JP2020162617A - Work vehicle - Google Patents

Abstract

To provide a work vehicle coordination system allowing a slave work vehicle to work following a master work vehicle.SOLUTION: A master work vehicle 1P performs ground work using a work machine in coordination with a slave work vehicle 1C of an unmanned steering type and includes: a slave travel target calculation section that calculates a target travel position of the slave work vehicle 1C on the basis of a travel track of the master work vehicle 1P; and a slave parameter generation section that generates a slave work operation parameter corresponding to a master work operation parameter in link with a target travel position corresponding to a position of the master work vehicle 1P that executes work operation such that work operation is executed in the slave work vehicle 1C. The slave work vehicle 1C is steered in an unmanned manner on the basis of a slave position as a position of the slave work vehicle 1C, the target travel position, and the slave work operation parameter. The slave travel target calculation section calculates the target travel position on condition that a rut of the slave work vehicle does not enter a work width of the master work vehicle when traveling backward at a time of turning travel.SELECTED DRAWING: Figure 1

Description

The present invention relates to a parent work vehicle in a work vehicle cooperation system in which a parent work vehicle and an unmanned maneuverable child work vehicle that travels on the ground while imitating the ground work by the parent work vehicle are linked.

A vehicle control system is known from Patent Document 1 in which a target traveling position is sequentially determined based on an actual traveling position of a parent work vehicle, and a child work vehicle is operated toward the target traveling position. In this vehicle control system, a control mode in which the child work vehicle follows the parent work vehicle so as to maintain the offset amount in the X (longitude) direction and the Y (latitude) direction set for the parent work vehicle and the parent work vehicle. A control mode in which a child work vehicle follows a master work vehicle is disclosed with a travel route obtained by moving the traveling locus of the above in parallel by the working width as a target travel route. Here, the traveling position of the work vehicle is acquired by using GPS (Global Positioning Satellite System), but the unmanned maneuvering control technique of the tractor based on the traveling position information by GPS is described in detail in Patent Document 2.

The follow-up control according to Patent Document 1 is intended for work in a vast work area, and is not intended to travel on a complicated route in a work area such as a field with a relatively narrow area bounded by ridges or the like. .. In the work running performed in such fields, it is necessary to repeat not only the direction change of 180 ° or 90 ° but also the running system operations such as deceleration, acceleration, stop, and start. Further, depending on the type of work travel, it is also required to repeat work system operations such as driving and interrupting the work device and raising and lowering the work device. For example, in rice and wheat harvesting work in a narrow field, a reciprocating run in which a straight-ahead work run and a U-turn are repeated with respect to the central area of the field, and a turning work area defined around the U-turn work area. It is divided into a round trip that works while turning around. Therefore, the field is divided into a U-turn work area and a rotating work area in advance, and traveling system operations and work system operations are frequently performed in each of them. However, it is difficult to realize such a non-simple work run with a conventional system that aims to carry out a work run on a vast work area with a constant running system operation and work system operation.

U.S. Patent Publication No. 6,732,024 U.S. Patent Publication No. 6,052,647

According to the present invention, there is a demand for a work vehicle cooperation system in which a child work vehicle can perform work travel in which a travel system operation or a work system operation is frequently performed, following a parent work vehicle.

In a work vehicle cooperation system in which a master work vehicle and an unmanned maneuvering child work vehicle that imitates the parent work vehicle perform ground work using a work machine, the system according to the present invention is the position of the parent work vehicle. The parent position detection module that detects the position, the child position detection module that detects the child position that is the position of the child work vehicle, the parent travel locus calculation unit that calculates the travel locus of the parent work vehicle from the parent position, and the above. The child travel target calculation unit that calculates the target travel position of the child work vehicle from the travel locus of the parent work vehicle and the parent work operation parameter related to the work operation executed by the parent work vehicle are linked to the parent position and generated. A parent parameter generation unit, a child parameter generation unit that generates child work operation parameters for the child work vehicle linked to the corresponding target traveling position of the child work vehicle based on the parent work operation parameter, and the above. It is provided with a control unit for unmanned operation of the child work vehicle based on the child position, the target traveling position, and the child work operation parameters.

According to this configuration, the parent work driving parameter related to the work driving executed by the parent work vehicle is generated by linking with the position of the parent work vehicle. Therefore, from this parent work driving parameter, it is specified at the time of work driving in the work driving. You can see the position of the parent work vehicle where the operation of is performed. In other words, it is possible to grasp what kind of operation is performed at a specific traveling position. Based on this parent work driving parameter, a child work driving parameter for the child work vehicle linked to the corresponding target traveling position of the child work vehicle is generated. At that time, the child work driving parameter is generated as data indicating the operation content to be executed at the target traveling position of the child work vehicle. Therefore, by manipulating the child work vehicle based on the work operation parameter, the child position, the target travel position, and the child work vehicle, the child work vehicle can realize the work operation that faithfully follows the work operation of the parent work vehicle. To do.

In a work vehicle that works while driving, depending on the type of work, when operations related to driving such as deceleration, acceleration, stop, and start are important, drive or interrupt the drive of the work device, raise or lower the work device, etc. When the operation related to the work equipment is important, both cases are important. From this, in a preferred embodiment of the present invention, the working operation parameter includes a traveling control parameter related to an operation on a traveling system including a transmission and a braking device, or an operation related to a working operation and a non-working operation on the working machine. Control parameters, or both, are included. This makes it possible to provide a work vehicle cooperation system suitable for work.

If the parent work vehicle and the child work vehicle used in the cooperative system have the same specifications, the parent work vehicle and the child work vehicle will have the same work operation if the same operation is performed. However, when the parent work vehicle and the child work vehicle having different specifications are used, it is not always possible to give the same operation to the child work vehicle as the operation for the parent work vehicle and obtain the same result. Therefore, in one of the preferred embodiments of the present invention, the child parameter generation unit is provided with a specification recording unit that records the specifications of the parent work vehicle and the specifications of the child work vehicle, and also includes the parent work. Based on the difference between the specifications of the vehicle and the specifications of the child work vehicle, the parent work operation parameter is corrected to generate the child work operation parameter.

In particular, when the parent work vehicle and the child work vehicle are divided into the same work areas for work, the work width of the parent work vehicle and the ground of the child work vehicle are to be eliminated in order to eliminate the work residue on the work area. It is necessary to consider the working width accurately. Therefore, in one of the preferred embodiments of the present invention, the child travel target calculation unit includes the ground work width of the parent work vehicle, the ground work width of the child work vehicle, and the travel locus of the parent work vehicle. The target traveling position of the child work vehicle is calculated from the above, and the steering control unit unmannedly operates the child work vehicle so as to follow the ground work trace of the parent work vehicle using the target traveling position.

It is desirable that the functional unit for making the child work vehicle follow the preceding parent work vehicle in one control unit as much as possible. For this purpose, in one of the preferred embodiments of the present invention, the child position detection module and the steering control unit are mounted on the child work vehicle, the parent position detection module and the parent travel locus calculation unit. The child traveling target calculation unit, the parent parameter generation unit, and the child parameter generation unit are mounted on the parent work vehicle, and the child work vehicle and the parent work vehicle are connected to each other so that data can be transmitted to each other. Has been done. In this configuration, the child work vehicle requires only minor modifications, which is convenient for a system using a plurality of child work vehicles.

In still another preferred embodiment, the child position detection module and the steering control unit are mounted on the child work vehicle, and the parent position detection module and the parent parameter generation unit are mounted on the parent work vehicle. The parent travel locus calculation unit, the child travel target calculation unit, and the child parameter generation unit are constructed in separate control units, and the control unit, the child work vehicle, and the parent work vehicle mutually interact with each other. Is connected so that data can be transmitted to. In this configuration, since the main functions for realizing the present invention are built in the control unit configured separately from the work vehicle, the modification of the parent work vehicle and the child work vehicle can be reduced. If the parent work vehicle and the child work vehicle are connected to the control unit so that data can be transmitted using WiFi, a telephone line, or the like, this work vehicle cooperation system can be used as a cloud system.

It is a schematic diagram explaining the flow of data between a parent work vehicle and a child work vehicle in the work vehicle cooperation system of this invention. It is a side view of the tractor with a tilling device applied as a work vehicle in the embodiment of the work vehicle cooperation system. It is a schematic diagram which shows the traveling locus of a master work vehicle and a child work vehicle in a work run in a U-turn work area and a U-turn run. It is a schematic diagram which shows the traveling locus of a parent work vehicle and a child work vehicle in a work run in a turning work area and a U-turn run. It is a schematic diagram explaining the basic principle of the follow-up to the parent work vehicle of the child work vehicle from the U-turn work area to the turning work travel area, and (a) is the traveling of the parent worker and the child work vehicle in the entire work area. The locus is shown, (b) shows the running locus of the main work vehicle turning back and turning work, and (c) shows the running locus of the child work vehicle turning back and turning work. It is a functional block diagram which shows the functional part which constructs a work vehicle cooperation system. It is a schematic diagram which shows the flow of the basic control data in a linear work run. It is a schematic diagram which shows the flow of the basic control data in U-turn running. It is a schematic diagram which shows the flow of the basic control data in turn-back running.

