JP2019004792A - Travel management system of workplace - Google Patents

Abstract

To appropriately distinguish a travelable area from a work area, and enable a tractor to stop at a proper position.SOLUTION: A travel management system of a work place includes: a travel area setting part for setting a travelable area in a work place for a travel vehicle to which a work device can be connected; a work area setting part for setting a work area in the travelable area; and a travel control part for stopping the travel vehicle when the travel vehicle reaches a stop line, which is a border of the work area. The travel area setting part sets the travelable area based on the travel position when the travel vehicle has travelled in the work place.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a workplace management system.

Conventionally, Patent Document 1 is known as a technique for traveling along a predetermined target travel route. In the automatic traveling work vehicle of Patent Document 1, the steering wheel such as a tractor is automatically steered so that the positional deviation between the vehicle position relative to the target traveling route and the azimuth deviation are eliminated.
A technique disclosed in Patent Document 2 is known as a method for setting a target travel route when performing automatic steering as described in Patent Document 1. In Patent Document 2, before a target travel route is created, a target tract is set for the recognized field after the tractor travels to recognize the field.

Japanese Patent Laying-Open No. 2006-155491 JP 2016-31649 A

Although the target travel route can be set in the field according to Patent Documents 1 and 2 described above, in actual farm work or the like, a travelable area that can travel in the field and an area for planting crops and the like ( The work area may be different.
In recent years, the travelable area and the work area are distinguished and set appropriately, and then the target travel route is set appropriately for the travelable area. It is desired to work with the tractor stopped before entering. In other words, there is a demand for a system capable of stopping the tractor on the travelable area and preparing for the next work when the travel or work of the tractor or the like changes in the field.

  Then, an object of this invention is to provide the driving | running | working management system of the workplace which can solve the said problem.

The technical means of the present invention for solving this technical problem is characterized by the following points.
A travel management system for a workplace includes a travel area setting unit that sets a travelable area in a work site of a traveling vehicle to which work devices can be connected, a work area setting unit that sets a work area in the travelable area, and the traveling vehicle Is provided with a travel control unit that stops the traveling vehicle when it reaches a stop line that is a boundary of the work area.

The travel area setting unit sets the travelable area based on a travel position when the travel vehicle is traveled in the work place.
The work area setting unit sets the work area based on a travel boundary that is a boundary of the travelable area and a work width in the work device.
The work area setting unit sets a deceleration area in which the traveling vehicle is decelerated in the work area.

The workplace management system includes a position detection device that detects a traveling position of a traveling vehicle in the work area, and a notification device that notifies a traveling state of the traveling vehicle based on a relationship between the stop line and the traveling position. It is equipped with.
The travel management system of the workplace includes a steering detection unit that detects that the traveling vehicle is steered after the traveling vehicle is stopped, and the travel control unit is configured to detect when the steering is detected by the steering detection unit. The traveling of the traveling vehicle is resumed.

The travel management system of the workplace includes a route setting unit that sets a planned travel route of the traveling vehicle in the travelable area, and the travel control unit is configured to perform the travel based on the planned travel route set in the route setting unit. Control the steering of the vehicle.
The workplace management system includes a turning area setting unit that sets a turning area in which the traveling vehicle turns in an area excluding the work area in the travelable area, and the traveling control unit includes the turning area in the turning area. Enable turning of the traveling vehicle.

  The workplace management system includes a display device capable of displaying the travelable area and the work area.

  ADVANTAGE OF THE INVENTION According to this invention, a driving | running | working area and a work area can be distinguished appropriately, and the traveling vehicle which can connect a working apparatus as needed can be stopped in a work place.

It is a figure which shows the driving | running | working management system of a workplace. It is a figure which shows the setting screen T1. It is a figure which shows the setting screen T2. It is explanatory drawing explaining the relationship between the shift line Bn and the work area 62. FIG. It is a figure which shows a deceleration area. It is explanatory drawing which sets the deceleration speed to a deceleration area. It is a figure which shows the setting screen T3. It is explanatory drawing of a turning area. It is a figure which shows guidance screen T4. It is a figure which shows the state which can transfer smoothly from turning of a tractor to a straight advance. It is a figure which shows the state which cannot transfer smoothly from turning of a tractor to a straight advance. It is a figure which shows the state which goes to a stop line from the turning area side. It is a figure which shows the state which is approaching the stop line from a work area. It is a whole side view of a tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a travel management system for a workplace. The workplace management system is a system that manages the running of the work machine in the workplace. The work place is a place where work is performed by a work machine such as an agricultural machine (work machine) such as a tractor, a combiner, or a rice transplanter.
First, an agricultural machine (work machine) will be described using a tractor as an example.

