JP2006018675A - Automation structure for mobile work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automation structure for a mobile work machine which corresponds to speeding-up with high precision without requiring high throughput. <P>SOLUTION: The structure comprises a position detecting means 3 for detecting the position of the mobile work machine 1, and a control means 49 for controlling the operation of the mobile work machine 1. A plurality of control areas A1-A8 are set in the work area A0 of the mobile work machine 1, and also a plurality of control programs corresponding to the respective control areas A1-A8, are provided. As the control means 49 detects the arrival of the mobile work machine 1 to the respective control areas A1-A8, based on detection by a position detecting means 4, the control programs corresponding to the arrival control areas A1-A8 are performed. Thus, the operation of the mobile work machine 1 is controlled. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an automated structure of a mobile work machine for allowing a mobile work machine to autonomously move within a work area to perform a predetermined work.

As an automated structure of the mobile work machine as described above, coordinate data for a predetermined distance or time on a preset travel route is stored, and the mobile work device is adapted to follow the stored travel route coordinates. While traveling autonomously, the current state of the mobile work machine by the automatic tracking device provided in the mobile work machine and the automatic tracking direction tracking system provided in the fixed station and the coordinate position calculation system provided in the mobile work machine The position is calculated in real time, and the calculated current position is compared with the stored travel route coordinates, and the traveling direction of the mobile work machine is corrected so that the deviation becomes zero. Yes (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 5-297794

  According to the above configuration, it is necessary to store a large amount of data as the travel route coordinates, and in addition, the travel control for allowing the mobile work machine to autonomously follow the travel route coordinates and the deviation due to the travel control in real time. Since the calculation processing to be performed and the correction traveling control for sequentially correcting the traveling direction of the mobile work machine based on the calculation result are performed simultaneously, the control operation becomes heavy and the control tends to be delayed. In order to cope with the recent increase in the speed of work, it is necessary to configure an expensive one having a high processing capacity. This leads to a decrease in control accuracy.

  An object of the present invention is to provide an automated structure of a mobile work machine that can cope with high speed with high accuracy without requiring high processing capacity.

  As means for solving the above problems, in the present invention, the present invention comprises position detection means for detecting the position of the mobile work machine, and control means for controlling the operation of the mobile work machine, and the work area of the mobile work machine A plurality of control areas are set, and a plurality of control programs corresponding to the control areas are provided, and the control means reaches the control areas of the mobile work machine based on the detection of the position detection means. Along with the detection, the control program corresponding to the reached control area is executed to control the operation of the mobile work machine.

  According to this configuration, for example, the control area set in the movement path of the mobile work machine is provided with a control program for performing a shifting operation and steering necessary for moving to the next control area. For the control area set at the work position of the machine, the control program for displaying the operations necessary to perform work in the control area and the speed change operation necessary for moving to the next control area If a control program for steering is provided, the corresponding control program is sequentially executed on the basis of the detection (position information) of the position detection means, so that along the preset movement route As the vehicle moves autonomously and reaches the work position by the autonomous movement, a work state by an operation corresponding to the work position appears.

  That is, there is no need to store coordinate data for a predetermined distance or time on a preset travel route, and the travel control is performed so as to move along the coordinate data, and the coordinate data and the current position are The deviation can be calculated in real time, and it is not necessary to sequentially correct the direction of movement to make the deviation zero. As a result, the mobile work machine can be accurately moved along a preset movement route, and an appropriate work operation corresponding to each work position can appear.

  In setting the control area, it is also possible to share the control program. This makes it possible to simplify the control configuration and further improve the responsiveness.

  Accordingly, it has become possible to provide an automated structure of a mobile work machine capable of performing control with high responsiveness capable of improving movement accuracy and work accuracy while simplifying the control configuration, and capable of responding to high speed.

  As one of means for making the present invention more suitable, a position detecting means for detecting the position of the mobile work machine, and a control means for controlling the operation of the mobile work machine, In the work area, a corresponding control area is set based on a plurality of work targets performed by the mobile work machine in the work area, and the control means includes a plurality of control programs corresponding to the work targets. In accordance with the detection of the position of the mobile work machine based on the detection of the position detection means, the control program corresponding to the work target for each reached control area is executed to operate the mobile work machine. Is configured to control.

  According to this configuration, for example, the first work target is when the mobile work machine moves from the standby position (reference position) to the predetermined first work position and completes the work at the first work position. When moving from the first work position to the predetermined second work position and completing the work at the second work position as the second work target, an area extending from the standby position to the first work position is set. In the first work area, an area extending from the first work position to the second work position is set as the second work area, while the mobile work machine is moved from the standby position to the first work position for the first work target. A control program for performing a shift operation and steering necessary for movement, and a control program for displaying an operation necessary for performing work at the first work position, On the other hand, the first mobile work machine A control program for performing a shift operation and steering necessary for moving from the position to the second work position, and a control program for displaying an operation necessary for performing work at the second work position. If it is provided, the corresponding control program is sequentially executed based on the detection (position information) of the position detection means, so that the autonomous movement is performed along the preset movement route and the autonomous movement is performed. As the position is reached, a work state by an action corresponding to the work position appears.

  That is, there is no need to store coordinate data for a predetermined distance or time on a preset travel route, and the travel control is performed so as to move along the coordinate data, and the coordinate data and the current position are The deviation can be calculated in real time, and it is not necessary to sequentially correct the direction of movement to make the deviation zero. As a result, the mobile work machine can be accurately moved along a preset movement route, and an appropriate work operation corresponding to each work position can appear.

  In addition, when changing a partial work position or work target in the work area, it can be easily handled by changing the setting of the corresponding control area or partially modifying the control program corresponding to the work target to be changed. It will be possible.

  Therefore, while simplifying the control configuration and facilitating work changes, it is possible to perform highly responsive control that can improve movement accuracy and work accuracy, and to provide an automated structure for mobile work machines that can respond to higher speeds. I was able to do it.

  As one of means for making the present invention more suitable, the position detection means is configured to detect the position of the marker provided in the mobile work machine from the outside as the position of the mobile work machine, A plurality of the markers are arranged and arranged on the mobile work machine, and the position detecting means is configured to calculate the direction of the mobile work machine from the deviation of the markers.

  According to this configuration, it is possible to simplify the control configuration on the mobile work machine side as compared with the case where the mobile work machine is provided with position detection means, and to effectively use the position detection function originally provided by the position detection means, Since the direction of the mobile work machine is calculated from the deviations of the plurality of markers, the azimuth information of the mobile work machine can be obtained while avoiding the complexity of the arithmetic processing.

  Then, based on this azimuth information, the movement accuracy is improved by correcting the steering by the control program in the movement control area, or the posture of the mobile work machine in the work control area is corrected. This makes it possible to improve work accuracy.

  Further, since it is not necessary to newly provide an orientation sensor for detecting the orientation of the mobile work machine, this is advantageous in simplifying the configuration and reducing the cost.

  Accordingly, it is possible to provide an automated structure of a mobile work machine capable of performing simple and accurate correction based on azimuth information and further improving the movement accuracy and work accuracy while being advantageous in terms of configuration and cost. It came to.

  1 and 2 show an overall configuration of an automation system 2 that automates work by the mobile work machine 1, and this automation system 2 includes an automation device 3 mounted on the mobile work machine 1, a mobile work machine, and the like. 1 is composed of an external management device (an example of position detecting means) 4 that performs position detection and the like of 1 from the outside.

