JP2021105771A - Control system of working vehicle - Google Patents

Abstract

To provide a control system of a working vehicle that enables smooth work.SOLUTION: A control system of working vehicles 1a and 1b comprises: a preceding vehicle 1a that includes a grass collection working machine Wa for collecting cut grass scattered on the ground along a travel route 200; and a subsequent vehicle 1b that includes a packaging working machine Wb for packaging the cut grass collected by the preceding vehicle 1a in a roll shape. The subsequent vehicle 1b automatically travels along a travel route set based on the travel route 200 of the preceding vehicle 1a.SELECTED DRAWING: Figure 1B

Description

The present invention relates to a work vehicle control system.

Conventionally, in a work vehicle such as a tractor, the calculation means of the second vehicle calculates the work travel path by using the traveling locus of the first vehicle, which is a manned traveling vehicle, as the boundary of the work area of the second vehicle, which is an unmanned traveling vehicle. A work vehicle control system by a work vehicle that sends a signal of travel stop information to the first vehicle when a situation should occur in the work travel route is known (see, for example, Patent Document 1). ..

Japanese Unexamined Patent Publication No. 2016-95812

However, the prior art may not be able to perform the work smoothly depending on the work content of the work vehicle. Specifically, when the grass that has been cut and dried is collected by the first vehicle and the collected grass is packed in a roll by the second vehicle, the traveling locus of the first vehicle is the same as that of the second vehicle. It may affect the work.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle control system capable of smoothly performing work.

In order to solve the above-mentioned problems and achieve the object, the control system (S) of the work vehicle (1a, 1b) according to one aspect of the embodiment moves the grass diffused on the ground along the traveling locus (200). A preceding vehicle (1a) equipped with a grass collecting work machine (Wa) for collecting grass, and a following vehicle equipped with a packing work machine (Wb) for packing the cut grass collected by the preceding vehicle (1a) in a roll shape. (1b), and the following vehicle (1b) is characterized in that it automatically travels on a traveling route set based on the traveling locus (200) in the preceding vehicle (1a).

According to one aspect of the embodiment, the work can be performed smoothly.

FIG. 1A is a diagram showing a configuration example of a control system for a work vehicle according to an embodiment. FIG. 1B is a diagram showing an operation example in the control system according to the embodiment. FIG. 1C is a diagram showing an operation example in the control system according to the embodiment. FIG. 2 is a block diagram showing an example of a control system of a preceding vehicle (following vehicle). FIG. 3 is an explanatory diagram of the grass collecting position of the grass collecting work machine. FIG. 4 is a diagram showing an operation example of the following vehicle. FIG. 5 is a sequence diagram showing an operation example of the control system according to the embodiment.

Hereinafter, embodiments of the work vehicle control system disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

First, the overall configuration of the work vehicle control system according to the embodiment will be described with reference to FIGS. 1A to 1C. FIG. 1A is a diagram showing a configuration example of a control system for a work vehicle according to an embodiment. 1B and 1C are diagrams showing an operation example in the control system according to the embodiment. In the following, a tractor will be described as an example of a work vehicle.

A tractor, which is a work vehicle, is an agricultural tractor that works on a field or the like while self-propelled. Further, the tractor 1 is provided by a control system centered on a control device 40 (see FIG. 3), which will be described later, in addition to executing a predetermined work while the operator (also referred to as an operator) is on board and traveling in the field. By controlling each part, a predetermined work is executed while automatically traveling in the field.

Further, in the following, the front-rear direction is defined as the traveling direction when the tractor travels straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear".

The left-right direction is a direction horizontally orthogonal to the front-rear direction. In the following, left and right are defined toward the "front" side. That is, with the tractor operator seated in the cockpit and facing forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is a direction parallel to the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. It should be noted that each direction is defined for convenience of explanation, and the present invention is not limited to these directions. Further, in the following, the tractor may be referred to as an "aircraft".

As shown in FIG. 1, the control system S has a first tractor 1a and a second tractor 1b. Further, the first tractor 1a and the second tractor 1b are connected so as to be capable of bidirectional communication via a predetermined communication network N. The first tractor 1a and the second tractor 1b cooperate with each other to collect and pack grass in the field. Specifically, the first tractor 1a collects the grass diffused on the ground prior to the second tractor 1b, and the second tractor 1b collects the collected grass and rolls it. Pack in. In the following, the first tractor 1a will be referred to as a preceding vehicle, and the second tractor 1b will be referred to as a following vehicle.