  As shown in FIG. 9, the tractor 1 includes a traveling vehicle (traveling vehicle body) 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7 may be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. The traveling vehicle 3 is provided with a cabin 9, and a driver seat 10 is provided in the cabin 9.

  In addition, a connecting portion 8 constituted by a three-point link mechanism or the like is provided at the rear portion of the traveling vehicle 3. The working device 2 can be attached to and detached from the connecting portion 8. By connecting the working device 2 to the connecting portion 8, the working device 2 can be pulled by the traveling vehicle 3. The working device 2 includes a tilling device for plowing, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying agricultural chemicals, a harvesting device for harvesting, a harvesting device for cutting grass, a diffusion device for spreading grass, A grass collecting device for collecting grass and the like, and a molding device for forming grass and the like. In addition, in FIG. 9, the example which attached the tillage apparatus as the working apparatus 2 is shown.

  As shown in FIG. 1, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, and a PTO power transmission unit 5e. The propulsion shaft 5a is rotatably supported by the housing case of the transmission 5, and power from the crankshaft of the engine 4 is transmitted to the propulsion shaft 5a. The main transmission 5b has a plurality of gears and a shifter that changes the connection of the gears. The main transmission unit 5b changes and outputs (shifts) the rotation input from the propulsion shaft 5a by appropriately changing the connection (meshing) of a plurality of gears with a shifter.

Similar to the main transmission unit 5b, the sub transmission unit 5c includes a plurality of gears and a shifter that changes connection of the gears. The auxiliary transmission unit 5c changes and outputs (shifts) the rotation input from the main transmission unit 5b by appropriately changing the connection (meshing) of a plurality of gears with a shifter.
The shuttle unit 5 d includes a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the auxiliary transmission unit 5c is transmitted to the shuttle shaft 12 via a gear or the like. The front / rear switching unit 13 is constituted by, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, forward and reverse of the tractor 1 by turning on and off the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device. The rear wheel differential device rotatably supports a rear axle 29R to which the rear wheel 7R is attached.

  The PTO power transmission unit 5 e has a PTO propulsion shaft 14 and a PTO clutch 15. The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and the state in which the power of the propulsion shaft 5a is transmitted to the PTO propulsion shaft 14 and the power of the propulsion shaft 5a is not transmitted to the PTO propulsion shaft 14 by turning on and off the hydraulic clutch Switch to state.

  As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 includes a handle (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates as the handle 11a rotates, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the handle 11a. doing. The auxiliary mechanism 11 c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 that is operated by the control valve 22. The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheel 7F.

Therefore, if the handle 11a is operated, the switching position and opening of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 is expanded or contracted to the left or right according to the switching position and opening of the control valve 22. By doing so, the steering direction of the front wheel 7F can be changed. In addition, the steering mechanism 11 mentioned above is an example, and is not limited to the structure mentioned above.
As shown in FIG. 1, the tractor 1 includes a braking device. The braking device includes a left braking device 25a and a right braking device 25b. The left braking device 25a and the right braking device 25b are
It is a disc-type braking device, and can be switched between a braking state for braking and a released state for releasing braking. The left braking device 25a is provided on the left side of the rear axle 29R, and the right braking device 25b is provided on the right side of the rear axle 29R. For example, a left brake pedal and a right brake pedal are provided in the vicinity of the driver's seat 10. When the operator operating the tractor 1 operates (depresses) the left brake pedal, the left connecting member 26a connected to the left brake pedal moves in the braking direction, and the left braking device 25a can be put into a braking state. When the operator operates (depresses) the right brake pedal, the right connecting member 26b connected to the right brake pedal moves in the braking direction, and the right braking device 25b can be put into a braking state.

  The left connecting member 26a is connected to a left hydraulic operating portion 27a that is operated by hydraulic oil. A left brake valve 28a is connected to the left hydraulic operating portion 27a through an oil passage. The left connecting member 26a can be moved in the braking direction by operating the left hydraulic operating portion 27a by the left brake valve 28a. The right connecting member 26b is connected to a right hydraulic operating portion 27b that is operated by hydraulic oil. A right braking valve 28b is connected to the right hydraulic operation unit 27b through an oil passage. The right connecting member 26b can be moved in the braking direction by operating the right hydraulic operating portion 27b with the right brake valve 28b. In addition, it is not limited to the braking device mentioned above.

