JP2016095660A - Unmanned operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned operation system in which, when work is performed by an unmanned autonomous travel work vehicle along a set route, a work end position at the time of entering a headland and a work start position outside the headland are made to be aligned.SOLUTION: Disclosed is an autonomous travel work vehicle 1 which includes; location calculation means for positioning a location of a vehicle body using a satellite positioning system; and a control device 30 for causing the vehicle body to automatically travel or work along a set traveling route R. By the control device 30, a steering device is controlled so that a vehicle body center is along with the set traveling route, the work vehicle is driven when the action center of the work vehicle is positioned at a work start location E, and the work vehicle is controlled so as to be stopped when the action center of the work vehicle is positioned at a work end position E.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an unmanned work system using an unmanned work vehicle, and a technique for aligning a work start position and a work end position on a headland according to the type of work machine mounted on the unmanned autonomous traveling work vehicle. About.

  Conventionally, a work machine is mounted on the rear part of a tractor, which is an unmanned autonomous traveling work vehicle, and is operated so as to travel along a preset route. The work area was displayed as a strip on the screen. In addition, the work route is set so that the work overlap width is maintained in consideration of the work content and the work width, and a technique in which the turning positions of the farm field ends are aligned is known (for example, Patent Documents). 1).

Japanese Patent Laid-Open No. 2000-14208

  At the time of work in the technique, control is performed so that the center position of the tractor (or the GPS antenna mounting position) travels along the set work route. Therefore, when reaching the end of the field and the center position of the tractor reaches the work end position where the headland turning starts, the work is stopped and the work implement is raised, and the headland turning ends and the center position of the tractor reaches the work start position. The work machine was lowered to resume work. In such a work mode, even if the work end position and the work start position substantially coincide with each other in the direction perpendicular to the work direction (hereinafter referred to as the left-right direction), the work implement is positioned at the center position of the tractor. Since it is arrange | positioned more back, a work trace will shift | deviate back and forth. In addition, when the vehicle travels along the set work route with reference to the position of the GPS antenna attached to the tractor, the end position and the start position of the work implement are shifted in the front-rear direction as described above. If the work traces are shifted in this way, it is necessary to manually correct sowing and planting work, which is inefficient and may be sprayed in places that are not necessary for spraying work. When doing so, it was necessary to increase the overlap width, and it was easy to make unevenness.

  The present invention has been made in view of the above situation, and when working along a set route by an unmanned autonomous traveling work vehicle, the work end position when entering the headland and the headland exited. An object of the present invention is to provide a work system capable of improving work efficiency by controlling stop or drive of a work machine so that work start positions are aligned.

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
In other words, in claim 1, an autonomous traveling work comprising position calculating means for positioning the position of the aircraft using a satellite positioning system and a control device for automatically traveling and working along a set traveling route. In the vehicle, the control device controls the steering device so that the center of the machine body is along the set travel route, and drives the work machine when the work center of the work machine is positioned at the work start position, and the work center of the work machine works as the work center. The work machine is controlled to stop when it is located at the end position.

  According to a second aspect of the present invention, the operating position of the work implement is configured to be settable by a remote operation device.

  According to a third aspect of the present invention, the working machine is provided with working position storage means of the working machine, and the working position storage means is configured to be connectable to a working machine information reading device provided in the machine.

  By using the means as described above, the work start position and the work end position by the autonomous traveling work vehicle can be positioned on a straight line, and the headland can be efficiently operated without being disturbed.

The schematic side view of an autonomous traveling work vehicle and an accompanying traveling working vehicle. Control block diagram. The figure which shows the state at the time of the work by an autonomous traveling work vehicle and an accompanying traveling working vehicle. The figure which shows the reference | standard length of an autonomous running work vehicle.

  The autonomous traveling work vehicle 1 capable of unmanned and automatic traveling, and the accompanying traveling working vehicle 100 on which the operator rides and steers along with the autonomous traveling working vehicle 1 are used as a tractor. An embodiment in which a rotary tiller 24 is mounted as a working machine mounted on the work vehicle 100 will be described. However, the work vehicle is not limited to a tractor, and may be a combine. The work machine is not limited to the rotary tiller 24, and a fertilizer seeding machine, a mowing machine, a chemical spreader, a disinfection machine, and a harvesting machine. Etc.