The preceding vehicle 1a and the following vehicle 1b include a traveling vehicle body and working machines Wa and Wb connected to the traveling vehicle body. The traveling vehicle body includes wheels, a bonnet, an engine, a driver's seat, and the like.

The work machine Wa is a so-called rake that is mounted behind the preceding vehicle 1a and collects grass that has diffused on the ground. The working machine Wa is driven by a PTO axis (Power Take-off) (not shown) included in the preceding vehicle 1a. The PTO shaft is a member that transmits the power taken out from the engine to the working machine Wa. The working machine Wa may be referred to as a grass collecting working machine Wa.

The work machine Wb is a so-called roll baler that is mounted behind the following vehicle 1b and is packed in a roll shape by collecting the cut grass collected by the preceding vehicle 1a to generate a grass roll R. The work machine Wb is driven by a PTO shaft (not shown) included in the following vehicle 1b. The PTO shaft is a member that transmits the power taken out from the engine to the work machine Wb. The working machine Wb may be referred to as a packing work machine Wb.

Here, an operation example of the preceding vehicle 1a and the following vehicle 1b will be described with reference to FIGS. 1B and 1C. FIG. 1B shows a case where the grass collecting position 300 of the grass collecting work machine Wa is substantially centered with respect to the traveling direction of the preceding vehicle 1a, and FIG. 1C shows a case where the grass collecting position 300 of the grass collecting work machine Wa is the preceding vehicle 1a. The case where the position is moved to the left side with respect to the traveling direction of is shown. The grass collecting position 300 may be a position closer to the right side with respect to the traveling direction of the preceding vehicle 1a.

As shown in FIG. 1B, when the grass collecting position 300 of the grass collecting work machine Wa is substantially centered with respect to the traveling direction of the preceding vehicle 1a, the grass collecting position 300 and the traveling locus 200 of the preceding vehicle 1a (center of the vehicle width). It will overlap with the locus of.

Therefore, when the grass collecting position 300 of the grass collecting work machine Wa is substantially centered with respect to the traveling direction of the preceding vehicle 1a, the following vehicle 1b automatically sets a traveling route based on the traveling locus 200 of the preceding vehicle 1a. Run. Specifically, the following vehicle 1b automatically travels on a traveling route (working route) traveling on the traveling locus 200. The traveling route may be set by the control device of the preceding vehicle 1a, or may be set by the control device of the following vehicle 1b acquiring the information of the traveling locus 200 of the preceding vehicle 1a.

As described above, when the grass collecting position 300 of the grass collecting work machine Wa is substantially the center with respect to the traveling direction of the preceding vehicle 1a, the following vehicle 1b automatically travels on the traveling locus 200 as a working route. The cut grass collected around the locus 200 can be smoothly collected and packed. That is, in the control system S according to the embodiment, the work (grass collection and packing) can be smoothly performed. Further, since the following vehicle 1b automatically follows the preceding vehicle 1a, it is not necessary to drive the following vehicle 1b, and the work can be performed only by the driver of the preceding vehicle 1a, so that labor saving can be realized.

Next, as shown in FIG. 1C, when the grass collecting position 300 of the grass collecting work machine Wa is a position moved to the left side with respect to the traveling direction of the preceding vehicle 1a, the grass collecting position 300 is the traveling locus of the preceding vehicle 1a. It will shift to the left with respect to 200.

Therefore, the following vehicle 1b is set based on the locus of the grass collecting position 300 when the grass collecting position 300 of the grass collecting work machine Wa is a position moved to the left or right side with respect to the traveling direction of the preceding vehicle 1a. Automatically travel on the travel route. Specifically, the following vehicle 1b automatically travels on a position separated by a predetermined distance in the left or right direction from the traveling locus 200 of the preceding vehicle 1a as a work route. The predetermined distance away from the traveling locus 200 in the left or right direction can be calculated based on the information of the traveling locus 200 and the setting information of the grass collecting position 300 of the grass collecting work machine Wa.