The tractor 1 includes a control device 18. The control device 18 is a device that controls the traveling system and the working system in the tractor 1. The control device 18 is a device that controls various drive units mounted on the tractor 1. For example, the control device 18 performs engine control of the prime mover 4, elevating control of the elevating device that elevates and lowers the connecting unit 8, and the like.
The tractor 1 includes a position detection device 30. The position detection device 30 is mounted on the top plate of the cabin 9 of the traveling vehicle 3. In addition, although the position detection apparatus 30 is mounted on the top plate of the cabin 9, the mounting position on the traveling vehicle 3 is not limited and may be another place. Further, the position detection device 30 may be attached to the work device 2.

The position detection device 30 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the position detection device 30 receives a signal (positioning satellite position, transmission time, correction information, etc.) transmitted from a positioning satellite, and detects a position (latitude, longitude) based on the received signal.
The position detection device 30 may detect a position corrected based on a signal such as correction from a base station (reference station) that can receive a signal from a positioning satellite as its own position (latitude, longitude). . Further, the position detection device 30 may include an inertial measurement device such as a gyro sensor or an acceleration sensor, and the position corrected by the inertial measurement device may be detected as its own position.

As described above, according to the position detection device 30, the position of the traveling vehicle 3 can be detected by the position detection device 30.
As shown in FIG. 1, the workplace management system includes a travel area setting unit 40 and a work area setting unit 41. The travel area setting unit 40 and the work area setting unit 41 are provided in a management device (computer). The management device is, for example, a portable terminal (portable terminal) such as a tablet, a smartphone, or a PDA, a fixed terminal (fixed terminal) such as a fixed computer such as a personal computer, a monitor device (display device), or a server. is there. When the management device is a mobile terminal, an operator (an operator who operates the tractor 1) or an administrator (such as an administrator who manages work) may be possessed at the time of work. When the management device is a mobile terminal, an operator or the like may attach the mobile terminal to the tractor 1 when operating the tractor 1. When the management device is a display device among the fixed terminals, the display device may be attached to the tractor 1. In this embodiment, the description will be continued assuming that the management device is the display device 50 attached to the tractor 1.

  The display device 50 is a device that can display various kinds of information, and includes any one of a liquid crystal panel, a touch panel, and other panels. The display device 50 includes a control unit configured with a CPU and the like, and a storage unit 19 configured with a nonvolatile memory and the like. The travel area setting unit 40 and the work area setting unit 41 are configured by electric / electronic components provided in the display device 50, programs incorporated in the control unit, and the like.

  As shown in FIG. 2A, the travel area setting unit 40 sets a travelable area 60 in the work place H <b> 1 of the travel vehicle 3. That is, the travel area setting unit 40 sets the travelable area 60 based on the travel position (travel trajectory) when the travel vehicle 3 travels in the work place H1. The travel position may be the position of the tractor 1 (traveling vehicle 3) and may be a position detected by the position detection device 30, or based on the position detected by the position detection device 30, the front end of the tractor 1 (traveling vehicle). 3) The position of the front end may be obtained and the position of the front end may be set as the travel position, or the position of the front wheel 7F is obtained based on the position detected by the position detection device 30, and the position of the front wheel 7F is set as the travel position. Also good.

  For example, when the operator performs a predetermined operation on the display device 50, the traveling area setting unit 40 displays a setting screen T1 on the display device 50 as shown in FIG. 2A. A field F1 indicating the work place H1 is displayed on the setting screen T1 on the display device 50. A position (latitude, longitude) is assigned to the field F1. Here, when the operator causes the traveling vehicle 3 to travel through the work place H1, a travel locus 55 of a position (traveling position) detected by the position detection device 30 when the traveling vehicle 3 travels in the work place H1 is displayed on the field F1. Is displayed. That is, the travel area setting unit 40 acquires the travel position detected by the position detection device 30, calculates the travel locus 55 based on the acquired travel position, and displays the travel locus 55 on the field F1. For example, when the completion button 51 displayed on the setting screen T1 is selected, the travel area setting unit 40 sets the travel locus 55 to the travelable area 60 in the work place H1. For example, when the travelable area 60 is set, the operator travels the traveling vehicle 3 along the outline of the work place (agricultural field) H1, so that the work can be performed when the work place H1 is rectangular (rectangular) in plan view. The area 60 is a rectangle. As a matter of course, the operator travels the traveling vehicle 3 while confirming the state of the work place H1, so the shape of the travelable area 60 is not limited, and may be various shapes such as a polygon and a circle. The traveling area setting unit 40 may perform linear interpolation processing on the traveling locus 55 and set the traveling locus 55 after the linear interpolation processing in the travelable area 60 in the work place H1. When the travelable area 60 is set by the travel area setting unit 40, position data indicating the travelable area 60 is stored in the storage unit 19.