  As shown in FIGS. 1 to 4, the mobile work machine 1 is configured by mounting a front loader 6 on the front portion of the tractor 5. As the work, the excavation work for excavating the earth and sand and the excavated earth and sand at the excavation position P <b> 1. A transfer operation for transferring to the transfer position P2 with respect to the dump truck 7 away from the vehicle and a transfer operation for transferring the transferred earth and sand to the loading platform 8 of the dump truck 7 are performed.

  The tractor 5 functions as a hydrostatic continuously variable transmission (HST) 11 that functions as a main transmission for traveling and a sub-transmission for traveling, using the power from the engine 10 transmitted via the main clutch 9 as a main transmission. Shifting with the gear-type transmission 12 and the shifted power extracted from the front-wheel output shaft 13 of the gear-type transmission 12 is used as front-wheel driving power, such as the front-wheel transmission 14 and the front-wheel differential 15. The power after shifting that is transmitted to the left and right front wheels 16 and taken out from the rear wheel output shaft 17 of the gear type transmission 12 is used as rear wheel differential power 18 or left and right power as driving power for the rear wheels. The four-wheel drive type is configured to transmit to the left and right rear wheels 20 via the rear axle 19 or the like to drive the left and right front wheels 16 and the rear wheels 20, and the pump shaft of the hydrostatic continuously variable transmission 11. Non-shifting power from the 21 2 and the auxiliary transmission device 23 and the like are transmitted to the first power take-off shaft 24 and the second power take-out shaft 25, and can be taken out from the first power take-out shaft 24 and the second power take-out shaft 25 as reserve power. In addition, braking devices 26 for braking the corresponding left and right rear axles 19 are disposed on the left and right sides of the rear wheel differential unit 18.

  The main clutch 9 is energized by a spring (not shown) to return to an on state where power from the engine 10 is transmitted to the hydrostatic continuously variable transmission 11 and the clutch pedal 27 is depressed against the energization of the spring. By operation, it is configured to switch to a cut-off state in which transmission of power from the engine 10 to the hydrostatic continuously variable transmission 11 is cut off.

  The hydrostatic continuously variable transmission 11 is returned to a neutral state that is in a non-transmission state by the action of the neutral return mechanism 28, and the engine 10 is operated based on the depressing operation of the shift pedal 29 against the action of the neutral return mechanism 28. Is configured to perform forward / reverse switching of power and continuously variable transmission. The speed change pedal 29 is configured to be a balance swinging type having a forward operation portion and a reverse operation portion in the front and rear.

  The gear-type transmission 12 is configured to step-shift the power after the shift by the hydrostatic continuously variable transmission 11 based on the operation of the shift lever 30 that can be operated and held at a plurality of shift operation positions. .

  The left and right braking devices 26 return to the non-braking state by urging by corresponding springs (not shown), and depending on the operation amount of the corresponding brake pedal 31 against the urging of those springs. The braking force is applied to the corresponding rear axle 19.

  Further, the tractor 5 includes a rotation speed sensor 32 comprising an electromagnetic pickup type rotation sensor for detecting the engine rotation speed, and an electromagnetic pickup type for detecting the rotation speed of the rear wheel output shaft 17 in the gear transmission 12 as a traveling speed. A vehicle speed sensor 33 comprising a rotation sensor, a turning angle sensor 34 comprising a rotary potentiometer for detecting the turning angle of the front wheel 16, a direction sensor 35 for detecting the direction of the tractor 5 based on geomagnetism, and the like. Yes.

  As shown in FIGS. 3 and 5, the front loader 6 is connected to a pair of left and right columns 36 that are detachably coupled to the left and right sides of the tractor 5, and is pivotably coupled to the upper ends of the corresponding columns 36. A pair of left and right booms 37, a bucket 38 connected to the free ends of the booms 37 so as to be swingable up and down, and a pair of hydraulic left and right booms that swings the corresponding booms 37 in the vertical direction. Boom cylinder 39, hydraulic control valve for swinging the bucket 38 up and down with respect to the left and right booms 37, and a boom control valve for controlling the flow of hydraulic oil to the pair of left and right bucket cylinders 40 and the left and right boom cylinders 39 41, a bucket control valve 42 for controlling the flow of hydraulic oil to the left and right bucket cylinders 40, a cross rocker linked to the boom control valve 41 and the bucket control valve 42 Interlocked with the operation of the operation lever 43 by a neutral return type operation lever 43 and a hydraulic pump 44 that pumps hydraulic oil toward the control valves 41 and 42 by power from the second power take-off shaft 25. The boom 37 and the bucket 38 are configured to be hydraulically oscillated by the control flow of the hydraulic oil by the control valves 41 and 42.

  Incidentally, the left and right booms 37 are swung up and down by a swinging operation of the operation lever 43 downward, and are swung down and swinging by a swinging operation of the operation lever 43 upward. When the operation lever 43 swings to the right, the control lever 43 swings upward and downward.

  Further, the front loader 6 is equipped with a boom sensor 45 composed of a rotary potentiometer that detects the swing angle of the boom 37, a bucket sensor 46 composed of a rotary potentiometer that detects the swing angle of the bucket 38, and the like. Has been.

  The automation device 3 includes a travel operation mechanism 47 for maneuvering the tractor 5, a work operation mechanism 48 for maneuvering the front loader 6, a controller (an example of control means) 49 for controlling the operation of these operation mechanisms 47, 48, and The communication device 50 enables bidirectional wireless communication with the external management device 4.

  The travel operation mechanism 47 shifts the hydrostatic continuously variable transmission 11 against the action of the pneumatic steering motor 52 and the neutral return mechanism 28 that steer the left and right front wheels 16 linked to the steering wheel 51. A pneumatic shift cylinder 53 to be operated, a pneumatic brake cylinder 54 to brake both the left and right braking devices 26 against the bias of the spring, and a steering electromagnetic to control the flow of air to the steering motor 52 With power from the control valve 55, a shift electromagnetic control valve 56 that controls the flow of air to the transmission cylinder 53, a braking electromagnetic control valve 57 that controls the flow of air to the brake cylinder 54, and the power from the first power extraction shaft 24. The compressor 58 that is driven and the air tank 59 that suppresses fluctuations in air pressure are pneumatically configured.

  The work operation mechanism 48 is a pneumatic boom lever cylinder 60 that is linked to the operation lever 43 so as to swing the operation lever 43 that returns to the neutral position vertically while allowing the operation lever 43 to swing left and right. The pneumatic lever cylinder 61 and the boom lever cylinder 60 that are linked to the operation lever 43 to swing the operation lever 43 in the left-right direction while allowing the operation lever 43 to swing up and down. The electromagnetic control valve 62 for the boom for controlling the flow, the electromagnetic control valve 63 for the bucket for controlling the flow of air to the lever cylinder 61 for the bucket, and the compressor 58 and the air tank 59 that also serve as the traveling operation mechanism 47. , Etc., it is configured pneumatically.

  The controller 49 includes a microcomputer and the like, and travels based on transmission information from the external management device 4 and detection information from the rotation speed sensor 32, the vehicle speed sensor 33, the turning angle sensor 34, and the direction sensor 35. The electromagnetic control valves 55 to 57 of the operation mechanism 47 are operated to control the travel of the tractor 5, and the operation is performed based on the detection information from the rotation speed sensor 32, the boom sensor 45, and the bucket sensor 46. The operation mechanism 48 is configured to operate the electromagnetic control valves 62 and 63 to control the operation of the front loader 6.