Before explaining a specific embodiment of the work vehicle cooperation system according to the present invention, the basic data flow in the work run of the child work vehicle that imitates the parent work vehicle will be described with reference to FIG. In this work vehicle cooperation system, the child work vehicle 1C performs the same ground work by unmanned operation following the manned control type parent work vehicle 1P and the parent work vehicle 1P.

When the parent work vehicle 1P precedes and starts work running, the parent position, which is the current position of the parent work vehicle 1P, is detected at any time by using a positioning function such as GPS, and is converted into data so that data can be transmitted (#). 001). Further, when the driver of the parent work vehicle 1P performs a traveling system operation such as a brake operation, an accelerator operation, or a shift operation, the operation content is converted into data as a driving parameter so that data can be transmitted (# 002). Further, when the driver of the parent work vehicle 1P performs a work system operation such as an on / off operation for the power transmission clutch of the work device and an operation for switching between the work state and the non-work state of the work device by raising and lowering the work device, the operation is performed. The operation content is converted into data as work parameters so that data can be transmitted (# 003). The operation parameter and the work parameter are linked to the parent position at the time of the operation and are treated as the work operation parameter (# 004).

The child work vehicle 1C departs behind the parent work vehicle 1P, but the child work vehicle 1C also uses a positioning function such as GPS to detect the child position, which is the current position of the child work vehicle 1C, and transmits data. It can be converted into data (# 005).

The control unit that manages the cooperative control calculates the traveling locus (parent traveling locus) of the parent work vehicle 1P based on the parent position data that is generated and transmitted at any time. In order to drive the child work vehicle 1C so as to follow this parent travel locus, the target travel position for unmanned follow-up travel of the child work vehicle 1C from the child position data transmitted from the child work vehicle 1C and the parent travel locus. Is calculated. The calculated target traveling position is sent to the child work vehicle 1C.

If the work operation parameter sent to the control unit includes the operation parameter, the operation content in the child work vehicle 1C, which is equivalent to the travel system operation executed in the parent work vehicle 1P, specified in this operation parameter. Is derived using a conversion table created based on the pre-registered parent work vehicle specifications and child work vehicle specifications. The derived travel system operation content is linked to the target travel position, which is the position of the child work vehicle 1C to which the operation should be performed (# 008). Similarly, if the work operation parameter sent to the control unit includes the work parameter, the child work vehicle 1C equivalent to the work system operation executed by the parent work vehicle 1P specified in this work parameter The operation content in is derived using the above conversion table. The derived work system operation content is linked to the target traveling position, which is the position of the child work vehicle 1C to which the operation should be performed (# 009). The travel system operation content and the work system operation content linked to the target travel position are converted into data so that they can be used in the child work vehicle 1C as work operation parameters for the child work vehicle 1C, and are transmitted to the child work vehicle 1C. (# 010).

In the child work vehicle 1C, the steering is controlled so that the detected child position matches the target traveling position based on the target traveling position received from the control unit (# 011). Further, if the work operation parameters received from the control unit include the work parameters to be operated at the detected current traveling position (child position) of the child work vehicle 1C, the traveling system is based on the operation parameters. If the operation is executed and the work parameter is included, the operation of the work system is executed based on the work parameter (# 012).

Next, one specific embodiment of the work vehicle cooperation system of the present invention will be described. In this embodiment, the work vehicle is a tractor equipped as a ground work device with a tillage device 5 for cultivating fields bounded by ridges, as shown in FIG. The tilling device 5 is mounted on the rear portion of the vehicle body 3 via a hydraulic elevating mechanism 4. The tilling work is performed by lowering the tilling device 5, and the tilling work is interrupted by raising the tilling device 5. The engine 21 is mounted on the front portion of the vehicle body 3 supported by the front wheels 2a and the rear wheels 2b, and the transmission 22 is mounted on the central portion of the vehicle body 3. Above the transmission 22 is a control unit 30 in which an operating tool for performing traveling system operations such as steering operation, engine operation, and shifting operation, and an operating tool for performing work system operations such as elevating and lowering mechanism 4 are arranged. It is formed. In this embodiment, the parent tractor 1P as the parent work vehicle 1P and the child tractor 1C as the child work vehicle 1C have substantially the same shape, the parent tractor 1P is operated by the driver, and the child tractor 1C is unmanned. Be piloted.

The ground work area shown in FIGS. 3 and 4 is a field whose outer circumference is bounded by ridges. Although shown briefly, this field is defined as a rectangular U-turn work area A in which work is performed by repeating straight-ahead work and U-turn, and around this U-turn work area A. It is divided into a work area B around a rectangular ring. This work area division is generally performed in field work, and the rotating work area B is also called headland work. In this example, the work on the ground is cultivated by a tractor, and the work on the U-turn work area A is performed first, and then the work on the rotating work area B is performed. The rotating work area B is also used as an area for non-working U-turn traveling during tilling work with respect to the U-turn work area A. When shifting from the work of the U-turn work area A to the work of the turning work area B, in order to perform the turning work efficiently in the turning work area B, the turning work area is started from the work end point of the U-turn work area A. A turn-back run to the work starting point in B is performed.

First, the cooperative running of the parent tractor 1P and the child tractor 1C in the U-turn work area A will be described with reference to FIG. In the U-turn work area A, the tillage work is carried out while repeating the straight-ahead work running and the U-turn. Since the U-turn work area A is usually located in the center of the field, the U-turn work area A is also simply referred to as the central area A, and the turning work area B is located near the periphery of the field. Is also simply referred to as peripheral region B.

In the working state in which the tilling device 5 is lowered, the working running (substantially straight running) of the central region A by the parent tractor 1P is started. After a predetermined time delay, the follow-up work run by the child tractor 1C is started in the working state in which the tilling device 5 is lowered. As a result, cooperative tillage work is performed by the work width of the parent tractor 1P and the work width of the child tractor 1C. At that time, the amount of misalignment between the parent tractor 1P and the child tractor 1C in the traveling crossing direction is ideally (parent work width + child work width) / 2, but in order to avoid work residue due to tracking error, For example, an overlap of about several tens of cm is set. As shown in FIG. 3, when the parent tractor 1P reaches the peripheral region B from the central region A, the tilling device 5 is raised and the U-turn running of the parent tractor 1P is started. The position of the parent tractor 1P at that time is recorded as the parent U-turn start point P1. When the parent tractor 1P makes a U-turn and enters the central region A again, the tilling device 5 is lowered and the work running of the parent tractor 1P is resumed. The position of the parent tractor 1P at that time is recorded as the parent U-turn end point P2. When the parent U-turn start point P1 and the parent U-turn end point P2 are recorded, the child U-turn start point Q1 and the child U-turn end point Q2 of the child tractor 1C are calculated. In the corresponding peripheral region B shown in the figure, the child U-turn start point Q1 is located at a position shifted from the parent U-turn start point P1 in consideration of the lateral distance between the parent tractor 1P and the child tractor 1C and the amount of overlap. Become. The child U-turn end point Q2 is a position between the parent U-turn end point P2 and the child U-turn start point Q1, and is an intermediate position in the example of FIG. 3, for example. Although not shown, when making a U-turn on the opposite side, the positional relationship between the parent U-turn start point P1 and the parent U-turn end point P2 and the child U-turn start point Q1 and the child U-turn end point Q2 is exactly the same. On the contrary, the child U-turn end point Q2 is located further outside the parent U-turn end point P2, and is obtained from the tillage width of the parent tractor 1P and the child tractor 1C and the amount of overlap thereof.

When the child U-turn start point Q1 and the child U-turn end point Q2 are calculated, the child U-turn travel route from the child U-turn start point Q1 to the child U-turn end point Q2 is calculated. Further, the position where the child tractor 1C almost reaches the directional posture of the work running before the child U-turn end point Q2 is calculated as the follow-up start point Qs. That is, by starting the follow-up to the parent tractor 1P from this follow-up start point Qs, the work travel locus of the child tractor 1C starting from the child U-turn end point Q2 accurately corresponds to the work travel locus of the parent tractor 1P. It is a position that can be done.