As shown in FIG. 2B, the work area setting unit 41 sets a work area 62 in the travelable area 60. For example, when the operator performs a predetermined operation on the display device 50, the work area setting unit 41 displays a setting screen T2 on the display device 50 as shown in FIG. 2B. The setting screen T1 and the setting screen T2 may be the same screen.
On the setting screen T2 on the display device 50, a field F1 indicating the work place H1 and a travelable area 60 indicated in the field F1 are displayed. The work area setting unit 41 displays a work width input unit 52 for inputting the work width W1 on the setting screen T2. The work width W1 of the work device 2 is a width for performing work on the work place H1 of the work device 2. For example, in a cutting device, a tilling device, a forming device, or the like, one end to the other end of the work device 2 in the width direction. It is the distance to. The work width W1 of the work device 2 may be set larger than the distance from one end to the other end of the work device 2 in the width direction. That is, in the case of a spraying device for fertilizer application, medicine, etc., the work width W1 of the work device 2 is the spray width.

After the work width W1 of the work device 2 is input to the work width input unit 52, when the completion button 51 displayed on the setting screen T2 is selected, the work area setting unit 41 is input to the work width input unit 53. The working width W1 of the working device 2 obtained is acquired. The work area setting unit 41 includes a travelable area 60
The boundary (running boundary) 60a is shifted inwardly by the work width W1, and a range surrounded by the shifted shift line B1 is set in the work area 62. That is, the work area setting unit 41 sets the work area 62 based on the travel boundary of the travelable area 60 and the work width W1 in the work device 2. As shown in FIG. 2C, the work area setting unit 41 sets the shift line Bn = work width W1 × the number of shifts n with respect to the travel boundary 60a of the travelable area 60, n = 1, 2,. The area between the shift lines Bn obtained by the number of shifts n may be the work area 62.

For example, the work area setting unit 41 selects the work area 62 shown on the field F1 with the pointer unit 56, and determines the selected work area 62 when the completion button 51 is selected. When the work area 62 is set by the work area setting unit 41, position data indicating the work area 62 is stored in the storage unit 19.
As described above, the travel area setting unit 40 can easily set the travelable area 60 in which the tractor 1 can actually travel in the work place H1, and the work area 62 can be set in the travelable area 60 by the work area setting unit 41. Can be set easily. That is, in the actual work of the tractor 1, the work area H1, the area where the tractor 1 can actually travel, and the area where crops and the like can be actually planted are different. The area that can be traveled and the area for the work place H1 and the like in the work place H1 can be set appropriately. In particular, since the travel area setting unit 40 sets the travelable area 60 based on the travel position when the travel vehicle 3 travels in the work place H1, the work area H1 is compared with what is virtually set. The state of can be reflected.

In addition, since the work area setting unit 41 sets the work area 62 based on the travel boundary 60a of the travelable area 60 and the work width W1 in the work device 2, the actual work in the work device 2 is taken into account. A range can be set as the work area 62.
Further, since the travelable area 60 and the work area 62 can be set and displayed using the display device 50 provided in the tractor 1, the operator can check the actual work area H1 while checking the actual work area H1. The work area 62 can be set.

  Further, the work area setting unit 41 may set a deceleration area in the work area 62 for executing deceleration of the traveling vehicle 3. When the work area setting unit 41 selects the deceleration setting button 57 displayed on the setting screen T2 illustrated in FIG. 2, for example, as illustrated in FIG. 2D, the work area setting unit 41 displays the deceleration area 63 on the work area 62. The deceleration area 63 is an area set on the inner side from the boundary 62 a of the work area 62. For example, the boundary 63a of the deceleration area 63 is set at a position shifted from the boundary 62a of the work area 62 by a predetermined distance L1. In the case of FIG. 2D, the space between the boundary 63 a of the deceleration area 63 and the boundary 62 a of the work area 62 is set as the deceleration area 63.

  The work area setting unit 41 may set the speed at which the traveling vehicle 3 decelerates stepwise in the deceleration area 63. The work area setting unit 41 sets the speed of the traveling vehicle 3 (deceleration start speed) at the boundary 63a of the deceleration area 63 to 100%, and sets the speed of the traveling vehicle 3 when the traveling vehicle 3 reaches the boundary 62a of the work area 62. Set to zero. As shown in FIG. 2E, for example, the work area setting unit 41 sets deceleration speed [i] (km / h) = deceleration start speed (km / h) × [100% −i × constant% (i = 1... I)] sets the speed at which the traveling vehicle 3 decelerates. The constant is a value arbitrarily set by the display device 50 or the like, or a preset value. For example, when the constant = 10%, the constant can be decelerated in 10 steps.