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

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

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

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

  An engine controller 60 serving as engine rotation control means is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 detects the load from the set rotational speed and the actual rotational speed, and controls so as not to overload.

  The fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the control device 30. The display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply. A fuel gauge for displaying the remaining amount is provided and connected to the control device 30. On the dashboard 14, display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., an abnormal monitor, a set value, and the like are arranged.

  Further, a rotary tiller 24 is installed on the rear side of the tractor body as a work machine via a work machine mounting device 23 so as to be movable up and down. An elevating cylinder 26 is provided on the transmission case 6, and the elevating arm 26 constituting the work implement mounting device 23 is rotated by moving the elevating cylinder 26 to extend and lower the rotary tiller 24. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the control device 30.

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

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

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

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

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

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

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

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

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

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

  In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42 </ b> F for photographing the front, a working machine behind the camera 42 </ b> R, and a camera 42 </ b> R for photographing a state after work. In this embodiment, the cameras 42F and 42R are arranged on the front part and the rear part of the roof of the cabin 11. However, the arrangement positions are not limited, and one camera is arranged on the front part and the rear part in the cabin 11. The camera 42 may be arranged at the center of the aircraft and rotated around the vertical axis to photograph the surroundings, or the camera 42 may be arranged at the four corners of the aircraft to photograph the surroundings of the aircraft. Images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote operation device 112 provided in the accompanying traveling work vehicle 100.

  The remote control device 112 sets the travel route R and work process of the autonomous traveling work vehicle 1, remotely controls the autonomous traveling work vehicle 1, and monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement. Or a work device, and includes a control device (CPU or memory) 119, a communication device 111, a display device 113, and the like.

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

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

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. Further, the remote control device 112 can communicate with the control device 130 of the accompanying traveling work vehicle 100 via the communication devices 133 and 111. The communication device 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote operation device 112 is provided with a display device 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a communication device 111, a CPU, a storage device, a battery, and the like are housed in the housing.

In such a configuration, the set travel route R is preset in the field H as shown in FIG. 3 and stored in the storage device 30m, and the autonomous traveling work vehicle 1 follows the set travel route R in the automatic travel start control mode. Can be run. Note that map data (information) is referred to in order to determine the position of the field H, to travel using a satellite positioning system, and to set a travel route R. Public map data, map data distributed by map makers, etc., car navigation map data, and the like are used.
The work in this embodiment is a plowing work by the rotary plowing device 24, the set travel route R is a reciprocating plowing, and a parallel running work with the accompanying traveling work vehicle 100 is performed. The work is performed by moving to the strip, but in the independent work by the autonomous traveling work vehicle 1, the headland is turned and then the work is performed by moving to the adjacent strip. Note that the headland is twice as long as the left-right width W1 of the work implement in the case of a tilling work by the rotary tiller 24.

  In order to perform tilling work along the set travel route R, the mounting position and the reference length of the GPS antenna 34 are input in advance in the storage device 30 a of the control device 30. The mounting position of the GPS antenna 34 can be mounted above the center of gravity of the tractor or above the center of the rear axle, and is not limited. In this embodiment, it arrange | positions in the center in planar view of this instrument (tractor).

  Further, the size (reference length) of the autonomous traveling work vehicle (tractor) 1 and the work implement (rotary tilling device 24) is set so as to protrude from the field H or avoid obstacles when automatically traveling. Necessary and stored in the storage device 30a before the work. As shown in FIG. 4, the reference length is the total length L0 and the total width W0 of the tractor, the distance L1 from the GPS antenna 34 to the front end of the aircraft, with the work implement (rotary tiller 24) mounted on the tractor, GPS The distance L2 from the antenna 34 to the rear end of the work implement, the distance L3 from the GPS antenna 34 to the working position of the work implement, the left and right width W1 of the work implement (when the work implement is wider than the width of the tractor), work overlap The amount (overlapping width) W2, the amount of eccentricity S1 (not shown) from the center of the left and right when the work implement is arranged eccentrically, etc., which are obtained from the specifications of the tractor and work implement, respectively, and stored in the control device 30 Save in device 30a.

  The distance L1 from the GPS antenna 34 to the front end of the machine body is used when calculating the distance from the field edge such as a front fence or an obstacle appearing in front, and the distance from the GPS antenna 34 to the rear end of the work machine. The distance L2 is used, for example, when calculating the distance to the straw or the field when moving backward, and the distance L3 from the GPS antenna 34 to the working position of the work implement recognizes the work start position and work end position on the headland. It is necessary for. The distance from the front edge or rear edge of the machine body to the field edge or obstacle can be displayed by the display means 49 or the display device 113.