When the child tractor 1C reaches the child U-turn start point Q1, the tilling device 5 is raised and the child tractor 1C starts U-turn running in a non-working state. In the U-turn running of the child tractor 1C, it is checked whether or not the child tractor 1C reaches the follow-up start point Qs. When the child tractor 1C reaches the follow-up start point Qs, the U-turn running of the child tractor 1C ends, the tilling device 5 is raised, and the following running of the child tractor 1C in the working state, that is, the working running is resumed. By repeating such a work run in the central region A (substantially a straight line run) and a non-work run in the peripheral area B (U-turn run), the tillage work for the central area A is completed.

Next, the cooperative running of the parent tractor 1P and the child tractor 1C in the rotating work area B will be described with reference to FIG. In FIG. 4, the traveling locus of the parent tractor 1P is indicated by a thick black line, the traveling locus of the child tractor 1C is indicated by a thick white line, and the turning traveling locus is distinguished by a dotted line drawing. Further, in FIG. 4, the working widths of the parent tractor 1P and the child tractor 1C are shown by WP and Wc, respectively.
First, the parent tractor 1P starts from the turning-back running start point Pp1 which is the work end point of the central region (U-turn work region A) in the non-working state (the tilling device 5 is raised), and is one corner region of the field. The tractor makes a forward turn so as to face the rear end of the tractor at the turning work start point (turn-back running completion point Pp3) set in. The rear end of the tractor stops at the turning point Pp2 facing the turning work start point (turning completion point Pp3), then runs backward until the turning work start point (turning completion point Pp3) is reached, and the turning work is completed. .. When the turning back running is completed, the parent tractor 1P travels forward in the peripheral area (rotating work area B) in the working state (lowering the tilling device 5). This rotation work running is performed so as to have a substantially straight running locus.

When it is detected from the traveling locus of the parent tractor 1P described above that the parent tractor 1P has performed a turning trip, the traveling locus and the working width of the parent tractor 1P and the child tractor 1C to the ground (hereinafter, simply abbreviated as the working width). From the above, the turning back running start point Pc1 and the turning back running completion point Pc3 of the child tractor 1C are calculated. When the turning back running start point Pc1 and the turning back running completion point Pc3 are calculated, the stop point Pc2 (turning point) of the turning forward running in the same direction as the turning forward running of the parent tractor 1P is also calculated, and the child reaches this stop point Pc2. The tractor 1C is turned forward in a non-working state. At that time, the turning forward traveling of the child tractor 1C is prohibited until interference with the parent tractor 1P performing the rotating work traveling is avoided. The target traveling position in the reverse traveling from the stop point Pc2 of the turning forward traveling of the child tractor 1C to the turning completion point Pc3 is the parent tractor under the condition that the rut of the child tractor 1C does not enter the working width around the parent tractor 1P. It is calculated regardless of the travel locus of the 1P turn-back reverse travel. The travel target positions in the rotation work travel from the rotation work travel start point, which is the turning end travel completion point Pc3, are mutually determined from the work width of the parent tractor 1P, the work width of the child tractor 1C, and the rotation work travel locus of the parent tractor 1P. Calculated under conditions that maintain a given overlap of working widths. The tilling device 5 is lowered prior to the turning work running starting from the turning work running start point which is the turning back running completion point Pc3. Since the traveling target position in the turning work running is calculated, the turning work running of the child tractor 1C is executed in the working state in which the tilling device 5 is lowered based on the running target position. The tilling work of the turning work area B is completed by repeating the turning back running by the forward movement and the reverse movement and the turning work running by the linear forward movement as described above.

As shown in FIG. 5, in this embodiment, the electronic control units for constructing the work vehicle cooperation system are the master unit control unit 6 mounted on the master tractor 1P and the slave unit control unit mounted on the child tractor 1C. It is divided into 7. The master unit control unit 6 and the slave unit control unit 7 are provided with communication modules 60 and 70, respectively, so that data can be transmitted wirelessly to each other.

The master unit control unit 6 further includes a master position detection module 61, a master travel locus calculation unit 62, a U-turn work area travel control module 63, a rotation work area travel control module 64, a child travel target calculation unit 65, and work operation parameter management. It is equipped with functional parts such as module 8. These functional parts may operate in cooperation with hardware, but are practically realized by starting a computer program.

The parent position detection module 61 uses GPS to detect its own position, that is, the position of the parent tractor 1P. The parent traveling locus calculation unit 62 calculates and records the traveling locus of the parent tractor 1P from the position detected by the parent position detection module 61.

The U-turn work area travel control module 63 is a control module that controls travel in the U-turn work area A. The U-turn work area travel control module 63 has the following functions:
(1) In order to show the allocation of the rotating work area B in the field, the position coordinates for specifying the outer shape of the U-turn work area A are recorded, but this recording is not essential and may be omitted.
(2) An area for making a U-turn in a non-working state, which is required between a substantially linear outward traveling and a returning traveling in a working state of the parent tractor 1P and the child tractor 1C in the U-turn working area A. It also detects a U-turn in the rotating work area B.
(3) Based on the tillage width of the parent tractor 1P, the tillage width of the child tractor 1C, the work travel locus of the parent tractor 1P, and the position of the child tractor 1C, considering the overlap of the tillage widths of each other, U The target traveling route of the child tractor 1C in the turn work area A is calculated. The target travel path of the child tractor 1C in the U-turn work area A includes a linear reciprocating travel path in the U-turn work area A of the child tractor 1C and a U-turn travel path in the peripheral work area B of the child tractor 1C. A U-turn travel route calculated based on a turn travel route calculation algorithm is included.

The rotation work area travel control module 64 is a control module that controls travel in the rotation work area B. The rotating work area travel control module 64 has the following functions:
(1) In the turning work area B of the parent tractor 1P and the child tractor 1C, the turning running including the turning back running and the turning work running consisting of forward and reverse is detected. For the detection, the position coordinates for specifying the outer shape of the U-turn work area A and the position coordinates for specifying the outer shape of the field to be worked on are used.
(2) The turning back of the child tractor 1C is based on the working width of the parent tractor 1P and the working width of the child tractor 1C, and the turning back running locus including the turning back running start point Pp1 and the turning back running completion point Pp3 in the turning back running of the parent tractor 1P. The target running locus in the turning back running including the running start point Pc1 and the turning back running completion point Pc3 is calculated.
(3) From the work width of the parent tractor 1P, the work width of the child tractor 1C, and the rotation work travel locus of the parent tractor 1P, the rotation work of the child tractor 1C from the turning back running completion point Pc3 to the next turning back running start point Pc1. Calculate the target driving route for driving.

The child travel target calculation unit 65, in cooperation with the U-turn work area travel control module 63 and the rotation work area travel control module 64, calculates the target travel position of the child tractor 1C from the travel locus of the parent tractor 1P. The child travel target calculation unit 65 transmits the calculated target travel position of the child tractor 1C to the slave unit control unit 7 via the communication module 60.

The work operation parameter management module 8 realizes the transfer of parameters related to the traveling system operation and the working system operation between the parent tractor 1P and the child tractor 1C, which has been described with reference to FIG. Therefore, the work operation parameter management module 8 includes a parent parameter generation unit 81, a child parameter generation unit 82, and a parameter conversion unit 83. The parent parameter generation unit 81 generates a parent work operation parameter related to the work operation executed by the parent tractor 1P by linking it to the parent position detected by the parent position detection module 61. The child parameter generation unit 82 generates a child work operation parameter linked to the corresponding target traveling position of the child tractor 1C based on the parent work operation parameter. If the specifications of the parent tractor 1P and the child tractor 1C are exactly the same, the parent work operation parameter can be applied as it is as the child work operation parameter. However, when the specifications are different from each other, the specifications of the parent tractor 1P and the child tractor 1C are registered, and the parameter conversion in which the operation contents of the other child tractor 1C adapted to the operation contents of the parent tractor 1P are related. Parameter conversion is performed by unit 83.

The generated work operation parameter is transmitted to the slave unit control unit 7 via the communication module 60 in a form linked to or linkable to the target position calculated by the slave travel target calculation unit 65.

The slave unit control unit 7 includes a communication joule 70, a slave position detection module 71, and a steering control unit 72. The child position detection module 71, like the parent position detection module 61, detects its own position, that is, the position of the child tractor 1C by using GPS. The obtained position data of the child tractor 1C is transmitted to the master unit control unit 6 via the communication joule 70 in order to confirm the position of the child tractor 1C on the master unit control unit 6 side. The steering control unit 72 controls the steering of the front wheels 2a of the child tractor 1C and the drive of the rear wheels 2b based on the traveling target position wirelessly transmitted from the master unit control unit 6, and sequentially sets the child tractor 1C. Unmanned maneuver to the target driving position. Further, the steering control unit 72 executes the traveling system operation and the working system operation included in the working operation parameter when the child tractor 1C reaches the traveling target position to which the working operation parameter is linked. , The traveling speed of the child tractor 1C is changed, and the raising / lowering control of the tilling device 5 is performed by the raising / lowering mechanism 4.

