tractor 1X may be automatically changed on the outward route and the return route of the traveling route P. Specifically, for example, the pitch angle of the traveling machine body 2 may be acquired based on the detection result of the inertia measurement unit, and the vehicle speed may be made different between when traveling and working on the work path P1 on an upward slope and when traveling and working on the work path P1 on a downward slope. Alternatively, the vehicle speed may be made different by separating the work path P1 on an ascending slope and the work path P1 on a descending slope based on the height information of the farm land obtained by the calculation result of the position information calculating unit 49. This can make the completion of agricultural work uniform.
In the above embodiment, when the remote control tractor 1 is temporarily stopped, the power transmission to the PTO shaft is not blocked, while when the remote control tractor 1 is urgently stopped, the power transmission to the PTO shaft is blocked. However, the present invention is not limited to this, and instead, for example, the driving of the engine 10 may not be stopped when the remote control tractor 1 is temporarily stopped, and the driving of the engine 10 may be stopped when the remote control tractor 1 is urgently stopped. In this case, the "predetermined initialization operation" refers to an operation for starting the engine 10.
In the above embodiment, the 1 st threshold is set as a limit distance of wireless communication, and 100m is exemplified as the limit distance of wireless communication. This means that, in the case of exceeding 100m, there is a possibility that the wireless communication exceeds the limit, in other words, the wireless communication between the 1 st work vehicle and the 2 nd work vehicle is cut off, but the limit distance of the wireless communication is a numerical value (distance) and is not limited to a specific value, and varies depending on various factors such as the intensity of the radio wave (transmission power) and the external environment (for example, the presence or absence of a harmful object, weather, and the like). That is, depending on the situation, even if the pitch is 90m which is smaller than 100m, the first work vehicle 1 may not be able to make the wireless communication and may be stopped urgently. In this case, even if 90m is set as the 3 rd threshold as in the above embodiment, the temporary stop is not performed with priority given to the emergency stop.
In this regard, the 3 rd threshold for performing the temporary stop may be determined so as to have a sufficient margin with respect to the 1 st threshold, but the control unit 4 may be configured to change the 3 rd threshold in accordance with the situation. Specifically, the distance Lx between the 1 st work vehicle and the 2 nd work vehicle when the wireless communication between the 1 st work vehicle and the 2 nd work vehicle is disconnected may be compared with the 1 st threshold, and when the distance Lx is smaller than the 1 st threshold by a predetermined value or more, the 3 rd threshold may be changed to a new value. The 3 rd threshold after the change must satisfy at least the following formula 1, but preferably satisfies the following formula 2.
(changed 3 rd threshold) < (pitch Lx at wireless disconnection) \8230; (formula 1)
(the 3 rd threshold after the change) < (the 3 rd threshold before the change) — the value D \8230; (expression 2) and the value D is a value satisfying that the value D ≧ the 1 st threshold-pitch Lx. In addition, the 1 st threshold may be changed to the same value as the pitch Lx by the control unit 4 in accordance with the change of the 3 rd threshold.
Description of the reference numerals
60 work vehicle control system
62 position information acquiring part
63 Pitch determination part
65 Emergency stop unit
66 distance adjusting part
L distance between
P travel path.

Claims (5)

1. A work vehicle control system, comprising:
a position information acquisition unit that acquires position information of a 1 st work vehicle that autonomously travels along a predetermined travel route, and position information of a 2 nd work vehicle that travels behind the 1 st work vehicle and performs work in cooperation with the 1 st work vehicle;
an interval determination unit that determines an interval between the 1 st work vehicle and the 2 nd work vehicle; and
a pitch adjustment unit that adjusts the pitch between the 1 st work vehicle and the 2 nd work vehicle,
the pitch adjusting unit decelerates the 1 st work vehicle when the pitch is larger than the 1 st predetermined distance,
when the pitch is smaller than the 2 nd predetermined distance, the pitch adjustment unit accelerates the 1 st work vehicle.
2. A work vehicle control system, comprising:
a position information acquisition unit that acquires position information of a 1 st work vehicle that autonomously travels along a predetermined travel route, and position information of a 2 nd work vehicle that travels behind the 1 st work vehicle and performs work in cooperation with the 1 st work vehicle;
a pitch determination unit that determines a pitch between the 1 st work vehicle and the 2 nd work vehicle; and
a pitch adjustment unit that adjusts the pitch between the 1 st work vehicle and the 2 nd work vehicle,
the pitch adjusting unit accelerates the 2 nd work vehicle when the pitch is larger than a 1 st predetermined distance,
when the pitch is smaller than the 2 nd predetermined distance, the pitch adjustment unit decelerates the 2 nd work vehicle.
3. A work vehicle control system, comprising:
a position information acquisition unit that acquires position information of a 1 st work vehicle that autonomously travels along a predetermined travel route, and position information of a 2 nd work vehicle that travels behind the 1 st work vehicle and performs work in cooperation with the 1 st work vehicle;
a pitch determination unit that determines a pitch between the 1 st work vehicle and the 2 nd work vehicle;
a pitch adjustment unit that decelerates or temporarily stops the 1 st work vehicle based on the pitch determined by the pitch determination unit; and
a traveling direction information acquisition unit that determines whether or not the traveling direction of the 1 st work vehicle is the same as the traveling direction of the 2 nd work vehicle,
when the traveling direction information acquiring unit determines that the traveling directions are different, the pitch adjusting unit sets the pitch to a distance smaller than that when the traveling directions are determined to be the same.
4. The work vehicle control system according to any one of claims 1 to 3,
the work vehicle control system includes: and a reporting unit for generating different warning sounds based on the distance.
5. A work vehicle control system, comprising:
a position information acquisition unit that acquires position information of a 1 st work vehicle that autonomously travels along a predetermined travel route, and position information of a 2 nd work vehicle that travels behind the 1 st work vehicle and performs work in cooperation with the 1 st work vehicle;
an interval determination unit that determines an interval between the 1 st work vehicle and the 2 nd work vehicle;
an emergency stop unit that emergently stops the 1 st work vehicle when the pitch exceeds a 1 st threshold; and
and a pitch adjustment unit that decelerates the 1 st work vehicle or temporarily stops the 1 st work vehicle when the pitch is equal to or greater than a 2 nd threshold value that is smaller than the 1 st threshold value and equal to or less than the 1 st threshold value.
CN202210718253.7A 2016-04-26 2017-04-07 Work vehicle control system Pending CN115167401A (en)

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