When the deceleration area 63 is set by the work area setting unit 41, position data indicating the deceleration area 63 is stored in the storage unit 19. When the deceleration speed is set in the deceleration area 63 by the work area setting unit 41, the deceleration speed is set together with the position of the deceleration area 63. The deceleration speed is stored in the storage unit 19 in association with the position indicated by the deceleration area 63.

According to this, the work area setting unit 41 can set the deceleration area 63 in which the traveling vehicle 3 is decelerated. Therefore, the tractor 1 (traveling vehicle 3) can be smoothly stopped at the boundary 62a of the work area 62.
Further, the planned travel route of the traveling vehicle 3 may be set in the travelable area 60. As shown in FIG. 1, the workplace management system includes a route setting unit 44. The route setting unit 44 includes an electric / electronic component provided in the display device 50, a program incorporated in the control unit, and the like. The route setting unit 44 sets the planned travel route of the traveling vehicle 3 in the travelable area 60.

  Specifically, when the operator performs a predetermined operation on the display device 50, the route setting unit 44 displays a setting screen T3 on the display device 50 as shown in FIG. The route setting unit 44 displays the travelable area 60 and the work area 62 on the setting screen T3. The operator or the like uses the interface of the display device 50 or the like to set a travel route (travel planned route) R2 on the travelable area 60 displayed on the setting screen T3. For example, a straight traveling portion R3 that causes the tractor 1 to travel straight is set as the traveling route R2. The straight portion R3 in the travel route R2 is associated with the position (latitude, longitude) of the travelable area 60, and at least a position corresponding to the straight portion R3 can be set on the setting screen T3 of the display device 50. it can. When the completion button 51 is selected on the setting screen T3, the setting of the travel route R2 by the route setting unit 44 is completed, and the set travel route R2 is stored in the storage unit 19.

According to this, the travel route R <b> 2 can be set in the travelable area 60 by the route setting unit 44. Therefore, compared to setting the travel route R2 for the virtually determined area, it is possible to set the travel route R2 that is more realistic, and the work by the tractor 1 and the like in the work place H1 is efficient. Can be
Further, a turning area for turning the tractor 1 (traveling vehicle) 3 may be set. As shown in FIG. 1, the workplace management system includes a turning area setting unit 45. The turning area setting unit 45 includes an electric / electronic component provided in the display device 50, a program incorporated in the control unit, and the like. The turning area setting unit 45 sets a turning area 64 in which the traveling vehicle 3 turns in an area excluding the work area 62 in the travelable area 60. For example, as shown in FIG. 3, when the turn setting button 58 displayed on the setting screen T3 is selected, the turn area setting unit 45, as shown in FIG. An area between the boundary 62 a of the area 62 is set as the turning area 64. When the straight traveling part R3 of the travel route R2 is set, the boundary 62a of the work area 62 is shifted to the travelable area 60 side by the interval L2 between the adjacent straight traveling parts R3, and is surrounded by the shift line C1. May be set in the turning area 64.

  Further, when the tractor 1 (traveling vehicle 3) connected to the work device 2 is turned, it is difficult for the tractor 1 to move from one rectilinear portion 3R to the other rectilinear portion 3R among the adjacent rectilinear portions 3R. The turning area setting unit 45 displays on the display device 50 that “turning of the tractor 1 (traveling vehicle 3) across the adjacent straight traveling part R3 is difficult in setting in setting the traveling route R2”. In other words, when the turning radius of the tractor 1 is larger than the interval L2 between the adjacent rectilinear portions 3R and turning is difficult, the turning area setting unit 45 displays the above-described content on the display device 50.

According to this, the turning area setting unit 45 can set a turning area 64 in which the traveling vehicle 3 turns in an area excluding the work area 62 in the travelable area 60. For example, when the work is performed while the tractor 1 is moved straight or turned, it is possible to set a space for turning appropriately, and the work in the work place H1 can be made efficient.
As shown in FIG. 4, the turning unit R <b> 4 may be set in the turning area 64 on the traveling route R <b> 2 by the route setting unit 44. In the above-described embodiment, the route setting unit 44 sets the straight traveling unit R3 and the turning unit R4 as the traveling route R2. However, a route other than the straight traveling and the turning may be set. For example, in the work area 62, a curved portion such as a substantially S shape or a substantially L shape may be set.