Next, with reference to FIGS. 6, 7, and 8, the flow of basic control data in the coordinated control between the manned control parent tractor 1P and the unmanned control child tractor 1C will be described. FIG. 6 schematically shows the flow of control data in cooperative control for work running that leaves a substantially linear running locus. FIG. 7 schematically shows the flow of control data in coordinated control for U-turn driving. FIG. 8 schematically shows a data flow in coordinated control for turning back running.

As shown in FIG. 6, in the coordinated control in the work running that leaves a linear running locus, the parent tractor running from the parent tractor position (parent position) indicating the actual running position of the parent tractor 1P generated in a predetermined sampling cycle. The locus (parent running locus) is calculated (# a). Using the calculated parent tractor travel locus and the child tractor position (child position) indicating the actual travel position of the child tractor 1C at each time point, both the parent work vehicle work width and the child work vehicle work width are used. The work travel target position for the child tractor 1C is calculated in consideration of the width overlap amount (# b). The calculated work travel target position data becomes the control control target value, and the child tractor 1C is unmanned to perform a wide range of ground work in cooperation with the parent tractor 1P (#c).

When a driving system operation or a work system operation is performed by the driver during the work running of the parent tractor 1P, a work operation parameter (parent parameter) indicating the operation content of the parent tractor 1P is generated, and at the time of the operation. Linked to the parent position (# d). The working operation parameter linked to the parent position is converted into a working operation parameter (child parameter) suitable for the child tractor 1C by using the parameter conversion table of the parameter conversion unit 83 (#e). The converted child parameter is linked to the corresponding work target travel position (#f). When the child tractor 1C reaches the traveling position where the operation based on this child parameter should be performed, it is converted into a control command for operation (#g), and the traveling system operating device and the working system operating device are controlled by this control command. .. As a result, a substantially linear work run of the child tractor 1C following the parent tractor 1P is realized.

As shown in FIG. 7, in the coordinated control in the U-turn running which is the direction change during the reciprocating work running, the U-turn start operation and the U-turn end operation in the parent tractor 1P associated with the parent position are performed, and the parent tractor 1P The parent U-turn start point P1 and the parent U-turn end point P2 are calculated (# a1). Further, the U-turn traveling locus (parent U-turn traveling locus) of the parent tractor 1P is calculated from the parent U-turn start point P1, the parent U-turn end point P2, and the parent position in the traveling between them (# a2). Further, the U-turn traveling target position for the child tractor 1C is calculated in consideration of the parent work width, the child work width, and the overlap amount of both in the trajectory corresponding to the parent U-turn (# b). The calculated child U-turn travel target position becomes the steering control target value, and the child tractor 1C is unmanned to perform U-turn travel (#c).

Even in this U-turn running, when the driving system operation or the working system operation is performed by the driver during the U-turn running of the parent tractor 1P, the working operation parameter (parent parameter) indicating the operation content is set. It is generated and linked to the parent position at the time of the operation (#d). The working operation parameter linked to the parent position is converted into a working operation parameter (child parameter) suitable for the child tractor 1C (#e). The converted child parameter is linked to the corresponding U-turn target travel position (#f). When the child tractor 1C reaches the traveling position where the operation based on this child parameter should be performed, it is converted into a control command for operation (#g), and the traveling system operating device and the working system operating device are controlled by this control command. .. As a result, the U-turn running of the child tractor 1C following the parent tractor 1P is realized.

As shown in FIG. 8, in the cooperative control in the turning back running in the turning work area B, the turning back start operation in the parent tractor 1P, the stop operation for turning back, and the turning back completion operation in the parent tractor 1P associated with the parent position are performed, and then the parent tractor 1P The turning back running start point Pp1, the turning back point Pp2 (forward / backward switching point), and the turning back running completion point Pp3 are calculated (# a1). Further, the turning back running locus (parent turning back running locus) of the parent tractor 1P is calculated from the turning back running start point Pp1, the turning back running point Pp2, the turning back running completion point Pp3, and the parent position in the running between them (# a2). Further, the turning back running target position for the child tractor 1C is calculated in consideration of the working width of the parent working vehicle, the working width of the child working vehicle, and the overlap amount of both in the turning back running locus (# b). The calculated child turn-back travel target position becomes the maneuvering control target value, and the child tractor 1C is unmanned to perform turn-back travel (#c). In FIG. 8, the turning-back running start point is simply shown as the turning-back starting point, and the turning-back running completion point is simply shown as the turning-back completion point.

In this turning-back running as well, when the driving system operation or the working system operation is performed by the driver during the turning-back running of the parent tractor 1P, the working operation parameter indicating the operation content ( The parent parameter) is generated and linked to the parent position at the time of the operation (# d). The work operation parameter linked to the parent position is converted into a work operation parameter (child parameter) suitable for the child tractor 1C (#e), and the converted child parameter is linked to the corresponding work target travel position (#e). # F). When the child tractor 1C reaches the traveling position where the operation based on this child parameter should be performed, it is converted into a control command for operation (#g), and the traveling system operating device and the working system operating device are controlled by this control command. .. As a result, the turning back running of the child tractor 1C following the parent tractor 1P is realized.

[Another Embodiment]
(1) In the above-described embodiment, the number of child tractors 1C is one, but it is possible to apply the present invention to a plurality of child tractors 1C by a similar control method. At that time, if the number of child tractors 1C is two, two follow-up control methods are possible. In one of them, the first child tractor 1C is follow-up controlled based on the locus of the parent tractor 1P in consideration of the working width of the parent tractor 1P, and the second child tractor 1C is based on the locus of the parent tractor 1P. Therefore, follow-up control is performed in consideration of the working width of the first child tractor 1C. In the other one, the first child tractor 1C is track-controlled based on the locus of the parent tractor 1P, and the second child tractor 1C is track-controlled with the first child tractor 1C as the parent tractor 1P. That is, when there are a plurality of child tractors 1C, follow-up control in which the preceding child tractor 1C is set as the parent tractor 1P is also possible.
(2) In the above-described embodiment, the parent tractor 1P is a manned maneuvering type, but the parent tractor 1P can also be operated unmanned by adopting a program control method or a remote control method. The present invention also covers a parent tractor 1P, that is, a mode in which the parent work vehicle is also operated unmanned. Furthermore, in the present invention, both the parent tractor 1P and the child tractor 1C may be manned. For example, the operation of the parent tractor 1P is performed by a skilled person, the operation of the child tractor 1C is performed by an unskilled person, and a part of the traveling system operation and the working system operation of the child tractor 1C is based on the working operation parameters generated by the parent tractor 1P. If it is executed, the burden on the unskilled person will be reduced.
(3) In the above-described embodiment, the tractor equipped with the tilling device 5 is taken up as the work vehicle, but the present invention may be characterized by mounting other working devices such as a spraying device and a fertilizer application device instead of the tilling device 5. Can be used effectively. Furthermore, the present invention can be applied to other work vehicles such as combine harvesters, rice transplanters, lawnmowers, weeders, and civil engineering construction machines such as bulldozers. Further, the parent work vehicle and the child work vehicle do not have to be of the same model, for example, a combination of a combine and a transport truck may be used.

The present invention is applicable to a control system in which a plurality of work vehicles cooperate to work and travel.

1P: Parent work vehicle (parent tractor)
1C: Child work vehicle (child tractor)
61: Parent position detection module 62: Parent travel locus calculation unit 63: U-turn control module 64: Rotating travel control module 65: Travel target calculation unit 7: Slave unit control unit 70: Communication Jules 71: Child position detection module 72: Maneuvering Control unit 8: Working operation parameter management module 81: Parent parameter generation unit 82: Child parameter generation unit 83: Parameter conversion unit

The present invention relates to a master work vehicle in a work vehicle cooperation system in which a master work vehicle and an unmanned maneuverable child work vehicle that travels on the ground while imitating the ground work by the parent work vehicle are linked.