  As shown in FIGS. 1, 2, 5, and 6, the external management device 4 includes a camera 64 that photographs the work area A <b> 0 of the mobile work machine 1 from above, a control unit 65 that controls the operation of the camera 64, and the like. An image processing unit 66 that coordinates the image information from the camera 64 to measure the position of the mobile work machine 1 in the work area A 0, an input unit 67 that includes a touch panel (not shown), and the controller 49. The communication device 68 is configured to enable wireless communication.

  The operation of the camera 64 is controlled by the control unit 65 so as to photograph the work area A0 of the mobile work machine 1 at a preset fixed period.

  The control unit 65 causes the strobe 69 mounted on the tractor 5 as a position detection marker 69 by the external management device 4 to emit light in synchronization with the shooting timing of the camera 64 at a cycle twice the shooting cycle of the camera 64. In addition, the light emission command information is transmitted to the controller 49 that controls the operation of the strobe via the communication devices 50 and 68.

  The image processing unit 66 recognizes, as a marker 69, a light emitter that emits light in synchronization with the light emission period of the strobe within the movement prediction range of the mobile work machine 1 at the strobe light emission interval from the latest plurality of image information. Each time the marker (strobe) 69 emits light, the position is measured from four absolute positions Pa to Pd for measurement registered in advance, and the measurement results are used as position information of the mobile work machine 1 for the communication devices 50 and 69. To the controller 49.

  As shown in FIGS. 7 to 13, the controller 49 includes a reference direction (y-axis direction), a reference position P0, and an excavation position P1 of the mobile work machine 1 arbitrarily set in the work area A0 coordinate-converted by the image processing unit 66. , Transfer position P2, a plurality of control areas A1 to A8, and a control program for performing the traveling control of the tractor 5 and the operation control of the front loader 6 according to each of the control areas A1 to A8 are stored. Yes.

  The control operation of the controller 49 based on the control program will be described. The controller 49 is an external management device in a state where the mobile work machine 1 is braked and stopped at the reference position P0 of the first control region A1 in a posture along the reference direction. When an operation start command is transmitted by operating the input unit 67 in FIG. 4, first, a notification device such as a lamp or a buzzer installed in the tractor 5 is operated for a predetermined time (for example, 5 seconds). The start of work is notified to the surroundings, the notification device is stopped after the lapse of the predetermined time, and then the excavation movement control for moving the mobile work machine 1 from the reference position P0 to the excavation position P1, excavating earth and sand and bucket Excavation and loading control for loading into the bucket 38, conveyance control for conveying the earth and sand loaded in the bucket 38 to the transfer position P2 with respect to the dump truck 7, An input unit 67 in the external management device 4 performs transfer control for transferring the earth and sand transferred to the loading platform 8 of the dump truck 7 and reference return movement control for moving the mobile work machine 1 from the transfer position P2 to the reference position P0. The operation is repeatedly performed in that order until the operation stop command is transmitted by the operation of the above.

  In the excavation movement control, first, based on the detection values from the boom sensor 45 and the bucket sensor 46, the height position and the vertical angle of the bucket 38 with respect to the tractor 5 are set to the preset appropriate position and appropriate position for starting excavation work. The boom 37 and the bucket 38 are swung up and down by swinging the operation lever 43 up and down and left and right so that the angle becomes an angle, and then the braking by the braking device 26 is released and the mobile work machine 1 is preset. Based on the detection value from the vehicle speed sensor 33, the hydrostatic continuously variable transmission 11 is speed-up operated in the forward direction so as to advance at high speed along the reference direction at the high first forward speed.

  When it is detected by the external management device 4 that the mobile work implement 1 has reached the second control area A2 due to this high speed advance, the mobile work implement 1 is detected based on the detection values from the cutting angle sensor 34 and the orientation sensor 35. Then, a right turn operation is performed so as to move forward from the reference position P0 and the excavation position P1 to the right of the aircraft at a preset right turn angle.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the third control region A3 by this right turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the orientation sensor 35. A left turn operation is performed so as to move forward from the reference position P0 and the excavation position P1 in a left turn angle set in advance, and after the left turn, position information from the external management device 4, a turning angle sensor 34, and an orientation sensor Based on the detected value from 35, the excavation position P1 and the marker 69 are advanced toward the excavation position P1 while appropriately maneuvering as necessary so that the deviation in the x-axis direction becomes zero. .

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the fourth control region A4 by this forward movement, the detected value (engine speed) from the rotational speed sensor 32 is maintained while continuing the above-mentioned proper steering. ) Has decreased from an appropriate value to a first set value set in advance (for example, a value of 80% of the appropriate value). When the value has decreased to the first set value, the tip of the bucket 38 is subject to excavation by this advancement. Therefore, the excavation movement control is terminated and the excavation and loading control is started.

  In the excavation and loading control, first, the hydrostatic continuously variable transmission 11 is returned to neutral to stop the mobile work machine 1, and when the detected value from the rotation speed sensor 32 is recovered to an appropriate value by this stop, The speed change operation of the step transmission 11 in the forward direction is performed to bring the mobile work machine 1 to a low speed forward at the second forward speed, and the operation lever 43 is swung leftward to raise and lower the bucket 38. A state of movement is revealed, and a scooping operation is started in which the tip of the bucket 38 pierces the earth and sand as the tractor 5 travels, and the bucket 38 scrapes the earth and sand when the bucket 38 moves up and down.

  When the detected value from the rotational speed sensor 32 is lowered from an appropriate value to a preset second set value (for example, a value of 70% with respect to the appropriate value) by this scribing operation, the hydrostatic continuously variable transmission 11 is returned to neutral again. At the same time, the operation lever 43 is neutrally returned to stop the scribing operation, and the detected value from the rotation speed sensor 32 is recovered to an appropriate value.

Thereafter, the restart of the scribing operation by the recovery of the detection value from the rotation speed sensor 32 to the appropriate value and the stop of the scoring operation by the decrease of the detection value from the rotation speed sensor 32 to the second set value are performed in that order in advance. When the set number of times (for example, two times) is reached and the number of times of the number of the scribing motions counted with the start of the scribing motion reaches a preset number of times (for example, three times), the number of rotations sensor 32 is stopped by stopping the current scribing motion. As the detected value from 1 recovers to an appropriate value, the state in which the hydrostatic continuously variable transmission 11 is operated to increase the speed in the forward direction and the mobile work machine 1 is advanced at a low speed at the second forward speed appears. At the same time, the control lever 43 is swung leftward for a predetermined time (for example, 2 seconds), and a state in which the bucket 38 is lifted and swung is revealed. 1 second), for a predetermined time (for example, 2.5 seconds), the operation lever 43 is swung upward to reveal the state in which the boom 37 is lifted and swung. Performs a scooping operation that scoops the earth and sand into the bucket 38 by the upward swing of the bucket 38 and the boom 37 while rushing to the earth and sand by the traveling of the tractor 5,
With this scooping operation, the hydrostatic continuously variable transmission 11 is neutralized as the detection value from the rotational speed sensor 32 decreases from an appropriate value to a preset third set value (for example, 60% of the appropriate value). In addition, the control lever 43 is returned to the neutral position with the elapse of each predetermined time to stop the ascending and swinging of the bucket 38 and the boom 37 to stop the scooping operation, and the excavation and loading control is finished and the conveyance control is started. .