The tractor 1 travels at least in the travelable area 60. When the travel route R2 is set, the tractor 1 travels the travel route R2 set by the route setting unit 44. Control related to traveling of the tractor 1 is performed by the control device 18.
As shown in FIG. 1, the control device 18 includes a travel control unit 46. The travel control unit 46 includes electrical / electronic components provided in the control device 18, a program incorporated in the control device 18, and the like. A command switch 59 is connected to the control device 18. The command switch 59 is a switch that can be switched ON / OFF. When the command switch 59 is ON, the control by the automatic travel (automatic travel control) is validated, and when it is OFF, the automatic travel control is invalidated. Note that a graphic indicating the command switch 59 may be displayed on the display device 50, and the control by the traveling control unit 46 may be switched between valid and invalid by operating the command switch 59.

  When the command switch 59 is turned on after the prime mover 4 is started by turning on the ignition switch or the like, automatic running control by the running control unit 46 is started. The traveling control unit 46 starts the traveling of the traveling vehicle 3 by setting the rotational speed of the prime mover 4, the set value of the accelerator, the gear position by the transmission device 5, and the like to predetermined values. The traveling control unit 46 sets the vehicle speed (speed) of the tractor 1 (traveling vehicle 3) to, for example, 1 km / h or less based on the number of rotations of the prime mover 4, the set value of the accelerator and the like, the gear position by the transmission 5 and the like. . In other words, the traveling control unit 46 sets the speed at which the operator can get on and off the tractor 1 (for example, the walking speed or less).

  Further, the traveling control unit 46 compares the traveling position of the tractor 1 with the position (planned traveling position) indicated by the traveling route R2, and if the traveling position matches the planned traveling position, the steering device 11 is maintained without changing the steering angle and steering direction of the handle 11a (the steering angle and steering direction of the front wheel 7F) (the opening degree and switching position of the control valve 22 are maintained without being changed). On the other hand, when the travel position does not match the planned travel position, the travel control unit 46 sets the handle 11a of the steering device 11 so that the deviation (deviation amount) between the travel position and the planned travel position becomes zero. The steering angle and / or steering direction is changed (the opening and / or switching position of the control valve 22 is changed). Further, when the direction of the travel route R2 and the direction (vehicle body direction) of the traveling direction (traveling direction) of the tractor 1 (traveling vehicle 3) are different (when the angle θ of the vehicle body direction with respect to the travel route R2 is greater than or equal to the threshold value), The traveling control unit 46 sets the steering angle so that the angle θ is zero (the vehicle body direction coincides with the direction of the traveling route R2).

  According to the above, the traveling control unit 46 performs automatic steering control (automatic steering control) for automatically steering when the traveling speed is automatically determined (speed control) in the automatic traveling control. The traveling control unit 46 may set the final steering angle based on the steering angle obtained based on the deviation (position deviation) and the steering angle obtained based on the azimuth (azimuth deviation). The setting of the speed control and the automatic steering control in the embodiment described above is an example and is not limited.

The travel control unit 46 refers to at least the position data of the storage unit 19 related to the travelable area 60 and the work area 62 when the traveling vehicle 3 travels. Then, the traveling control unit 46 travels in the work area 62 set in the travelable area 60 while traveling straight along the straight traveling portion R3 or meandering along the curved portion. When the traveling vehicle 3 reaches the boundary (stop line) 62a of the work area 62, that is, when the traveling position coincides with the stop line 62a, the traveling vehicle 3 is stopped. For example, the traveling control unit 46 stops the traveling vehicle 3 by braking the left braking device 25a and the right braking device 25b by outputting control signals to the left braking valve 28a and the right braking valve 28b. In addition, the traveling control unit 46 sets at least one of the main transmission unit 5b, the auxiliary transmission unit 5c, and the shuttle unit 5d to be neutral (neutral), and reduces the speed of the traveling vehicle 3.

  Further, when the deceleration area 63 is set, the traveling control unit 46 refers to the position data of the deceleration area 63 stored in the storage unit 19 and starts deceleration when the traveling vehicle 3 enters the deceleration area 63. To do. For example, the traveling control unit 46 stops the traveling vehicle 3 at a position that substantially matches the stop line of the work area 62. Further, when the deceleration speed of the traveling vehicle 3 is set in the deceleration area 63, the position data, the deceleration speed, and the like of the deceleration area 63 stored in the storage unit 19 are referred to. Then, the traveling control unit 46 executes speed control so that the speed detected by the speed detecting device 31 that detects the speed (vehicle speed) of the tractor 1 (traveling vehicle 3) matches the deceleration speed, and the traveling vehicle. Decrease 3 gradually. When the tractor 1 stops, the traveling control unit 46 switches automatic traveling control from valid to invalid. That is, the travel control unit 46 switches the command switch 59 from ON to OFF, or switches the automatic travel control from valid to invalid even when the command switch 59 is ON.