A vehicle control system is known from Patent Document 1 in which a target traveling position is sequentially determined based on an actual traveling position of a parent work vehicle, and a child work vehicle is operated toward the target traveling position. In this vehicle control system, a control mode in which the child work vehicle follows the parent work vehicle so as to maintain the offset amount in the X (longitude) direction and the Y (latitude) direction set for the parent work vehicle and the parent work vehicle. A control mode in which a child work vehicle follows a master work vehicle is disclosed with a travel route obtained by moving the traveling locus of the above in parallel by the working width as a target travel route. Here, the traveling position of the work vehicle is acquired by using GPS (Global Positioning Satellite System), but the unmanned maneuvering control technique of the tractor based on the traveling position information by GPS is described in detail in Patent Document 2.

The follow-up control according to Patent Document 1 is intended for work in a vast work area, and is not intended to travel on a complicated route in a work area such as a field with a relatively narrow area bounded by ridges or the like. .. In the work running performed in such fields, it is necessary to repeat not only the direction change of 180 ° or 90 ° but also the running system operations such as deceleration, acceleration, stop, and start. Further, depending on the type of work travel, it is also required to repeat work system operations such as driving and interrupting the work device and raising and lowering the work device. For example, in rice and wheat harvesting work in a narrow field, a reciprocating run in which a straight-ahead work run and a U-turn are repeated with respect to the central area of the field, and a turning work area defined around the U-turn work area. It is divided into a round trip that works while turning around. Therefore, the field is divided into a U-turn work area and a rotating work area in advance, and traveling system operations and work system operations are frequently performed in each of them. However, it is difficult to realize such a non-simple work run with a conventional system that aims to carry out a work run on a vast work area with a constant running system operation and work system operation.

U.S. Patent Publication No. 6,732,024 U.S. Patent Publication No. 6,052,647

According to the present invention, there is a demand for a work vehicle cooperation system in which a child work vehicle can perform work travel in which a travel system operation or a work system operation is frequently performed, following a parent work vehicle.

Working vehicle according to an embodiment of the present invention, in concert with non-human piloted child work vehicle, a main work vehicle for performing a ground work with the working machine, it is the position before Kioya work vehicle A parent position detection module that detects the parent position, a child position detection module that detects the child position that is the position of the child work vehicle, and a parent travel locus calculation unit that calculates the travel locus of the parent work vehicle from the parent position. When the work operation is executed, the child travel target calculation unit that calculates the target travel position of the child work vehicle from the travel locus of the parent work vehicle and the parent work operation parameter related to the work operation executed by the parent work vehicle are set. The parent parameter generation unit generated by linking to the parent position in the above and the parent in which the work operation is executed so that the work operation is executed in the child work vehicle based on the parent work operation parameter. by linking the target traveling position corresponding to the position of the work vehicle, the child generation child parameter generating unit, the target traveling position and the element working operating parameters child task operating parameters corresponding to the main work operating parameters The child work vehicle is provided with a communication module for transmitting to the work vehicle, and the child work vehicle is unmanned based on the child position which is the position of the child work vehicle, the target travel position, and the child work operation parameters, and the child travel target. The calculation unit calculates the target travel position on the condition that the ruts of the child work vehicle do not enter the work width of the parent work vehicle during reverse travel during turning back travel .

According to this configuration, the parent work driving parameter related to the work driving executed by the parent work vehicle is generated by linking with the position of the parent work vehicle. Therefore, from this parent work driving parameter, it is specified at the time of work driving in the work driving. You can see the position of the parent work vehicle where the operation of is performed. In other words, it is possible to grasp what kind of operation is performed at a specific traveling position. Based on this parent work driving parameter, a child work driving parameter for the child work vehicle linked to the corresponding target traveling position of the child work vehicle is generated. At that time, the child work driving parameter is generated as data indicating the operation content to be executed at the target traveling position of the child work vehicle. Therefore, by manipulating the child work vehicle based on the work operation parameter, the child position, the target travel position, and the child work vehicle, the child work vehicle can realize the work operation that faithfully follows the work operation of the parent work vehicle. To do.

In a work vehicle that works while driving, depending on the type of work, when operations related to driving such as deceleration, acceleration, stop, and start are important, drive or interrupt the drive of the work device, raise or lower the work device, etc. When the operation related to the work equipment is important, both cases are important. Therefore, in a preferred embodiment of the present invention, the parent work operation parameter and the child work operation parameter include a travel control parameter related to an operation on a traveling system including a transmission and a braking device, or an operation on the working machine. Includes work control parameters for operational and non-work operations, or both. This makes it possible to provide a work vehicle cooperation system suitable for work.

If the parent work vehicle and the child work vehicle used in the cooperative system have the same specifications, the parent work vehicle and the child work vehicle will have the same work operation if the same operation is performed. However, when the parent work vehicle and the child work vehicle having different specifications are used, it is not always possible to give the same operation to the child work vehicle as the operation for the parent work vehicle and obtain the same result. Therefore, in one of the preferred embodiments of the present invention, the child parameter generation unit is provided with a specification recording unit that records the specifications of the parent work vehicle and the specifications of the child work vehicle, and also includes the parent work. Based on the difference between the specifications of the vehicle and the specifications of the child work vehicle, the parent work operation parameter is corrected to generate the child work operation parameter.

In particular, when the parent work vehicle and the child work vehicle are divided into the same work areas for work, the work width of the parent work vehicle and the ground of the child work vehicle are to be eliminated in order to eliminate the work residue on the work area. It is necessary to consider the working width accurately. Therefore, in one of the preferred embodiments of the present invention, the child travel target calculation unit includes the ground work width of the parent work vehicle, the ground work width of the child work vehicle, and the travel locus of the parent work vehicle. It calculated the previous Symbol targets running position from, the child work vehicle, so as to follow the ground work traces of the main work vehicle using the target traveling position Ru is no human handling.

In still another preferred embodiment, the front Kioya traveling locus calculating section, and a child traveling target calculation unit, and a child parameter generator, built in a separate control unit, said control unit and the child The work vehicle and the parent work vehicle are connected to each other so that data can be transmitted. In this configuration, since the main functions for realizing the present invention are built in the control unit configured separately from the work vehicle, the modification of the parent work vehicle and the child work vehicle can be reduced. If connecting the main work vehicle and child work vehicle and the control unit by using, for example, WiFi or a telephone line data to be able to transmit, it is possible to use a work vehicle cooperation system as a cloud system.
Further, the parent work vehicle may be a manned maneuvering type.

It is a schematic diagram explaining the flow of data between a parent work vehicle and a child work vehicle in the work vehicle cooperation system of this invention. It is a side view of the tractor with a tilling device applied as a work vehicle in the embodiment of the work vehicle cooperation system. It is a schematic diagram which shows the traveling locus of a master work vehicle and a child work vehicle in a work run in a U-turn work area and a U-turn run. It is a schematic diagram which shows the traveling locus of a parent work vehicle and a child work vehicle in a work run in a turning work area and a U-turn run. It is a schematic diagram explaining the basic principle of the follow-up to the parent work vehicle of the child work vehicle from the U-turn work area to the turning work travel area, and (a) is the traveling of the parent worker and the child work vehicle in the entire work area. The locus is shown, (b) shows the running locus of the turning work running and the turning work running of the parent work vehicle, and (c) shows the running locus of the turning work running and the turning work running of the child work vehicle. It is a functional block diagram which shows the functional part which constructs a work vehicle cooperation system. It is a schematic diagram which shows the flow of the basic control data in a linear work run. It is a schematic diagram which shows the flow of the basic control data in U-turn running. It is a schematic diagram which shows the flow of the basic control data in turn-back running.

Before explaining a specific embodiment of the work vehicle cooperation system according to the present invention, the basic data flow in the work run of the child work vehicle that imitates the parent work vehicle will be described with reference to FIG. In this work vehicle cooperation system, the child work vehicle 1C performs the same ground work by unmanned operation following the manned control type parent work vehicle 1P and the parent work vehicle 1P.

When the parent work vehicle 1P precedes and starts work running, the parent position, which is the current position of the parent work vehicle 1P, is detected at any time by using a positioning function such as GPS, and is converted into data so that data can be transmitted (#). 001). Further, when the driver of the parent work vehicle 1P performs a traveling system operation such as a brake operation, an accelerator operation, or a shift operation, the operation content is converted into data as a driving parameter so that data can be transmitted (# 002). Further, when the driver of the parent work vehicle 1P performs a work system operation such as an on / off operation for the power transmission clutch of the work device and an operation for switching between the work state and the non-work state of the work device by raising and lowering the work device, the operation is performed. The operation content is converted into data as work parameters so that data can be transmitted (# 003). The operation parameter and the work parameter are linked to the parent position at the time of the operation and are treated as the work operation parameter (# 004).

The child work vehicle 1C departs behind the parent work vehicle 1P, but the child work vehicle 1C also uses a positioning function such as GPS to detect the child position, which is the current position of the child work vehicle 1C, and transmits data. It can be converted into data (# 005).