  In the conveyance control, first, the hydrostatic continuously variable transmission 11 is moved in the reverse direction based on the detected value from the vehicle speed sensor 33 so that the mobile work machine 1 moves backward along the reference direction at a preset reverse speed. Increase speed.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the second control area A2 due to this reverse movement, the mobile work machine 1 is based on the detection values from the angle sensor 34 and the direction sensor 35. A left turn operation is performed so as to move backward in the left direction of the aircraft at a preset left turn angle from the reference position P0 and the excavation position P1.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the fifth control area A5 by this left turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A right turn operation is performed so as to move backward in the right direction of the aircraft at a preset right turn angle from the reference position P0 and the excavation position P1, and after the right turn, position information from the external management device 4, a turning angle sensor 34, and an orientation sensor On the basis of the detection value from 35, the vehicle is moved backward toward the reference position P0 while appropriately manipulating as necessary so that the deviation in the x-axis direction between the reference position P0 and the marker 69 becomes zero. .

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the first control area A1 in this reverse, based on the positional information from the external management device 4 while continuing the appropriate steering as described above, A deceleration operation of the hydrostatic continuously variable transmission 11 and a braking operation of the braking device 26 are performed so that the mobile work machine 1 stops in a state where the reference position P0 and the marker 69 coincide with each other. Is released, and the hydrostatic continuously variable transmission 11 is accelerated in the forward direction so that the mobile work machine 1 moves forward at high speed along the reference direction at the first forward speed.

  When it is detected by the external management device 4 that the mobile work implement 1 has reached the sixth control region A6 due to this high-speed advance, the mobile work implement 1 is detected based on the detection values from the cutting angle sensor 34 and the orientation sensor 35. Then, a left turn operation is performed so as to move forward from the reference position P0 and the transfer position P2 to the left of the machine body at a preset left turn angle.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the seventh control region A7 by this left turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A right turn operation is performed so that the machine moves forward from the reference position P0 and the transfer position P2 at a preset right turn angle. After the right turn, the position information from the external management device 4, the angle sensor 34, and the direction Based on the detection value from the sensor 35, the transfer position P2 and the marker 69 are directed to the transfer position P2 while appropriately manipulating as necessary so that the deviation in the x-axis direction becomes zero. To move forward.

  When it is detected by the external management device 4 that the mobile work machine 8 has reached the first control area A8 by this advance, while continuing the above-mentioned proper steering, based on the position information from the external management device 4, The moving work machine 1 is moved by performing a deceleration operation of the hydrostatic continuously variable transmission 11 and a braking operation of the braking device 26 so that the moving work machine 1 stops in a state where the transfer position P2 and the marker 69 coincide. After stopping braking at the loading position P2, the conveyance control is finished and the transfer control is started.

  In the transfer control, the operation lever 43 is swung left and right, and the bucket 38 is swung up and down between the upper limit position and the lower limit position so that the earth and sand in the bucket 38 is discharged to the loading platform 8 of the dump truck 7. The operation is performed a predetermined number of times (for example, three times), after which the transfer control is finished and the reference return movement control is started.

  In the reference return movement control, first, based on the detected value from the vehicle speed sensor 33, the braking by the braking device 26 is canceled and the mobile work machine 1 moves backward along the reference direction at a preset backward speed. Then, the hydrostatic continuously variable transmission 11 is operated to increase the speed in the reverse direction.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the sixth control region A6 due to this reverse movement, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A right turn operation is performed so as to move backward in the right direction of the machine at a preset right turn angle from the reference position P0 and the transfer position P2.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the fifth control area A5 by this right turn, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35. A left turn operation is performed so as to move backward in the left direction from the reference position P0 and the transfer position P2 at a preset left turn angle. After the left turn, the position information from the external management device 4, the angle sensor 34, and the direction Based on the detection value from the sensor 35, the vehicle moves backward toward the reference position P0 while appropriately manipulating as necessary so that the deviation between the reference position P0 and the marker 69 in the x-axis direction becomes zero. Let

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the first control area A1 in this reverse, based on the positional information from the external management device 4 while continuing the appropriate steering as described above, A deceleration operation of the hydrostatic continuously variable transmission 11 and a braking operation of the braking device 26 are performed so that the mobile work machine 1 stops in a state where the reference position P0 and the marker 69 coincide with each other. The movement control is finished and the excavation movement control is resumed.

  As shown in FIG. 7, a plurality of excavation positions P1 (three places P1a to P1c in FIG. 7) are set, and these excavation positions P1a to P1c are a series from excavation work to transfer work. Each time the work process is updated, it is appropriately changed in that order.

  According to the above configuration, the automation device 3 is mounted on the mobile work machine 1 configured to be equipped with the front loader 6 in the front part of the tractor 5, and the position of the mobile work machine 1 is detected on the work site. By installing the external management device 4 that communicates the position information and the like with the automation device 3, the excavation and transfer work by the mobile work machine 1 can be automated.

Then, the external management device 4 shoots the work area A0 of the mobile work machine 1 and performs image processing to determine the position of the mobile work machine 1 in the work area A0, and uses the position information as a controller of the mobile work machine 1. On the other hand, the controller 49 transmits position information from the external management device 4, the reference direction of the mobile work machine 1 stored in advance, the reference position P0, the excavation position P1, the transfer position P2, and a plurality of control areas. Each time the mobile work machine 1 reaches each position P0 to P2, each control area A1 to A8, etc. based on A1 to A8 and a control program,
The control operation according to each position P0-P2, each control area A1-A8, etc. is performed, and while making the mobile work machine 1 drive along a preset traveling course, each position P0-P2 and each control area Since the travel and work corresponding to A1 to A8 are performed, the controller 49 controls the travel of the tractor 5 and the operation of the front loader 6 while determining the position of the mobile work machine 1 in the work area A0 by the control operation. It is possible to avoid the inconvenience of the mobile work machine 1 being removed from the preset traveling course, the inconvenience of work delay, and the like due to the control delay that occurs when the mobile work machine 1 is operated. Each time position information is transmitted, meandering that occurs when traveling control is performed by comparing the position information with a preset traveling line can be prevented, and further, embedded in the work area A0. When the vehicle is run by detecting the guided line with the sensor, the aircraft shakes as it climbs on the earth and sand, etc., and it becomes impossible to detect the guided line by the sensor and it is impossible to travel along the guided line. Such inconveniences can be avoided.

  That is, within the management range of the external management device 4 that can be photographed by the camera 64, the mobile work machine 1 is automatically traveled along a preset travel course, and each position P0-P2 and each control region A1- It is possible to repeat the automatic work traveling such as causing the traveling and work corresponding to each of them to be automatically performed every time A8 is reached, efficiently and repeatedly.

