JP2017209070A - 作業車及び作業車に適用される時間ベース管理システム - Google Patents
作業車及び作業車に適用される時間ベース管理システム Download PDFInfo
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- 238000003971 tillage Methods 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
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- 230000005283 ground state Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2087—Control of vehicle steering
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
〔別実施の形態〕
10 :走行機構
4 :制御ユニット
40 :走行制御部
41 :手動走行制御部
42 :自動走行制御部
50 :作業管理部
501 :進捗度算出部
502 :スリップ率算出部
51 :走行距離算出部
52 :走行時間算出部
54 :作業制御部
55 :記録部
56 :報知部
61 :経路設定部
62 :目標走行時間設定部
63 :経路生成部
7 :出力処理部
70 :通信処理部
73 :報知デバイス
8 :入力処理部
80 :衛星測位モジュール
Claims (12)
- 走行機構を装備する車体と、
前記車体に装備され、作業地に対する対地作業を行う作業装置と、
測位データを出力する衛星測位モジュールと、
前記測位データに基づいて前記車体の走行距離を算出する走行距離算出部と、
前記走行距離算出部で算出された走行距離の走行に要した時間から実距離走行時間を算出する走行時間算出部と、
前記実距離走行時間に基づいて前記対地作業を管理する作業管理部と、
を備えた作業車。 - 前記作業地に対する対地作業の目標走行時間を設定する目標走行時間設定部が備えられ、前記作業管理部は、前記目標走行時間と前記実距離走行時間とを比較して、前記対地作業の進捗度を算出する請求項1に記載の作業車。
- 前記進捗度が走行中に報知可能である請求項2に記載の作業車。
- 前記目標走行時間と前記実距離走行時間との時間ずれが所定時間を超えた場合、緊急停止指令が出力される請求項2または3に記載の作業車。
- 前記作業管理部は、直進走行時における前記目標走行時間と前記実距離走行時間との時間ずれである直進時間ずれと、旋回走行時における前記目標走行時間と前記実距離走行時間との時間ずれである旋回時間ずれとを算出する請求項2から4のいずれか一項に記載の作業車。
- 前記目標走行時間と前記実距離走行時間との時間ずれに基づいて前記車体のスリップ率を算出するスリップ率算出部が備えられている請求項2から4のいずれか一項に記載の作業車。
- 前記スリップ率算出部は、直進走行時における前記目標走行時間と前記実距離走行時間との時間ずれから直進走行時のスリップ率である直進スリップ率を算出するとともに、旋回走行時における前記目標走行時間と前記実距離走行時間との時間ずれから旋回走行時のスリップ率である旋回スリップ率を算出する請求項6に記載の作業車。
- 前記作業管理部で管理される管理情報をデータ転送可能に記録する記録部と、前記管理情報を報知する報知部が備えられている請求項1から7のいずれか一項に記載の作業車。
- 前記作業地における前記車体の目標走行経路を設定する経路設定部と、前記目標走行経路及び前記測位データに基づいて前記車体を自動走行させる自動走行指令を生成する自動走行制御部が備えられている請求項1から8のいずれか一項に記載の作業車。
- 走行機構を装備する車体に対地作業を行う作業装置を装備した作業車のための時間ベース管理システムであって、
前記作業車による作業走行のための目標走行経路を設定する経路設定部と、
前記目標走行経路に沿って設定された複数の作業走行点に目標走行時間を割り当てる目標走行時間設定部と、
前記作業車の実際の作業走行時の前記作業走行点における経過時間を実走行時間として算出する走行時間算出部と、
前記作業走行点における前記目標走行時間と前記実走行時間とを比較評価する作業管理部と、
を備えた作業車のための時間ベース管理システム。 - 前記目標走行時間と前記実走行時間との相違を示す相違値が、所定のしきい値を超えた場合、作業走行異常が報知される請求項10に記載の作業車のための時間ベース管理システム。
- 前記車体のスリップ率を算出するスリップ率算出部が備えられ、かつ
前記目標走行時間と前記実走行時間との相違を示す相違値が、所定のしきい値を超えた場合、前記相違に対する前記スリップ率の影響が評価される請求項10または11に記載の作業車のための時間ベース管理システム。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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JP2016105365A JP6697955B2 (ja) | 2016-05-26 | 2016-05-26 | 作業車及び作業車に適用される時間ベース管理システム |
EP16903212.5A EP3466232B1 (en) | 2016-05-26 | 2016-12-06 | Work vehicle and time-based management system applicable to the work vehicle |
CN201680084238.4A CN109068576B (zh) | 2016-05-26 | 2016-12-06 | 作业车及在作业车中应用的基于时间的管理系统 |
PCT/JP2016/086232 WO2017203733A1 (ja) | 2016-05-26 | 2016-12-06 | 作業車及び作業車に適用される時間ベース管理システム |
US16/093,678 US11144061B2 (en) | 2016-05-26 | 2016-12-06 | Work vehicle and time-based management system applicable to the work vehicle |
JP2020077587A JP6972225B2 (ja) | 2016-05-26 | 2020-04-24 | 時間ベース管理システム |
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US (1) | US11144061B2 (ja) |
EP (1) | EP3466232B1 (ja) |
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CN (1) | CN109068576B (ja) |
WO (1) | WO2017203733A1 (ja) |
Cited By (6)
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JP2019121267A (ja) * | 2018-01-10 | 2019-07-22 | ヤンマー株式会社 | 走行速度制御装置 |
JP2020198789A (ja) * | 2019-06-06 | 2020-12-17 | 井関農機株式会社 | 自律走行作業車 |
JP2021007335A (ja) * | 2019-06-28 | 2021-01-28 | 株式会社クボタ | 作業車両 |
JP2022033560A (ja) * | 2020-08-17 | 2022-03-02 | 井関農機株式会社 | 作業車両 |
JP7438851B2 (ja) | 2020-06-01 | 2024-02-27 | 本田技研工業株式会社 | 移動体制御装置、移動体、移動体管理システム、移動体制御方法、およびプログラム |
JP7486562B2 (ja) | 2017-12-19 | 2024-05-17 | 株式会社クボタ | 水田作業機 |
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EP3466232A1 (en) | 2019-04-10 |
EP3466232A4 (en) | 2020-01-15 |
JP6697955B2 (ja) | 2020-05-27 |
US20190072972A1 (en) | 2019-03-07 |
US11144061B2 (en) | 2021-10-12 |
EP3466232B1 (en) | 2022-04-27 |
WO2017203733A1 (ja) | 2017-11-30 |
CN109068576A (zh) | 2018-12-21 |
CN109068576B (zh) | 2021-07-13 |
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