As described above, when the grass collecting position 300 of the grass collecting work machine Wa is on the left side or the right side with respect to the traveling direction of the preceding vehicle 1a, the following vehicle 1b is on the left side or the right side with respect to the traveling locus 200. By automatically traveling with the moved position as the work route, the grass can be smoothly collected and packed even when the position deviated from the traveling locus 200 is set as the grass collecting position 300. That is, in the control system S according to the embodiment, the work (grass collection and packing) can be smoothly performed. Further, since the following vehicle 1b automatically follows the preceding vehicle 1a, it is not necessary to drive the following vehicle 1b, and the work can be performed only by the driver of the preceding vehicle 1a, so that labor saving can be realized.

In the following, when referred to as "working route", it means that it is a traveling route where work (grass collection and packing) needs to be performed, and when it is referred to as "traveling route", it is not necessary to perform work. It shall mean that it is a traveling route.

Next, the control system of the preceding vehicle 1a (following vehicle 1b) centered on the control device 40 will be described with reference to FIG. FIG. 2 is a block diagram showing an example of a control system of the preceding vehicle 1a (following vehicle 1b). Since the control systems of the preceding vehicle 1a and the following vehicle 1b are the same except that the types of the working machines Wa and Wb are different, the preceding vehicle 1a will be described below as an example. As shown in FIG. 2, the control device 40 includes an engine ECU (Electronic Control Unit) 41, a traveling system ECU 42, and a work equipment elevating system ECU 43. The engine ECU 41 controls the rotation speed of the engine E. The traveling system ECU 42 controls the traveling speed of the preceding vehicle 1a by controlling the rotation of the drive wheels. The work equipment elevating system ECU 43 controls the elevating device 12 to elevate and control the work equipment Wa.

The control device 40 can control each part by electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, various programs, and a preceding vehicle 1a (following vehicle 1b) preset for each field. It is provided with a storage unit for storing necessary data such as the planned travel route of the vehicle.

As shown in FIG. 2, the control device 40 includes a positioning device (GNSS) 30, an engine rotation sensor 23, a vehicle speed sensor 24, a turning angle sensor 25, an obstacle sensor 20 (front sensor 21 and a rear sensor 22), and a lift arm. Various sensors such as the sensor 26 and the position detection sensor 70 are connected. The engine rotation sensor 23 detects the rotation speed of the engine E. The vehicle speed sensor 24 detects the traveling speed (vehicle speed) of the preceding vehicle 1a. The turning angle sensor 25 detects the turning angle of the front wheels, which are the steering wheels. The turning angle sensor 25 detects the turning of the airframe.

The control device 40 includes position information of the preceding vehicle 1a from the positioning device 30 in a field or the like, the rotation speed of the engine E from the engine rotation sensor 23, the traveling speed of the preceding vehicle 1a from the vehicle speed sensor 24, and cutting of the front wheels from the turning angle sensor 25. The corner and obstacle sensor 20 input the obstacle detection result, the lift arm sensor 26 inputs the height of the working machine Wa, and the position detection sensor 70 inputs the presence / absence of detection of the working machine Wa. When the preceding vehicle 1a is autonomously driven, the control device 40 uses the detection result of the turning angle sensor 25 to control the steering cylinder connected to the steering wheel while feeding back the turning angle of the front wheels to control the steering wheel. Automatically steer.

Further, in the control device 40, the engine ECU 41 is connected to the engine E, the traveling system ECU 42 is connected to the steering device 51, the transmission device 52, the braking device 53, and the like, and the work equipment elevating system ECU 43 is connected to the elevating device 12. NS.

Of these, the work equipment elevating system ECU 43 outputs a work equipment elevating signal to the elevating device 12. The elevating device 12 elevates and drives the work machine Wa based on the work machine elevating signal output from the work machine elevating system ECU 43.

Further, the control device 40 is wirelessly connected to, for example, an information processing terminal 100 (information terminal) that can be carried by an operator. The control device 40 controls each part of the preceding vehicle 1a based on an instruction signal from the information processing terminal 100 operated by the operator. Further, the control device 40 may be configured to hold an aircraft information database of the preceding vehicle 1a so that information such as a model can be exchanged from the information processing terminal 100 or the like. Further, the information processing terminal 100 can set various parameters of the working machines Wa and Wb.

For example, the information processing terminal 100 can set the working width of the grass collecting work machine Wa (width of the grass collecting position 300) and the working position of the packing work machine W (grass collection position and range).