In addition, since a strobe with a large amount of light emission is used as the marker 69, the camera 64 can be arranged at a higher position further away from the marker 69 and the imaging range can be expanded, so that automatic work traveling in a wide work area A0 can be performed. In addition, the strobe 69 emits light in synchronization with the shooting timing of the camera 64 at a cycle twice that of the shooting cycle of the camera 64, so that it always emits light, such as sunlight reflection. It becomes possible to distinguish between disturbance light and disturbance light that emits light with a different period or suddenly, and it is possible to avoid control failures caused by disturbance light in advance.
If a plurality of mobile work machines 1 are equipped with strobes 69 that emit light at different periods, a plurality of mobile work machines 1 can be set according to each of them in the management range of the external management device 4 that can be photographed by the camera 64. One machine that automatically runs along the course and automatically performs the corresponding running and work each time it reaches P0 to P2 and each control area A1 to A8 by the automatic running It is possible to enable automatic traveling of a plurality of mobile work machines 1 by the external management device 4.

  In addition, during excavation work, excavation and loading control appropriately linked the traveling of the tractor 5 and the operation of the front loader 6 based on detection of a decrease in engine speed to a set value and detection of return to an appropriate value. Since the state of excavation and loading due to the scrubbing operation and the scooping operation is automatically displayed, the tip of the bucket 38 is pushed into the earth and sand by traveling the aircraft without causing an unexpected engine stop due to an increase in traveling resistance at that time. Thus, an efficient excavation and loading operation in which earth and sand are taken into the bucket 38 by swinging the bucket 38 and the boom 37 can be performed.

  Note that the controller 49 detects that the mobile work machine 1 has been removed from the work area A0 by the external management device 4, or the position information from the external management device 4 is set for a predetermined time (for example, 0.5 seconds). When an emergency situation occurs, such as a case where no signal is received between the two), an emergency stop control for operating the engine stop device (not shown) to stop the engine 10 is performed.

[Another embodiment]
Hereinafter, another embodiment for automating tillage work by the mobile work machine 1 will be described.

  FIG. 14 shows the overall configuration of an automation system 2 for automating tillage work by the mobile work machine 1, and this automation system 2 is an automation mounted on the mobile work machine 1 in the same manner as the best mode described above. The apparatus 3 includes an external management apparatus 4 that detects the position of the mobile work machine 1 from the outside.

  The configuration of the external management device 4 is the same as that described in the best mode, and thus the description thereof is omitted. However, in this alternative embodiment, a deformation field is used as the work area A0 of the mobile work machine 1. As an example, five absolute positions Pa to Pe are registered in the image processing unit 66 as absolute positions for marker position measurement. In addition, the configurations of the mobile work machine 1 and the automation device 3 will be described only with respect to differences from the above-described best mode, and description of the same points will be omitted.

  The mobile work machine 1 is configured by connecting a rotary tiller 72 to a tractor 5 through a pair of left and right lift arms 70 and a link mechanism 71 that are swingable up and down at a rear portion thereof. ing.

  As shown in FIGS. 15 and 16, the tractor 5 is equipped with an elevating operation mechanism 73 that elevates and lowers the rotary tiller 72. The elevating operation mechanism 73 is frictionally held at an arbitrary elevating operation position. Possible lift lever 74, lever sensor 75 composed of a rotary potentiometer that detects the operation position of the lift lever 74, lift arm sensor 76 composed of a rotary potentiometer that detects the vertical swing angle of the lift arm 70, lift arm 70 A lift cylinder 77 that swings and moves, a solenoid control valve 78 that switches the flow of hydraulic fluid to the lift cylinder 77, and a micro that controls the operation of the lift electromagnetic control valve 78 based on detection by the lever sensor 75. A control device 79 composed of a computer and a hydraulic pump driven by power from the engine 10 0, is constituted by such.

  The rotary plowing device 72 is configured to plow by a plurality of tilling claws 81 being driven to rotate about a left-right axis by the power from the first power take-off shaft 24 of the tractor 5. Further, the rotary tiller 72 has a cover sensor 83 composed of a rotary potentiometer that detects the vertical swing angle of the rear cover 82 accompanying the raising / lowering operation as the tilling depth of the rotary tiller 72 and outputs it to the controller 79. Is provided.

  The control device 79 moves the rotary tiller 72 up and down so that the operation position of the lift lever 74 detected by the lever sensor 75 matches the vertical swing angle of the lift arm 70 detected by the lift arm sensor 76. The plowing depth of the rotary plowing device 72 set by the position control to be controlled and the plowing depth setting device 84 composed of a rotary potentiometer and the plowing depth of the rotary plowing device 72 detected by the cover sensor 83 are matched. A control program for performing automatic tilling control for controlling the raising and lowering of the rotary tiller 72 is stored, and switching of these control modes can be performed by operating a mode switch 85.

  When the operation to the upper limit position of the lifting lever 74 is detected by the lever sensor 75 in the automatic tilling depth control, the control device 79 pauses the automatic tilling depth control, and the detected value from the lever sensor 75 and the lift The rotary tiller 72 is raised to the upper limit position so that the detection value from the arm sensor 76 matches, and the auxiliary clutch 22 is operated to stop the rotary tiller 72, and the lever sensor 75 lifts and lowers the lever 74. When the operation to the lower limit position is detected, the auxiliary clutch 22 is engaged to operate the rotary tiller 72 and the automatic tilling control is resumed, and the set value by the tilling depth setting device 84 and the cover sensor 83 are restarted. The rotary tiller 72 is moved up and down so that the detected value matches the value.

  In the tractor 5, the auxiliary transmission 23 that is transmitted to the first power take-off shaft 24 has a forward transmission state in which the first power take-out shaft 24 is driven in a normal rotation state and a reverse transmission state in which the first power take-out shaft 24 is driven in reverse rotation by an artificial operation of the switching lever 86. It can be switched to.

  The automation device 3 includes a travel operation mechanism 47 for maneuvering the tractor 5, a work operation mechanism 48 for switching the driving state of the rotary tiller 72, and a controller 49 (for controlling the operation of the operation mechanisms 47, 48 and the control device 79). An example of the control means) and a communicator 50 that enables bidirectional wireless communication with the external management device 4.

  The travel operation mechanism 47 shifts the hydrostatic continuously variable transmission 11 against the action of the hydraulic steering motor 87 and the neutral return mechanism 28 that steer the left and right front wheels 16 linked to the steering wheel 51. A hydraulic shift cylinder 88 to be operated, a hydraulic brake cylinder 89 for braking the left and right braking devices 26 against the bias of the spring, and a steering for controlling the flow of hydraulic oil to the steering motor 87 An electromagnetic control valve 90, a shift electromagnetic control valve 91 that controls the flow of hydraulic oil to the transmission cylinder 88, an electromagnetic control valve 92 for braking that controls the flow of hydraulic oil to the brake cylinder 89, and a second power take-off shaft The hydraulic pump 93 is driven by power from 25, and the like is configured hydraulically.

  The work operation mechanism 48 controls the flow of hydraulic oil to the elevating lever cylinder 94 for operating the elevating lever 74 of the elevating operation mechanism 73, the drive switching lever cylinder 95 for operating the switching lever 86, and the elevating lever cylinder 94. Hydraulic control is performed by an electromagnetic control valve 96 for the lifting lever, an electromagnetic control valve 97 for the switching lever that controls the flow of hydraulic oil to the drive switching lever cylinder 95, a hydraulic pump 93 that also functions as the traveling operation mechanism 47, and the like. It is structured in an equation.

  The controller 49 includes a microcomputer and the like, and travels based on transmission information from the external management device 4 and detection information from the rotation speed sensor 32, the vehicle speed sensor 33, the turning angle sensor 34, and the direction sensor 35. Operating the electromagnetic control valves 90 to 92 of the operating mechanism 47 to control the traveling of the tractor 5, and based on the transmission information from the external management device 4 and the detection information from the rotation speed sensor 32, the control device The operation of the rotary tiller 72 is controlled by operating the electromagnetic control valves 96 and 97 of the work operation mechanism 48 while controlling the operation of 79.