  In response to the stop of the tractor 1 from the traveling control unit 46, the display device 50 notifies the instruction of the next operation (maneuvering). As shown in FIG. 5, the display device 50 displays a guidance screen (instruction screen) T4. On the guidance screen T4, a figure D1 of a control device (for example, a handle 11a, a lever, etc.) provided in the tractor 1 is displayed. For example, when the turning area 64 is set between the travelable area 60 and the work area 62, the display device 50 displays the figure D2 indicating the turning direction on the figure D1 indicating the handle 11a. The turning direction can be obtained at the turning portion R4. In addition, although the display apparatus 50 is performing the instruction | indication of the next operation on a display, you may perform with a sound (voice | voice) etc.

  The traveling control unit 46 resumes traveling of the traveling vehicle 3 when the traveling vehicle 3 is steered by the steering detection unit 47 provided in the tractor 1 after the traveling vehicle 3 is stopped. For example, the steering detection unit 47 includes an electric / electronic component provided in the control device 18, a program incorporated in the control device 47 or the like, or a sensor provided in the steering device 11. When the handle 11a is operated by the operator and a predetermined load is detected on the rotating shaft 11b or the auxiliary mechanism 11c by the operator's operation, the steering device 11 determines that the traveling vehicle 3 has been steered. Note that the steering detection unit 47 may determine that the traveling vehicle 3 has been steered by an accelerator operation provided at a location other than the steering device 11, such as an accelerator.

  When the turning area 64 is set as described above, the traveling control unit 46 operates the steering (manual steering) handle 11a of the operator by the operation detecting unit 47, and the traveling vehicle 3 is moved in the turning area 64. The turning is set to be effective, and the operation by the operator is accepted. That is, the traveling control unit 46 switches to the manual traveling control in a state where the automatic traveling control is stopped, and controls the tractor 1 (the traveling vehicle 3) according to the operation of the operator. That is, the traveling control unit 46 controls the tractor 1 according to the operation of the operation system provided in the vicinity of the driver's seat 10 such as the rotation speed of the prime mover 4 set by the accelerator and the input value of the lever that operates the transmission 5. Run manually.

When the straight traveling portion R3 is set by the route setting unit 44 and the turning area 64 is set by the turning area setting unit 45, the traveling control unit 46 sets the stop position of the tractor 1 as shown in FIGS. 6A and 6B. It may be determined whether or not turning is possible based on (current travel position) SP1, the rectilinear portion R3, the width W2 of the work device 2, and the like. As shown in FIG. 6A, when the turning radius r1 at the stop position SP1 is smaller than the interval L2 between the adjacent rectilinear portions R3 (r1 ≦ L
2) The traveling control unit 46 determines that turning is possible. On the other hand, as shown in FIG. 6B, when the turning radius r1 is larger than the interval L2 between the adjacent straight parts R3 (r1> L2), the traveling control unit 46 determines that turning is difficult. When the turning is possible, the display device 50 displays “turning is possible” on the guidance screen T4 or the like. Further, the display device 50 displays “turning is difficult” on the guidance screen T4 or the like when turning is difficult. When the turning is difficult, the display device 50 displays the turning portion R4 that can turn. The turning area setting unit 45 corrects at least the adjoining rectilinear part R3 and the turning part R4, and the display device 50 displays the corrected ideal turning part R4.

In the embodiment described above, the tractor 1 is stopped before entering the turning area 64. Instead, the traveling control unit 46 automatically turns in the turning area 64 and then turns into the turning area 64. You may stop at the boundary with the work area 62. In this case, the description will be made on the assumption that the turning portion R4 is set in the turning area 64.
As shown in FIG. 7, the traveling control unit 46 does not stop the traveling vehicle 3 and stops the turning area 64 when the traveling position matches the stop line 62 a while the traveling vehicle 3 is traveling in the work area 62. The traveling vehicle 3 is turned by controlling the steering device 11 at. In a state where the traveling vehicle 3 is traveling in the turning area 64, when the traveling position reaches the boundary (stop line) 62a of the work area 62, the traveling control unit 46 stops the traveling vehicle 3. That is, the traveling control unit 46 performs not only straight traveling but also turning in the automatic traveling control. After the traveling vehicle 3 turns, the traveling control unit 46 switches the command switch 59 from ON to OFF. When the command switch 59 is turned from OFF to ON after the traveling vehicle 3 stops, the traveling control unit 46 starts automatic traveling and causes the tractor 1 to travel along the straight traveling portion R3.