Further, the control device 40 has an "automatic operation mode" in which the tractor 1 performs work while autonomously traveling. In the automatic operation mode, the control device 40 determines a planned travel route according to the work content by the work machine Wa in advance for each field, converts it into data and stores it in the storage unit, and based on the measurement result of the positioning device 30. , Each part such as the engine E, the steering device 51, the transmission 52, the braking device 53, and the elevating device 12 is controlled so as to travel along the stored scheduled traveling path. The planned travel route is set according to the shape and size of the field, the width, length and number of ridges formed in the field, the type of crop, and the like.

Further, the control device 40 is wirelessly connected to the control device of the following vehicle 1b. The control device 40 provides information on the traveling locus 200 of the preceding vehicle 1a, information on the weeding position 300 of the working machine Wa, information on the traveling route (if necessary) of the following vehicle 1b, and the like, as a control device for the following vehicle 1b. Send to. Then, the control device of the following vehicle 1b controls each ECU based on the information received from the control device 40 of the preceding vehicle 1a to automatically drive the following vehicle 1b along a predetermined traveling route.

Specifically, the information of the traveling locus 200 is the locus of the position information (positioning point) of the preceding vehicle 1a measured by the positioning device 30. Alternatively, the information on the travel locus 200 may be the amount of deviation from the planned travel route to the left or right. The information of the grass collecting position 300 of the working machine Wa may be, for example, information input by a worker such as a driver, or the working machine Wa may be identified by a camera or the like, or the grass collecting position 300 may be detected. You may do it.

In addition, the control device 40 may also transmit information on whether or not the work machine Wa is working. Specifically, the control device 40 uses the traveling locus 200 in which the working machine Wa is working as a “working path”, and the traveling locus 200 in which the working machine Wa is not working (not working). Is transmitted to the following vehicle 1b as a "traveling route".

As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

The control device 40 may transmit information on whether the PTO axis of the preceding vehicle 1a is in the driven state or the non-driven state, instead of the information on whether or not the working machine Wa is working. .. For example, it is assumed that the information indicating that the grass collecting work machine Wa is in the driving state is transmitted together with the information of the traveling locus 200. In such a case, the following vehicle 1b drives the packing work machine Wb when traveling on a traveling route (that is, a working route) set based on the traveling locus 200 traveled by the PTO axis of the preceding vehicle 1a in the driven state. do.

It is assumed that the information indicating that the grass collecting work machine Wa is in the non-driving state is transmitted together with the information of the traveling locus 200. In such a case, the following vehicle 1b does not drive the packing work machine Wb when traveling on a traveling route set based on the traveling locus 200 in which the PTO axis of the preceding vehicle 1a travels in the non-driven state.

That is, in the following vehicle 1b, since the weed collecting work machine Wa is working in the traveling locus 200 when the PTO axis of the preceding vehicle 1a is in the driving state, the packing work machine Wb is driven to drive the PTO shaft of the preceding vehicle 1a. Since the weed collecting work machine Wa is not working in the traveling locus 200 when is in the non-driving state, the packing work machine Wb is not driven. As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

Further, the control device 40 may transmit information on the elevating position of the grass collecting work machine Wa instead of the information on whether or not the work machine Wa is working. When the following vehicle 1b travels on a travel route (that is, a work route) set based on the travel locus 200 traveled in a state where the elevating position of the grass collecting work machine Wa is less than a predetermined position, the packing work is performed. Drive the machine Wb.

On the other hand, the following vehicle 1b drives the packing work machine Wb when traveling on a travel route set based on the travel locus 200 traveled in a state where the elevating position of the grass collecting work machine Wa is equal to or higher than a predetermined position. do not.

That is, in the following vehicle 1b, since the grass collecting work machine Wa is working in the traveling locus 200 when the elevating position of the grass collecting work machine Wa is lower than the predetermined position, the packing work machine Wb is driven to collect grass. Since the grass collecting work machine Wa is not working in the traveling locus 200 when the elevating position of the work machine Wa is higher than a predetermined position, the packing work machine Wb is not driven. As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

Further, when the shape of the grass collecting work machine Wa is deformed according to the working and non-working states, the information on the deformed state may be transmitted. For example, the following vehicle 1b drives the packing work machine Wb when the grass collecting work machine Wa travels on a travel path set based on the travel locus 200 traveled in a deformed state during work.