The control unit that manages the cooperative control calculates the traveling locus (parent traveling locus) of the parent work vehicle 1P based on the parent position data that is generated and transmitted at any time. In order to drive the child work vehicle 1C so as to follow this parent travel locus, the target travel position for unmanned follow-up travel of the child work vehicle 1C from the child position data transmitted from the child work vehicle 1C and the parent travel locus. Is calculated. The calculated target traveling position is sent to the child work vehicle 1C.

If the work operation parameter sent to the control unit includes the operation parameter, the operation content in the child work vehicle 1C, which is equivalent to the travel system operation executed in the parent work vehicle 1P, specified in this operation parameter. Is derived using a conversion table created based on the pre-registered parent work vehicle specifications and child work vehicle specifications. The derived travel system operation content is linked to the target travel position, which is the position of the child work vehicle 1C to which the operation should be performed (# 008). Similarly, if the work operation parameter sent to the control unit includes the work parameter, the child work vehicle 1C equivalent to the work system operation executed by the parent work vehicle 1P specified in this work parameter The operation content in is derived using the above conversion table. The derived work system operation content is linked to the target traveling position, which is the position of the child work vehicle 1C to which the operation should be performed (# 009). The travel system operation content and the work system operation content linked to the target travel position are converted into data so that they can be used in the child work vehicle 1C as work operation parameters for the child work vehicle 1C, and are transmitted to the child work vehicle 1C. (# 010).

In the child work vehicle 1C, the steering is controlled so that the detected child position matches the target traveling position based on the target traveling position received from the control unit (# 011). Further, if the work operation parameters received from the control unit include the work parameters to be operated at the detected current traveling position (child position) of the child work vehicle 1C, the traveling system is based on the operation parameters. If the operation is executed and the work parameter is included, the operation of the work system is executed based on the work parameter (# 012).

Next, one specific embodiment of the work vehicle cooperation system of the present invention will be described. In this embodiment, the work vehicle is a tractor equipped as a ground work device with a tillage device 5 for cultivating fields bounded by ridges, as shown in FIG. The tilling device 5 is mounted on the rear portion of the vehicle body 3 via a hydraulic elevating mechanism 4. The tilling work is performed by lowering the tilling device 5, and the tilling work is interrupted by raising the tilling device 5. The engine 21 is mounted on the front portion of the vehicle body 3 supported by the front wheels 2a and the rear wheels 2b, and the transmission 22 is mounted on the central portion of the vehicle body 3. Above the transmission 22 is a control unit 30 in which an operating tool for performing traveling system operations such as steering operation, engine operation, and shifting operation, and an operating tool for performing work system operations such as elevating and lowering mechanism 4 are arranged. It is formed. In this embodiment, the parent tractor 1P as the parent work vehicle 1P and the child tractor 1C as the child work vehicle 1C have substantially the same shape, the parent tractor 1P is operated by the driver, and the child tractor 1C is unmanned. Be piloted.

The ground work area shown in FIGS. 3 and 4 is a field whose outer circumference is bounded by ridges. Although shown briefly, this field is defined as a rectangular U-turn work area A in which work is performed by repeating straight-ahead work and U-turn, and around this U-turn work area A. It is divided into a work area B around a rectangular ring. This work area division is generally performed in field work, and the rotating work area B is also called headland work. In this example, the work on the ground is cultivated by a tractor, and the work on the U-turn work area A is performed first, and then the work on the rotating work area B is performed. The rotating work area B is also used as an area for non-working U-turn traveling during tilling work with respect to the U-turn work area A. When shifting from the work of the U-turn work area A to the work of the turning work area B, in order to perform the turning work efficiently in the turning work area B, the turning work area is started from the work end point of the U-turn work area A. A turn-back run to the work starting point in B is performed.

First, the cooperative running of the parent tractor 1P and the child tractor 1C in the U-turn work area A will be described with reference to FIG. In the U-turn work area A, the tillage work is carried out while repeating the straight-ahead work running and the U-turn. Since the U-turn work area A is usually located in the center of the field, the U-turn work area A is also simply referred to as the central area A, and the turning work area B is located near the periphery of the field. Is also simply referred to as peripheral region B.

In the working state in which the tilling device 5 is lowered, the working running (substantially straight running) of the central region A by the parent tractor 1P is started. After a predetermined time delay, the follow-up work run by the child tractor 1C is started in the working state in which the tilling device 5 is lowered. As a result, cooperative tillage work is performed by the work width of the parent tractor 1P and the work width of the child tractor 1C. At that time, the amount of misalignment between the parent tractor 1P and the child tractor 1C in the traveling crossing direction is ideally (parent work width + child work width) / 2, but in order to avoid work residue due to tracking error, For example, an overlap of about several tens of cm is set. As shown in FIG. 3, when the parent tractor 1P reaches the peripheral region B from the central region A, the tilling device 5 is raised and the U-turn running of the parent tractor 1P is started. The position of the parent tractor 1P at that time is recorded as the parent U-turn start point P1. When the parent tractor 1P makes a U-turn and enters the central region A again, the tilling device 5 is lowered and the work running of the parent tractor 1P is resumed. The position of the parent tractor 1P at that time is recorded as the parent U-turn end point P2. When the parent U-turn start point P1 and the parent U-turn end point P2 are recorded, the child U-turn start point Q1 and the child U-turn end point Q2 of the child tractor 1C are calculated. In the corresponding peripheral region B shown in the figure, the child U-turn start point Q1 is located at a position shifted from the parent U-turn start point P1 in consideration of the lateral distance between the parent tractor 1P and the child tractor 1C and the amount of overlap. Become. The child U-turn end point Q2 is a position between the parent U-turn end point P2 and the child U-turn start point Q1, and is an intermediate position in the example of FIG. 3, for example. Although not shown, when making a U-turn on the opposite side, the positional relationship between the parent U-turn start point P1 and the parent U-turn end point P2 and the child U-turn start point Q1 and the child U-turn end point Q2 is exactly the same. On the contrary, the child U-turn end point Q2 is located further outside the parent U-turn end point P2, and is obtained from the tillage width of the parent tractor 1P and the child tractor 1C and the amount of overlap thereof.

When the child U-turn start point Q1 and the child U-turn end point Q2 are calculated, the child U-turn travel route from the child U-turn start point Q1 to the child U-turn end point Q2 is calculated. Further, the position where the child tractor 1C almost reaches the directional posture of the work running before the child U-turn end point Q2 is calculated as the follow-up start point Qs. That is, by starting the follow-up to the parent tractor 1P from this follow-up start point Qs, the work travel locus of the child tractor 1C starting from the child U-turn end point Q2 accurately corresponds to the work travel locus of the parent tractor 1P. It is a position that can be done.

When the child tractor 1C reaches the child U-turn start point Q1, the tilling device 5 is raised and the child tractor 1C starts U-turn running in a non-working state. In the U-turn running of the child tractor 1C, it is checked whether or not the child tractor 1C reaches the follow-up start point Qs. When the child tractor 1C reaches the follow-up start point Qs, the U-turn running of the child tractor 1C ends, the tilling device 5 is raised, and the following running of the child tractor 1C in the working state, that is, the working running is resumed. By repeating such a work run in the central region A (substantially a straight line run) and a non-work run in the peripheral area B (U-turn run), the tillage work for the central area A is completed.

Next, the cooperative running of the parent tractor 1P and the child tractor 1C in the rotating work area B will be described with reference to FIG. In FIG. 4, the traveling locus of the parent tractor 1P is indicated by a thick black line, the traveling locus of the child tractor 1C is indicated by a thick white line, and the turning traveling locus is distinguished by a dotted line drawing. Further, in FIG. 4, the working widths of the parent tractor 1P and the child tractor 1C are shown by WP and Wc, respectively.
First, the parent tractor 1P starts from the turning-back running start point Pp1 which is the work end point of the central region (U-turn work region A) in the non-working state (the tilling device 5 is raised), and is one corner region of the field. The tractor makes a forward turn so as to face the rear end of the tractor at the turning work start point (turn-back running completion point Pp3) set in. The rear end of the tractor stops at the turning point Pp2 facing the turning work start point (turning completion point Pp3), then runs backward until the turning work start point (turning completion point Pp3) is reached, and the turning work is completed. .. When the turning back running is completed, the parent tractor 1P travels forward in the peripheral area (rotating work area B) in the working state (lowering the tilling device 5). This rotation work running is performed so as to have a substantially straight running locus.