  In the above-described embodiment, the travel control unit 46 starts the automatic travel by turning the command switch 59 from OFF to ON after the turn in the turn area A3. Alternatively, the automatic traveling may be started by an operation such as operation (accelerator, brake) of the operation system of the driver's seat 10. That is, the automatic traveling may be started by some action of the operator.

  As shown in FIG. 1, the tractor 1 includes a notification device 65. The notification device 65 notifies the traveling state of the traveling vehicle 3 based on the relationship between the stop line 62a and the traveling position. The notification device 65 is a headlight, a work light, a speaker, a display device 50 or the like provided in the tractor 1. As shown in FIG. 8, the notification device 65, for example, between the travel position of the travel vehicle 3 and the stop line 62 a of the work area 62 in a situation where the travel vehicle 3 travels in the work area 62 by automatic travel. When the distance L3 is equal to or greater than the predetermined distance and the two are separated, the notification of the traveling state of the traveling vehicle 3 is stopped. On the other hand, when the distance L3 is less than the predetermined value and the traveling vehicle 3 is close to the stop line 62a, the notification device 65 notifies the traveling state of the traveling vehicle 3 that the traveling vehicle 3 is close to the stop line 62a. For example, when the notification device 65 is a headlamp or a work lamp, the headlamp or the work lamp is turned on or blinked to notify that the traveling vehicle 3 is close to the stop line 62a. When the notification device 65 is a speaker, the fact that the traveling vehicle 3 is close to the stop line 62a is notified by voice or the like. When the notification device 65 is the display device 50, the display device 50 displays that the traveling vehicle 3 is close to the stop line 62a.

  According to the above, the notification device 65 notifies the traveling state of the traveling vehicle, for example, that the traveling vehicle 3 is close to the stop line 62a, based on the relationship between the stop line 62a and the traveling position. Therefore, when the operator is getting off the tractor 1 and performing work under the situation where the tractor 1 is automatically traveling, the tractor 1 (traveling vehicle 3) is approaching the stop line 62a by the notification of the notification device 65. I can understand that there is. Thus, when the tractor 1 approaches the stop line 62a, the next operation such as turning can be performed after the tractor 1 stops by getting on the tractor 1.

The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.
In the above-described embodiment, an agricultural machine is described as a work machine. However, the work machine may be a construction machine such as a backhoe, a front loader, a skid steer loader, or the like.

1 Tractor 3 Traveling vehicle (traveling vehicle body)
DESCRIPTION OF SYMBOLS 30 Position detection apparatus 40 Traveling area setting part 41 Work area setting part 44 Route setting part 45 Turning area setting part 46 Traveling control part 47 Steering detection part 50 Display apparatus 60 Travelable area 62 Work area 62a Boundary of work area 63 Deceleration area 63a Deceleration area boundary R2 Travel route (scheduled travel route)
W1 Working width

Claims (9)

A travel area setting unit for setting a travelable area in a workplace of a traveling vehicle to which the work device can be connected;
A work area setting unit for setting a work area in the travelable area;
A travel control unit that stops the traveling vehicle when the traveling vehicle reaches a stop line that is a boundary of the work area;
The workplace management system equipped with.   The workplace management system according to claim 1, wherein the travel area setting unit sets the travelable area based on a travel position when the travel vehicle travels in the workplace.   The travel work system for a workplace according to claim 1 or 2, wherein the work area setting unit sets the work area based on a travel boundary that is a boundary of the travelable area and a work width in the work device.   The workplace management system according to claim 1, wherein the work area setting unit sets a deceleration area for executing deceleration of the traveling vehicle in the work area. A position detecting device for detecting a traveling position of the traveling vehicle in the work area;
Based on the relationship between the stop line and the travel position, a notification device that notifies the travel state of the traveling vehicle;
The workplace management system according to claim 1, further comprising: A steering detection unit that detects that the traveling vehicle is steered after the traveling vehicle is stopped;
The workplace management system according to claim 1, wherein the traveling control unit resumes traveling of the traveling vehicle when the steering is detected by the steering detection unit. A route setting unit that sets a planned travel route of the traveling vehicle in the travelable area;
The workplace management system according to claim 1, wherein the traveling control unit controls steering of the traveling vehicle based on a planned traveling route set in the route setting unit. A turning area setting unit for setting a turning area in which the traveling vehicle turns in an area excluding the work area in the travelable area;
The travel management system for a workplace according to any one of claims 1 to 7, wherein the travel control unit effectively sets a turn of the traveling vehicle in the turning area.   The travel management system for a workplace according to claim 1, further comprising a display device capable of displaying the travelable area and the work area.

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