  As shown in FIGS. 14 and 16 to 21, the controller 49 includes a reference direction (y-axis direction) of the mobile work machine 1 arbitrarily set in the work area A 0 coordinate-converted by the image processing unit 66, a reference position P 0, A plurality of control areas A1 to A7, a control program for performing traveling control of the tractor 5 corresponding to each of the control areas A1 to A7, operation control of the rotary tiller 72, and the like are stored.

  The control operation of the controller 49 based on the control program will be described. The controller 49 is configured so that the mobile work machine 1 is braked and stopped at the reference position P0 in a posture along the reference direction. When a work start command is transmitted by operation, first, for a predetermined time (for example, 5 seconds), a notification device such as a lamp or a buzzer installed in the tractor 5 is operated to start the work around. Informing, stopping the informing device after the lapse of the predetermined time, and then starting moving control and moving work for moving the mobile work machine 1 from the reference position P0 to the work starting area A1a set in the first cornering turning control area A1. Reciprocating tillage control that plows the machine 1 while reciprocating in the direction perpendicular to the reference direction, shoreline tilling while moving the mobile work machine 1 along the shoreline Control, and, the end movement control for moving the mobile work machine 1 to the reference position P0, and is configured to perform in this order.

  In the start movement control, first, the control device 79 is instructed to execute automatic tilling control, and then the braking by the braking device 26 is released, and the mobile work machine 1 is moved in the reference direction (y-axis) at a preset forward speed. The hydrostatic continuously variable transmission 11 is accelerated in the forward direction based on the detection value from the vehicle speed sensor 33 so that the vehicle travels straight along the direction), and the detection values from the angle sensor 34 and the azimuth sensor 35 Based on the above, the mobile work machine 1 is moved forward along the first cornering turning control area A1 by appropriately performing the steering as necessary.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the bending area A1b set in the first cornering turning control area A1 by this advance, the detected values from the cutting angle sensor 34 and the direction sensor 35 are obtained. On the basis, the mobile work machine 1 needs to move forward from the absolute position Pa, Pc, Pe to the left along the first turn turning control area A1 after turning left so as to make a left turn at a preset left turn angle. Advancing toward the work start area A1a while appropriately performing the steering.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the work start area A1a of the first droop turning control area A1 by this advance, the start movement control is terminated and the reciprocating tillage control is started.

  In the reciprocating tillage control, first, the cutting angle sensor 34 is set so that the mobile work machine 1 is directed to the first stroke area A2a set in the reciprocating tillage control area A2 in a preset reciprocating tillage attitude (an attitude along the x axis). A right turn operation is performed based on the detected value from the direction sensor 35 and the detected value from the direction sensor 35.

  When the external management device 4 detects that the mobile work machine 1 has reached the first stroke area A2a in this right turn, the mobile work machine 1 reciprocates based on the detection values from the angle sensor 34 and the direction sensor 35. The switch lever 86 is operated to the reverse rotation position and the lift lever 74 is set to the lower limit while appropriately performing the steering operation as necessary so that the state of advance in the first stroke area A2a is maintained in the tilling posture. By performing the lowering operation to the position and starting the automatic tilling control of the control device 79, the reverse tillage state in which each tillage claw 81 is reversed (rotation contrary to the traveling direction of the machine body) appears.

  In this reverse tillage state, when the detected value (engine speed) from the rotational speed sensor 32 decreases from an appropriate value to a preset value (for example, 60% of the appropriate value), reverse tillage is performed over a predetermined distance. When the switch lever 86 is operated to the normal rotation position, the normal rotation tillage state in which each tillage claw 81 is normally rotated (rotation according to the traveling direction of the machine body) is displayed.

  When the external management device 4 detects that the mobile work machine 1 has reached the second drooping turning control area A3 in this normal tillage state, the raising / lowering lever 74 is raised to the upper limit position to perform automatic tillage control. Is temporarily stopped so that the rotary tiller 72 is stopped while being raised to the upper limit position, while the mobile work machine 1 is set in the adjacent second stroke area A2b in a predetermined reciprocating tillage posture (along the x-axis). A right turn operation is performed based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35 (headland turning).

  When the external management device 4 detects that the mobile work machine 1 has reached the second stroke area A2b by turning right, the mobile work machine 1 is based on the detection values from the cutting angle sensor 34 and the direction sensor 35. The reversing tillage posture is operated as necessary so that the state of moving forward along the second stroke area A2b is maintained, and the switching lever 86 is operated to the reverse rotation position and the lifting lever 74 is operated. Is lowered to the lower limit position and the automatic tilling control of the control device 79 is started, so that the reverse tillage state appears. In this reverse tilling state, the detected value from the rotation speed sensor 32 is changed from the appropriate value to the set value. When lowered, the switching lever 86 is operated to the normal rotation position, and the normal tillage state appears.

  When the external management device 4 detects that the mobile work machine 1 has reached the first drooping turning control area A1 in this normal tillage state, the raising / lowering lever 74 is raised to the upper limit position to perform automatic tillage control. Is temporarily stopped, the rotary tiller 72 is stopped while being raised to the upper limit position, while the mobile work machine 1 is set in the adjacent third stroke area A2c in a reciprocating tillage posture (along the x axis) set in advance. A left turn operation is performed based on detection values from the cut angle sensor 34 and the azimuth sensor 35 (headland turn).

  After this left turn, appropriate steering in the forward path as described above is performed based on the position information from the external management device 4 and the detected values from the rotation speed sensor 32, the turning angle sensor 34, and the direction sensor 35. , Reverse rotation tillage and forward rotation tillage, right turn operation, reverse turn tillage and forward rotation till right turn operation, and left turn operation are repeated in that order Do.

  Then, when the external management device 4 detects that the mobile work machine 1 has reached the third drooping turning control area A4 in the forward rotation tillage state in the final process area A2f of the reciprocating tillage control area A2, the reciprocation is performed. End tillage control and start tillage tillage control.

  In dredging tillage control, first, while maintaining the normal rotation tillage state, the mobile work machine 1 is positioned in the first drooping rectilinear control area A5 along the preset first dredge rectilinear control area A5 (x-axis). The left turn operation is performed based on the detection values from the cutting angle sensor 34 and the azimuth sensor 35, and after this left turn, the vehicle moves forward along the first drooping rectilinear control region A5. Steer as appropriate to steer as necessary.