When it is detected from the traveling locus of the parent tractor 1P described above that the parent tractor 1P has performed a turning trip, the traveling locus and the working width of the parent tractor 1P and the child tractor 1C to the ground (hereinafter, simply abbreviated as the working width). From the above, the turning back running start point Pc1 and the turning back running completion point Pc3 of the child tractor 1C are calculated. When the turning back running start point Pc1 and the turning back running completion point Pc3 are calculated, the stop point Pc2 (turning point) of the turning forward running in the same direction as the turning forward running of the parent tractor 1P is also calculated, and the child reaches this stop point Pc2. The tractor 1C is turned forward in a non-working state. At that time, the turning forward traveling of the child tractor 1C is prohibited until interference with the parent tractor 1P performing the rotating work traveling is avoided. The target traveling position in the reverse traveling from the stop point Pc2 of the turning forward traveling of the child tractor 1C to the turning completion point Pc3 is the parent tractor under the condition that the rut of the child tractor 1C does not enter the working width around the parent tractor 1P. It is calculated regardless of the travel locus of the 1P turn-back reverse travel. The travel target positions in the rotation work travel from the rotation work travel start point, which is the turning end travel completion point Pc3, are mutually determined from the work width of the parent tractor 1P, the work width of the child tractor 1C, and the rotation work travel locus of the parent tractor 1P. Calculated under conditions that maintain a given overlap of working widths. The tilling device 5 is lowered prior to the turning work running starting from the turning work running start point which is the turning back running completion point Pc3. Since the traveling target position in the turning work running is calculated, the turning work running of the child tractor 1C is executed in the working state in which the tilling device 5 is lowered based on the running target position. The tilling work of the turning work area B is completed by repeating the turning back running by the forward movement and the reverse movement and the turning work running by the linear forward movement as described above.

As shown in FIG. 5, in this embodiment, the electronic control units for constructing the work vehicle cooperation system are the master unit control unit 6 mounted on the master tractor 1P and the slave unit control unit mounted on the child tractor 1C. It is divided into 7. The master unit control unit 6 and the slave unit control unit 7 are provided with communication modules 60 and 70, respectively, so that data can be transmitted wirelessly to each other.

The master unit control unit 6 further includes a master position detection module 61, a master travel locus calculation unit 62, a U-turn work area travel control module 63, a rotation work area travel control module 64, a child travel target calculation unit 65, and work operation parameter management. It is equipped with functional parts such as module 8. These functional parts may operate in cooperation with hardware, but are practically realized by starting a computer program.

The parent position detection module 61 uses GPS to detect its own position, that is, the position of the parent tractor 1P. The parent traveling locus calculation unit 62 calculates and records the traveling locus of the parent tractor 1P from the position detected by the parent position detection module 61.

The U-turn work area travel control module 63 is a control module that controls travel in the U-turn work area A. The U-turn work area travel control module 63 has the following functions:
(1) In order to show the allocation of the rotating work area B in the field, the position coordinates for specifying the outer shape of the U-turn work area A are recorded, but this recording is not essential and may be omitted.
(2) An area for making a U-turn in a non-working state, which is required between a substantially linear outward traveling and a returning traveling in a working state of the parent tractor 1P and the child tractor 1C in the U-turn working area A. It also detects a U-turn in the rotating work area B.
(3) Based on the tillage width of the parent tractor 1P, the tillage width of the child tractor 1C, the work travel locus of the parent tractor 1P, and the position of the child tractor 1C, considering the overlap of the tillage widths of each other, U The target traveling route of the child tractor 1C in the turn work area A is calculated. The target travel path of the child tractor 1C in the U-turn work area A includes a linear reciprocating travel path in the U-turn work area A of the child tractor 1C and a U-turn travel path in the peripheral work area B of the child tractor 1C. A U-turn travel route calculated based on a turn travel route calculation algorithm is included.

The rotation work area travel control module 64 is a control module that controls travel in the rotation work area B. The rotating work area travel control module 64 has the following functions:
(1) In the turning work area B of the parent tractor 1P and the child tractor 1C, the turning running including the turning back running and the turning work running consisting of forward and reverse is detected. For the detection, the position coordinates for specifying the outer shape of the U-turn work area A and the position coordinates for specifying the outer shape of the field to be worked on are used.
(2) The turning back of the child tractor 1C is based on the working width of the parent tractor 1P and the working width of the child tractor 1C, and the turning back running locus including the turning back running start point Pp1 and the turning back running completion point Pp3 in the turning back running of the parent tractor 1P. The target running locus in the turning back running including the running start point Pc1 and the turning back running completion point Pc3 is calculated.
(3) From the work width of the parent tractor 1P, the work width of the child tractor 1C, and the rotation work travel locus of the parent tractor 1P, the rotation work of the child tractor 1C from the turning back running completion point Pc3 to the next turning back running start point Pc1. Calculate the target driving route for driving.

The child travel target calculation unit 65, in cooperation with the U-turn work area travel control module 63 and the rotation work area travel control module 64, calculates the target travel position of the child tractor 1C from the travel locus of the parent tractor 1P. The child travel target calculation unit 65 transmits the calculated target travel position of the child tractor 1C to the slave unit control unit 7 via the communication module 60.

The work operation parameter management module 8 realizes the transfer of parameters related to the traveling system operation and the working system operation between the parent tractor 1P and the child tractor 1C, which has been described with reference to FIG. Therefore, the work operation parameter management module 8 includes a parent parameter generation unit 81, a child parameter generation unit 82, and a parameter conversion unit 83. The parent parameter generation unit 81 generates a parent work operation parameter related to the work operation executed by the parent tractor 1P by linking it to the parent position detected by the parent position detection module 61. The child parameter generation unit 82 generates a child work operation parameter linked to the corresponding target traveling position of the child tractor 1C based on the parent work operation parameter. If the specifications of the parent tractor 1P and the child tractor 1C are exactly the same, the parent work operation parameter can be applied as it is as the child work operation parameter. However, when the specifications are different from each other, the specifications of the parent tractor 1P and the child tractor 1C are registered, and the parameter conversion in which the operation contents of the other child tractor 1C adapted to the operation contents of the parent tractor 1P are related. Parameter conversion is performed by unit 83.

The generated work operation parameter is transmitted to the slave unit control unit 7 via the communication module 60 in a form linked to or linkable to the target position calculated by the slave travel target calculation unit 65.

The slave unit control unit 7 includes a communication joule 70, a slave position detection module 71, and a steering control unit 72. The child position detection module 71, like the parent position detection module 61, detects its own position, that is, the position of the child tractor 1C by using GPS. The obtained position data of the child tractor 1C is transmitted to the master unit control unit 6 via the communication joule 70 in order to confirm the position of the child tractor 1C on the master unit control unit 6 side. The steering control unit 72 controls the steering of the front wheels 2a of the child tractor 1C and the drive of the rear wheels 2b based on the traveling target position wirelessly transmitted from the master unit control unit 6, and sequentially sets the child tractor 1C. Unmanned maneuver to the target driving position. Further, the steering control unit 72 executes the traveling system operation and the working system operation included in the working operation parameter when the child tractor 1C reaches the traveling target position to which the working operation parameter is linked. , The traveling speed of the child tractor 1C is changed, and the raising / lowering control of the tilling device 5 is performed by the raising / lowering mechanism 4.

Next, with reference to FIGS. 6, 7, and 8, the flow of basic control data in the coordinated control between the manned control parent tractor 1P and the unmanned control child tractor 1C will be described. FIG. 6 schematically shows the flow of control data in cooperative control for work running that leaves a substantially linear running locus. FIG. 7 schematically shows the flow of control data in coordinated control for U-turn driving. FIG. 8 schematically shows a data flow in coordinated control for turning back running.

As shown in FIG. 6, in the coordinated control in the work running that leaves a linear running locus, the parent tractor running from the parent tractor position (parent position) indicating the actual running position of the parent tractor 1P generated in a predetermined sampling cycle. The locus (parent running locus) is calculated (# a). Using the calculated parent tractor travel locus and the child tractor position (child position) indicating the actual travel position of the child tractor 1C at each time point, both the parent work vehicle work width and the child work vehicle work width are used. The work travel target position for the child tractor 1C is calculated in consideration of the width overlap amount (# b). The calculated work travel target position data becomes the control control target value, and the child tractor 1C is unmanned to perform a wide range of ground work in cooperation with the parent tractor 1P (#c).

When a driving system operation or a work system operation is performed by the driver during the work running of the parent tractor 1P, a work operation parameter (parent parameter) indicating the operation content of the parent tractor 1P is generated, and at the time of the operation. Linked to the parent position (# d). The working operation parameter linked to the parent position is converted into a working operation parameter (child parameter) suitable for the child tractor 1C by using the parameter conversion table of the parameter conversion unit 83 (#e). The converted child parameter is linked to the corresponding work target travel position (#f). When the child tractor 1C reaches the traveling position where the operation based on this child parameter should be performed, it is converted into a control command for operation (#g), and the traveling system operating device and the working system operating device are controlled by this control command. .. As a result, a substantially linear work run of the child tractor 1C following the parent tractor 1P is realized.