On the other hand, the following vehicle 1b does not drive the packing work machine Wb when the grass collecting work machine Wa travels on the travel path set based on the travel locus 200 traveled in the deformed state during non-working.

That is, in the following vehicle 1b, since the grass collecting work machine Wa is working in the traveling locus 200 when the grass collecting work machine Wa is in the deformed state at the time of work, the packing work machine Wb is driven to perform the grass collecting work. In the traveling locus 200 when the machine Wa is in a deformed state during non-working, the packing work machine Wb is not driven because the grass collecting work machine Wa is not working. As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

Next, the grass collecting position 300 of the grass collecting work machine Wa will be described with reference to FIG. FIG. 3 is an explanatory diagram of the grass collecting position 300 of the grass collecting work machine Wa. In FIG. 3, the preceding vehicle 1a travels straight on the outward route to collect grass (traveling locus 200a), then turns and travels straight on the return route substantially parallel to the outward route to collect grass (traveling locus 200b). The work will be repeated in the field. Further, in FIG. 3, it is assumed that the grass collecting positions 300a and 300b of the grass collecting work machine Wa are positioned closer to the left side with respect to the traveling direction of the preceding vehicle 1a.

As shown in FIG. 3, the control device 40 sets the planned travel route of the preceding vehicle 1a based on the information (the amount of deviation from the travel locus 200) of the grass collection position 300 of the grass collection work machine Wa. Specifically, the control device 40 sets the planned traveling route so that the grass collecting positions 300a and 300b on the outward route and the return route are adjacent to each other or overlap each other.

Alternatively, when the grass collecting position 300 of the grass collecting work machine Wa can be changed to an arbitrary position, the control device 40 can change the grass collecting position 300 on the outward route and the returning route based on the set scheduled traveling route of the preceding vehicle 1a. The grass collection position 300 is set so that the 300a and 300b are adjacent to each other or overlap each other.

In such a case, the following vehicle 1b starts a work run, that is, an automatic run, and performs the packing work when the grass collecting work on the outward path and the return path of the preceding vehicle 1a is completed. As a result, it is possible to avoid omission of collection of cut grass in the packing work.

Further, in the packing work performed by the following vehicle 1b, the preceding vehicle 1a collects grass for two straight lines (outward and return routes), whereas the packing work for one straight line is sufficient. That is, when the grass collecting positions 300a and 300b on the outward and return paths of the preceding vehicle 1a fall within a predetermined range, the following vehicle 1b has one straight line of its own one round trip (two straight lines), that is, its own. It is possible to omit either the outbound route or the inbound route in one round trip. As a result, the working distance in the packing work of the following vehicle 1b can be reduced.

The following vehicle 1b may automatically stop when the distance from the preceding vehicle 1a in the traveling direction is less than a predetermined distance. As a result, even if there is a speed difference between the preceding vehicle 1a and the following vehicle 1b, contact can be avoided.

Further, when the remaining amount of the packing material (twin, net, etc.) for packing the grass is less than the predetermined amount, the following vehicle 1b notifies the preceding vehicle 1a and automatically stops. This point will be described with reference to FIG.

FIG. 4 is a diagram showing an operation example of the following vehicle 1b. In FIG. 4, in the field F, the following vehicle 1b repeats the reciprocating process of going straight (outward and return) and turning.

For example, in the straight line process, when the remaining amount of the packing material becomes less than a predetermined amount by the sensor or the like, the following vehicle 1b provides the remaining amount reduction information indicating that the remaining amount has decreased with respect to the preceding vehicle 1a. Notice. Then, after notifying the remaining amount reduction information, the following vehicle 1b performs the packing work as usual until the next turning position, and automatically stops at the turning position.

As a result, the driver of the preceding vehicle 1a can confirm the replenishment of the packing material at an early stage by, for example, the remaining amount reduction information displayed by the display unit (not shown) of the preceding vehicle 1a. Further, by automatically stopping the following vehicle 1b at the turning position, the following vehicle 1b can be stopped at the end of the field F, so that it is possible to prevent the driver or the like from moving in the field F.

Although FIG. 4 shows a case where the vehicle automatically stops at the turning start position, it may be automatically stopped at the turning end position or the turning intermediate position.

Further, it is preferable that the remaining amount of the packing material when notifying the remaining amount decrease information is one straight line. As a result, the packing work can be continued up to the turning position where the automatic stop is performed.