  When the external management device 4 detects that the mobile work implement 1 has reached the second drooping turn control area A3 by this advance, the mobile work implement 1 is set in advance while maintaining the normal rotation tillage state. The left turn operation is performed based on the detected values from the angle sensor 34 and the azimuth sensor 35 so as to be in the posture along the second swivel turning control region A3 (posture along the y-axis). The steering is appropriately performed so as to be advanced as necessary so as to advance along the coasting turning control area A3.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the second dredging straight-ahead control area A6 by this advance, the mobile work machine 1 is set in advance while maintaining the normal rotation tillage state. The left turn operation is performed based on the detected values from the cutting angle sensor 34 and the azimuth sensor 35 so as to be in a posture along the second straight-running control region A6 (posture along the x-axis). The steering operation is performed as necessary so as to advance along the drooping straight traveling control region A6.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the first turning control area A1 by this advance, the mobile work machine 1 maintains the normal rotation tillage state while the mobile work machine 1 sets the first The left turn operation is performed based on the detected values from the angle sensor 34 and the orientation sensor 35 so that the posture is along the corner turning control area A1 (the posture along the y axis). Steering is performed as necessary so as to advance along the control region A1.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the bending area A1b set in the first cornering turning control area A1 by this advance, the detected values from the cutting angle sensor 34 and the direction sensor 35 are obtained. Based on this, the mobile work machine 1 needs to move forward from the absolute positions Pa, Pc, Pe to the right along the first right turn angle so that the mobile work machine 1 moves forward along the first turning control area A1. The vehicle is moved forward toward the end movement control region A7 while appropriately performing the steering.

  When it is detected by the external management device 4 that the mobile work machine 1 has reached the end movement control area A7 due to this forward movement, the lifting lever 74 is raised to the upper limit position while appropriately maintaining the forward state by steering. By ending the automatic tilling control, the rotary tilling device 72 is raised to the upper limit position and the operation is stopped to end the dredge tilling control and the end movement control is started.

  In the end movement control, the hydrostatic continuously variable transmission 11 is set so that the mobile work machine 1 stops while the mobile work machine 1 moves forward toward the reference position P0 and the reference position P0 and the marker 69 coincide with each other. The decelerating operation and the braking operation of the braking device 26 are performed to stop the mobile work machine 1 at the reference position P0 and stop the end movement control.

  According to the above configuration, the automation device 3 is mounted on the mobile work machine 1 configured to include the rotary tiller 72 at the rear portion of the tractor 5, and the position of the mobile work machine 1 is detected on the work site, and By installing the external management device 4 that communicates the position information and the like with the automation device 3, the cultivation work by the mobile work machine 1 can be automated.

  Then, the external management device 4 shoots the work area A0 of the mobile work machine 1 and performs image processing to determine the position of the mobile work machine 1 in the work area A0, and uses the position information as a controller of the mobile work machine 1. On the other hand, the controller 49 transmits the position information from the external management device 4, the reference position P0 of the mobile work machine 1 stored in advance, the reference direction, a plurality of control areas A1 to A6, a control program, etc. Based on the above, each time the mobile work machine 1 reaches the reference position P0, the control areas A1 to A6, etc., the mobile work machine 1 performs a control operation according to the reference position P0, the control areas A1 to A6, etc. Is run along a preset traveling course and the work corresponding to each of the control areas A1 to A6 is performed. Due to a control delay that occurs when the travel of the tractor 5 and the operation of the rotary tiller 72 are controlled while determining the position of the mobile work machine 1 in the work area A0, the mobile work machine 1 is moved from a preset travel course. It is possible to avoid the inconvenience of detachment or the delay of work, and each time the position information of the mobile work machine 1 is transmitted from the external management device 4, the position information is compared with a preset travel line. Thus, meandering that occurs when traveling control is performed can be prevented.

  That is, as long as the management range of the external management device 4 that can be photographed by the camera 64 is used, the mobile work machine 1 is automatically driven along a preset travel course, and each time the control area A1 to A6 is reached by the automatic travel. It is possible to satisfactorily and efficiently perform automatic work traveling such as automatically performing traveling and work corresponding to them.

  In addition, since the strobe 69 having a large light emission amount is used as the marker 69, the camera 64 can be arranged at a higher position further away from the marker 69 and the imaging range can be widened. Therefore, automatic work running in a wide work area A0. In addition, the flash 69 emits light in synchronization with the shooting timing of the camera 64 at a cycle twice that of the shooting cycle of the camera 64, so that it always emits light, such as reflected sunlight. It is possible to distinguish between disturbance light that emits light and disturbance light that emits light with a different period or suddenly, and it is possible to avoid a control failure caused by the disturbance light, and it is different for each mobile work machine 1 in a plurality of fields. If the strobe 69 that emits light at a period is equipped, the mobile work machine 1 of each field is set according to each field in the management range of the external management device 4 that can be photographed by the camera 64. Each time it automatically travels along the course, and each time it reaches the reference position P0 or each of the control areas A1 to A5 of the corresponding agricultural field, it automatically performs the corresponding travel and work. It is possible to enable each mobile work machine 1 to perform automatic work traveling in a plurality of farm fields by one external management device 4.

  In addition, in the tillage work by reciprocating tillage control, first, the reverse rotation tillage state is automatically displayed at the start of the tillage work at the end of the dredge, and the engine speed is reduced to the set value by performing the reverse tillage state over a predetermined distance. Then, based on the decrease, the forward switching control to switch from the reverse tillage state to the forward tillage state is started to reduce the running resistance, so that the field mud spreads out of the field and the soil is biased toward the edge. It is possible to avoid a decrease in work efficiency due to the engine 10 being stopped unexpectedly due to an overload while performing a good tillage work that suppresses the above.

[Other alternative embodiments]
Other alternative embodiments of the present invention will be listed below.

[1] The mobile work machine 1 may be an agricultural work machine such as a combine or a rice transplanter, a wheel loader or a forklift, or a gear transmission as a main transmission. Good.

[2] In the work area A0 of the mobile work machine 1, corresponding control areas are set based on a plurality of work targets performed by the mobile work machine 1 in the work area A0, and a plurality of control programs corresponding to those work goals And a control program corresponding to a work target for each control area that has arrived when the control means 49 detects the arrival of the mobile work machine 1 to each control area based on the detection of the position detection means 3. It may be configured to execute and control the operation of the mobile work machine 1.

  The second embodiment of [2] will be described in detail with reference to FIG. 7 and FIG. 22. For example, as a plurality of work targets performed by the mobile work machine 1 in the work area A0, the work is moved from the reference position P0 to the excavation position P1. At the same time, the excavation and loading operation of excavating and loading the soil at the excavation position P1 into the bucket 38 is set as the first operation target, and the conveyance operation of conveying the earth and sand loaded in the bucket 38 from the excavation position P1 to the reference position P0 is performed. 2 Set as a work target, the earth and sand loaded in the bucket 38 is transported from the reference position P0 to the transfer position P2, and the earth and sand in the bucket 38 is transferred to the loading platform 8 of the dump truck 7 at the transfer position P2. If the transfer work is set as the third work target, and the transfer work after the transfer is moved from the transfer position P2 to the reference position P0 is set as the fourth work target, As the control area corresponding to the only work, an area extending in the order of the control area A1 → A2 → A3 → A4 is set, and as the control area corresponding to the transfer work, the area extending in the order of the control area A4 → A2 → A5 → A1 is set. As a control area corresponding to the transfer work, an area extending in the order of the control area A1 → A6 → A7 → A8 is set, and as a control area corresponding to the transfer work, the control area A8 → A6 → A5 → A1 is extended. As the control program corresponding to the excavation and loading work of the first control target, the excavation movement control for moving the mobile work machine 1 from the reference position P0 to the excavation position P1 (FIG. 10). And a control program for performing excavation and loading control (see FIG. 11) for excavating the earth and sand and loading it into the bucket 38, and transporting the second control target As a control program corresponding to the work, the mobile work machine 1 is braked at the reference position P0 in the transport control (see FIG. 12) for transporting the earth and sand loaded in the bucket 38 to the transfer position P2 with respect to the dump truck 7. A control program until stopping is provided, and as a control program corresponding to the transfer operation of the third control target, the transfer work machine 1 of the transfer control (see FIG. 12) is moved from the reference position P0 to the transfer position P2. And a control program for performing a transfer control (see FIG. 13) for transferring the earth and sand transferred to the loading platform 8 of the dump truck 7. As a control program corresponding to the work, a reference return movement control (see FIG. 13) for moving the mobile work machine 1 from the transfer position P2 to the reference position P0 is provided. It will be.