As shown in FIG. 7, in the coordinated control in the U-turn running which is the direction change during the reciprocating work running, the U-turn start operation and the U-turn end operation in the parent tractor 1P associated with the parent position are performed, and the parent tractor 1P The parent U-turn start point P1 and the parent U-turn end point P2 are calculated (# a1). Further, the U-turn traveling locus (parent U-turn traveling locus) of the parent tractor 1P is calculated from the parent U-turn start point P1, the parent U-turn end point P2, and the parent position in the traveling between them (# a2). Further, the U-turn traveling target position for the child tractor 1C is calculated in consideration of the parent work width, the child work width, and the overlap amount of both in the trajectory corresponding to the parent U-turn (# b). The calculated child U-turn travel target position becomes the steering control target value, and the child tractor 1C is unmanned to perform U-turn travel (#c).

Even in this U-turn running, when the driving system operation or the working system operation is performed by the driver during the U-turn running of the parent tractor 1P, the working operation parameter (parent parameter) indicating the operation content is set. It is generated and linked to the parent position at the time of the operation (#d). The working operation parameter linked to the parent position is converted into a working operation parameter (child parameter) suitable for the child tractor 1C (#e). The converted child parameter is linked to the corresponding U-turn target travel position (#f). When the child tractor 1C reaches the traveling position where the operation based on this child parameter should be performed, it is converted into a control command for operation (#g), and the traveling system operating device and the working system operating device are controlled by this control command. .. As a result, the U-turn running of the child tractor 1C following the parent tractor 1P is realized.

As shown in FIG. 8, in the cooperative control in the turning back running in the turning work area B, the turning back start operation in the parent tractor 1P, the stop operation for turning back, and the turning back completion operation in the parent tractor 1P associated with the parent position are performed, and then the parent tractor 1P The turning back running start point Pp1, the turning back point Pp2 (forward / backward switching point), and the turning back running completion point Pp3 are calculated (# a1). Further, the turning back running locus (parent turning back running locus) of the parent tractor 1P is calculated from the turning back running start point Pp1, the turning back running point Pp2, the turning back running completion point Pp3, and the parent position in the running between them (# a2). Further, the turning back running target position for the child tractor 1C is calculated in consideration of the working width of the parent working vehicle, the working width of the child working vehicle, and the overlap amount of both in the turning back running locus (# b). The calculated child turn-back travel target position becomes the maneuvering control target value, and the child tractor 1C is unmanned to perform turn-back travel (#c). In FIG. 8, the turning-back running start point is simply shown as the turning-back starting point, and the turning-back running completion point is simply shown as the turning-back completion point.

In this turning-back running as well, when the driving system operation or the working system operation is performed by the driver during the turning-back running of the parent tractor 1P, the working operation parameter indicating the operation content ( The parent parameter) is generated and linked to the parent position at the time of the operation (# d). The work operation parameter linked to the parent position is converted into a work operation parameter (child parameter) suitable for the child tractor 1C (#e), and the converted child parameter is linked to the corresponding work target travel position (#e). # F). When the child tractor 1C reaches the traveling position where the operation based on this child parameter should be performed, it is converted into a control command for operation (#g), and the traveling system operating device and the working system operating device are controlled by this control command. .. As a result, the turning back running of the child tractor 1C following the parent tractor 1P is realized.

[Another Embodiment]
(1) In the above-described embodiment, the number of child tractors 1C is one, but it is possible to apply the present invention to a plurality of child tractors 1C by a similar control method. At that time, if the number of child tractors 1C is two, two follow-up control methods are possible. In one of them, the first child tractor 1C is follow-up controlled based on the locus of the parent tractor 1P in consideration of the working width of the parent tractor 1P, and the second child tractor 1C is based on the locus of the parent tractor 1P. Therefore, follow-up control is performed in consideration of the working width of the first child tractor 1C. In the other one, the first child tractor 1C is track-controlled based on the locus of the parent tractor 1P, and the second child tractor 1C is track-controlled with the first child tractor 1C as the parent tractor 1P. That is, when there are a plurality of child tractors 1C, follow-up control in which the preceding child tractor 1C is set as the parent tractor 1P is also possible.
(2) In the above-described embodiment, the parent tractor 1P is a manned maneuvering type, but the parent tractor 1P can also be operated unmanned by adopting a program control method or a remote control method. The present invention also covers a parent tractor 1P, that is, a mode in which the parent work vehicle is also operated unmanned. Furthermore, in the present invention, both the parent tractor 1P and the child tractor 1C may be manned. For example, the operation of the parent tractor 1P is performed by a skilled person, the operation of the child tractor 1C is performed by an unskilled person, and a part of the traveling system operation and the working system operation of the child tractor 1C is based on the working operation parameters generated by the parent tractor 1P. If it is executed, the burden on the unskilled person will be reduced.
(3) In the above-described embodiment, the tractor equipped with the tilling device 5 is taken up as the work vehicle, but the present invention may be characterized by mounting other working devices such as a spraying device and a fertilizer application device instead of the tilling device 5. Can be used effectively. Furthermore, the present invention can be applied to other work vehicles such as combine harvesters, rice transplanters, lawnmowers, weeders, and civil engineering construction machines such as bulldozers. Further, the parent work vehicle and the child work vehicle do not have to be of the same model, for example, a combination of a combine and a transport truck may be used.

The present invention is applicable to a control system in which a plurality of work vehicles cooperate to work and travel.

1P: Parent work vehicle (parent tractor)
1C: Child work vehicle (child tractor)
61: Parent position detection module 62: Parent travel locus calculation unit 63: U-turn control module 64: Rotating travel control module 65: Travel target calculation unit 7: Slave unit control unit 70: Communication Jules 71: Child position detection module 72: Maneuvering Control unit 8: Working operation parameter management module 81: Parent parameter generation unit 82: Child parameter generation unit 83: Parameter conversion unit

Claims (6)

It is a parent work vehicle that performs ground work using a work machine in cooperation with an unmanned control type child work vehicle.
A parent position detection module that detects the parent position, which is the position of the parent work vehicle,
A parent traveling locus calculation unit that calculates the traveling locus of the parent work vehicle from the parent position,
A child travel target calculation unit that calculates the target travel position of the child work vehicle from the travel locus of the parent work vehicle,
A parent parameter generation unit that is generated by linking a parent work driving parameter related to a work operation executed by the parent work vehicle to the parent position at the time when the work operation is executed.
Based on the parent work operation parameter, the work operation is linked to the target traveling position corresponding to the position of the parent work vehicle on which the work operation is executed so that the work operation is executed in the child work vehicle. A child parameter generator that generates child work operation parameters corresponding to the parent work operation parameter,
A communication module for transmitting the target traveling position and the child work driving parameter to the child work vehicle is provided.
The child work vehicle is unmanned and operated based on the child position which is the position of the child work vehicle, the target traveling position, and the child work operation parameters.
The child travel target calculation unit is a work vehicle that calculates the target travel position on the condition that the ruts of the child work vehicle do not enter the work width of the parent work vehicle during reverse travel during turning back travel. The parent work operation parameter and the child work operation parameter include a travel control parameter related to an operation on a traveling system including a transmission and a braking device, a work control parameter related to a work operation and a non-work operation on the work machine, or both. The work vehicle according to claim 1, which includes. The child parameter generation unit includes a specification recording unit that records the specifications of the parent work vehicle and the specifications of the child work vehicle, and is based on the difference between the specifications of the parent work vehicle and the specifications of the child work vehicle. The work vehicle according to claim 1 or 2, wherein the parent work operation parameter is corrected to generate the child work operation parameter. The child travel target calculation unit calculates the target travel position from the ground work width of the parent work vehicle, the ground work width of the child work vehicle, and the travel locus of the parent work vehicle, and the child work vehicle determines the target travel position. The work vehicle according to any one of claims 1 to 3, which is unmanned and operated so as to follow the ground work trace of the parent work vehicle using the target traveling position. The parent travel locus calculation unit, the child travel target calculation unit, and the child parameter generation unit are constructed in separate control units.
The work vehicle according to any one of claims 1 to 4, wherein the control unit, the child work vehicle, and the parent work vehicle are connected to each other so as to be able to transmit data. The work vehicle according to any one of claims 1 to 5, wherein the parent work vehicle is a manned maneuverable type.

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