  The working position of the working machine is determined by the working machine. In the case of the rotary tiller 24, the working position is below the tilling claw shaft and slightly deviates from the center of the rotary tiller 24 in plan view. Further, the working position of the boom sprayer is below the spray tub, and is different from the center of the boom sprayer (the entire spraying device) in the plan view. As described above, the working position of the work implement is not limited to the center in the plan view, and is different for each work implement, and thus needs to be set for each work implement.

  Although the method for inputting the reference length to the storage device 30a is input from the remote control device 112, it may be input from the display means 49 configured by a touch panel. In addition, since the value is determined for each work machine, a value corresponding to the type and model of the work machine is stored in the storage device 30m in advance, so that the work machine is called and selected every time the work machine is replaced. It is also possible to set the length.

  In addition, a storage unit 271 that previously reads the reference length is provided in the work machine, and when the work machine is attached to the autonomous traveling work vehicle 1, the reference length is set by the reading device 64 provided in the autonomous traveling work vehicle 1. It is also possible to set the reference length to the control device 30 by reading it, or by connecting the storage means 271 and the control device 30 via a cable to read the reference length. The storage means 271 may be an IC chip, a magnetic storage medium, a barcode, a two-dimensional code, or the like, and is not limited.

Thus, when working with the autonomous traveling work vehicle 1, the autonomous traveling work vehicle 1 is positioned at the headland work start position, and the start switch is operated to start the work. The control device 30 of the autonomous traveling work vehicle 1 controls the steering actuator 40 serving as a steering device along the set traveling route R, and reaches the farm field end and the working position of the work implement reaches the work start / end position E. The PTO on / off means 45 is turned off to stop the rotation of the rotary to stop the work implement. At the same time, the lift actuator 25 is operated to extend the lift cylinder 26 to raise the rotary tiller 24.
Then, when the headland turns and advances in the opposite direction and the working position of the work implement reaches the work start / end position E, the PTO on / off means 45 is turned on to rotate the rotary and simultaneously drive the work implement. The elevating actuator 25 is actuated to reduce the elevating cylinder 26 and the rotary tiller 24 is lowered to start the work. By repeating the work in this manner, the work start / end positions E are aligned on the headland at the end of the field, and a beautiful finish can be achieved, and work efficiency can be improved.

  As described above, the autonomous traveling work vehicle including the position calculating means for positioning the position of the aircraft using the satellite positioning system and the control device 30 that automatically travels and works along the set traveling route R. 1, the control device 30 controls the steering device so that the center of the machine body is along the set travel route, and drives the work machine when the work center of the work machine is located at the work start position E, so that the work center of the work machine is operated. Since the work implement is controlled to stop when it is located at the work end position E, the headland is neatly aligned and the finish of the headland work can be cleaned. In addition, there is less duplication in the spraying work, and there is no need for correction in the planting work.

Since the working position of the work implement is configured to be settable by the remote operation device 112, it can be easily set even at a position away from the autonomous traveling work vehicle 1.
The working machine is provided with working position storage means of the working machine, and the working position storage means is configured to be connectable to a working machine information reading device provided in the machine. The reference length can be easily set in the control device 30 only by connecting the action position storage means and the work implement information reading device when the vehicle 1 is mounted on the main unit.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling working vehicle 30 Control apparatus 40 Steering actuator 45 PTO on / off means 64 Reading apparatus 100 Accompanied traveling working vehicle 112 Remote operation device 271 Storage means

Claims (3)

  In an autonomous traveling work vehicle comprising a position calculating means for positioning the position of the aircraft using a satellite positioning system, and a control device that automatically travels and works along a set traveling route, the control device includes: The steering device is controlled so that the center of the machine is along the set travel route, the work machine is driven when the work center of the work machine is located at the work start position, and the work machine is moved when the work center of the work machine is located at the work end position. An unmanned work system characterized by controlling to stop.   The unmanned work system according to claim 1, wherein the operation position of the work machine is configured to be settable by a remote operation device. The working machine is provided with working position storage means of the working machine, and the working position storage means is configured to be connectable to a working machine information reading device provided in the machine. Unmanned work system.

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