[3] Instead of the detection value of the rotation speed sensor 32, the control means 49 performs a predetermined control as the detection value of the vehicle speed sensor 33 decreases from an appropriate value (set speed) to a set value (zero speed). You may comprise so that operation | movement (excavation loading control, normal rotation tillage control, etc.) may be started and a predetermined work state (excavation loading state, normal rotation tillage state, etc.) may appear.

[4] A value of a set value at which the control means 49 starts a predetermined control operation (such as excavation and loading control or normal tillage control) and a value of a set value to stop the scooping operation or scooping operation are Various changes can be made according to the ability and the like.

[5] The travel operation mechanism 47 is provided with a pneumatic clutch cylinder that operates to disengage the main clutch 9 against the bias of the spring, an electromagnetic control valve for the clutch that controls the flow of air to the clutch cylinder, and the like. In addition, the main clutch 9 may be disengaged or the main clutch 9 may be disengaged and the neutral return operation of the hydrostatic continuously variable transmission 11 may be performed when the vehicle is stopped.

[6] In the excavation and loading control, instead of a configuration in which the disengaged state of the main clutch 9 or the neutral state of the hydrostatic continuously variable transmission 11 is maintained until the engine speed is restored to an appropriate value, The main clutch 9 is disengaged for a predetermined time (for example, 3 seconds at the start of control operation due to the thrusting of the tip of the bucket 38, and 1 second after the scraping operation), or the hydrostatic continuously variable transmission 11 The engine speed may be recovered by maintaining the neutral state.

[7] In the excavation and loading control, instead of the configuration in which the scooping operation and the scooping operation are performed until the engine speed decreases to the second set value or the third set value, a predetermined time (for example, the scooping operation) For 1 second, and 2 seconds for the scooping operation).

[8] The travel speed when the tip of the bucket 38 is pushed into the excavation target can be variously changed according to the type and hardness of the excavation target.

[9] The number of scooping and scooping operations performed in excavation and loading control, and the setting of the traveling speed in those operations can be variously changed according to the type and hardness of the excavation target.

[10] As the mobile work machine 1, for example, a two-wheel drive type that drives only the rear wheel 20 may be adopted. Incidentally, in this case, the tractor 5 is performed at the start of the excavation movement control before the excavation and loading control is performed (that is, the stage before the tip of the bucket 38 reaches the object to be excavated by the propulsion of the tractor 5). In the control operation for setting the height position and the vertical angle of the bucket 38 to the appropriate position and the appropriate angle for starting excavation work, the appropriate angle at that time is set when the tip of the bucket 38 enters the object to be excavated. If the angle is set such that the change in the ground posture of the airframe 5 is prevented such that the rear wheel 20 is lifted, the rear wheel 20 is lifted when the tip of the bucket 38 enters the object to be excavated. The power reduction due to the running resistance of the vehicle cannot be detected by the power detection means S, and excavation and loading as a predetermined control operation by the control means 49 based on the detection Control is no longer so, excavating loading state of being properly interlocked with operation of the traveling and the front loader 6 aircraft 5 is no longer to appear, so that you can avoid in advance the occurrence of the disadvantage.

[11] As the travel operation mechanism 47 and the work operation mechanism 48 in the automation device 3, a hydraulic type including a hydraulic actuator such as a hydraulic cylinder, a pneumatic type including a pneumatic actuator such as a pneumatic cylinder, or an electric type such as an electric cylinder. It may be configured in any of electric types including an actuator, or may be configured in a state in which any or all of hydraulic type, pneumatic type, and electric type are mixed.

[12] The position detection means 4 may be configured to measure the position of the mobile work machine 1 using GPS (Global Positioning System). You may make it mount in the mobile work machine 1. FIG.

[13] The external management device 4 may be configured to include a plurality of cameras 64 and to manage the position of the mobile work machine 1 in a wider work area A0.

[14] As the marker 69, for example, a light emitting diode other than the strobe may be adopted as long as the position can be measured by image processing.

[15] The marker 69 may be arranged in front of and behind the mobile work machine 1 at a predetermined interval, and the position detection unit 4 may determine the orientation of the mobile work machine 1 from these positions.

[16] You may make it equip with the emergency stop apparatus which stops the mobile work machine 1 urgently, for example, detecting the traveling of the mobile work machine 1 out of a course with an infrared sensor etc.

[17] The strobe 69 may be rotated together with the turning operation of the airframe so that the light emission of the strobe 69 is always directed to the camera 64.

Schematic plan view showing the overall configuration of the automation system Schematic side view showing the configuration of the automation system Side view of mobile work machine Schematic diagram showing the structure of the aircraft Block diagram showing configuration of automation equipment Diagram showing the operation timing of the camera and strobe Plan view showing the relationship between work area and mobile work equipment Diagram showing operation timing in excavation and loading control Flow chart of automatic work travel control Flow chart of movement control for excavation Excavation loading control flowchart Flow chart of transport control Flow chart of transfer control and reference return movement control Schematic plan view showing the overall configuration of the automation system in another embodiment Rear side perspective view of mobile work machine in another embodiment The block diagram which shows the structure of the automation apparatus in another embodiment Flowchart of automatic work travel control in another embodiment Flow chart of start movement control in another embodiment Flowchart of reciprocating tillage control in another embodiment Flowchart of dredge tillage control in another embodiment Flow chart of end movement control in another embodiment The figure which shows the relationship between the control area and control program for every work target in the work area in other another embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile work machine 3 Position detection means 49 Control means A0 Work area A1 Control area A8 Control area 69 Marker

Claims (3)

  A position detecting means for detecting the position of the mobile work machine; and a control means for controlling the operation of the mobile work machine, wherein a plurality of control areas are set in the work area of the mobile work machine, and the control areas are set in the control areas. A plurality of corresponding control programs, and the control means detects the arrival of the mobile work machine to each control area based on the detection of the position detection means, and controls corresponding to the control area reached An automated structure of a mobile work machine configured to execute a program to control the operation of the mobile work machine.   A plurality of operations performed by the mobile work machine in the work area of the mobile work machine, comprising: a position detection means for detecting the position of the mobile work machine; and a control means for controlling the operation of the mobile work machine. A control area corresponding to the target is set, and a plurality of control programs corresponding to the work targets are provided, and the control means moves to each control area of the mobile work machine based on the detection of the position detection means. An automatic structure of a mobile work machine configured to control the operation of the mobile work machine by executing a control program corresponding to the work target for each reached control area when detecting the arrival of the mobile work machine.   The position detection means is configured to detect the position of a marker provided in the mobile work machine from the outside as the position of the mobile work machine, and a plurality of the markers are arranged and arranged on the mobile work machine. The automated structure of a mobile work machine according to claim 1 or 2, wherein the detection means is configured to calculate the direction of the mobile work machine from the deviation of the markers.

Images