Next, an operation example of the control system S according to the embodiment will be described with reference to FIG. FIG. 5 is a sequence diagram showing an operation example of the control system S according to the embodiment.

As shown in FIG. 5, the preceding vehicle 1a creates a planned traveling route in the field F (step S101). Subsequently, the preceding vehicle 1a starts traveling along the planned traveling route (step S102). Specifically, the preceding vehicle 1a starts traveling on the first outbound route.

Subsequently, it is assumed that the preceding vehicle 1a travels on the first outbound route, the turn, and the inbound route, and arrives at the next outbound route (step S103). The preceding vehicle 1a notifies the following vehicle 1b of the start of packing work (step S104). The notification includes information on the work start point (running start point), information on the running locus 200, information on the grass collecting position 300, and the like.

Subsequently, the following vehicle 1b starts automatic traveling along the locus of the preceding vehicle 1a (the locus of the traveling locus 200 or the grass collecting position 300) (step S105).

Subsequently, when the preceding vehicle 1a arrives at the next outbound route (step S106), the preceding vehicle 1a notifies the following vehicle 1b that it has arrived at the next outbound route (step S107).

Subsequently, the following vehicle 1b continues automatic traveling along the locus of the preceding vehicle 1a (trajectory of the traveling locus 200 or the grass collecting position 300) (step S108).

Subsequently, it is assumed that the grass collecting work of the preceding vehicle 1a is completed (step S109). The preceding vehicle 1a notifies the following vehicle 1b of the end of work (step S110). The notification includes information on the work end point (running end point) and the like.

Subsequently, the following vehicle 1b continues automatic traveling along the trajectory of the preceding vehicle 1a (step S111), and when the work end point is reached, the packing work is completed (step S112).

As described above, the control system S of the work vehicles 1a and 1b according to the embodiment includes the preceding vehicle 1a and the following vehicle 1b. The preceding vehicle 1a includes a grass collecting work machine Wa that collects grass diffused on the ground along a traveling locus 200. The following vehicle 1b includes a packing work machine Wb that packs the cut grass collected by the preceding vehicle 1a into a roll shape. The following vehicle 1b automatically travels on a travel route set based on the travel locus 200 of the preceding vehicle 1a. As a result, the work can be performed smoothly.

Further, the preceding vehicle 1a drives the grass collecting work machine Wa by the power taken out by its own PTO shaft. When the following vehicle 1b travels on a travel path set based on the travel locus 200 traveled by the PTO axis of the preceding vehicle 1a in the driven state, the following vehicle 1b drives the packing work machine Wb and the PTO axis of the preceding vehicle 1a moves. When traveling on a traveling route set based on the traveling locus 200 traveling in the non-driving state, the packing work machine Wb is not driven. As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

Further, the grass collecting work machine Wa is mounted on the preceding vehicle 1a so as to be able to move up and down. When the following vehicle 1b travels on a travel path set based on the travel locus 200 traveled in a state where the elevating position of the grass collecting work machine Wa of the preceding vehicle 1a is less than a predetermined position, the packing work machine Wb When traveling on a travel path set based on a travel locus 200 traveled in a state where the elevating position of the grass collecting work machine Wa of the preceding vehicle 1a is equal to or higher than a predetermined position, the packing work machine Wb is used. Does not drive. As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

Further, the preceding vehicle 1a is deformed into a deformed state according to the working and non-working times of the grass collecting work machine Wa. When the following vehicle 1b travels on a travel path set based on the travel locus 200 traveled by the grass collecting work machine Wa of the preceding vehicle 1a in a deformed state during work, the following vehicle 1b drives the packing work machine Wb and leads. When the weed-collecting work machine Wa of the vehicle 1a travels on the travel path set based on the travel locus 200 traveled in the deformed state during non-working, the packing work machine Wb is not driven. As a result, the following vehicle 1b only needs to drive the packing work machine Wb when traveling on the work path, so that unnecessary work can be omitted.

Further, the preceding vehicle 1a and the following vehicle 1b repeat the reciprocating process of going straight and turning. When the remaining amount of the packing material for packing the grass is less than the predetermined amount, the following vehicle 1b notifies the preceding vehicle 1a of the remaining amount reduction information and automatically stops at the next turning position. do. Thereby, the driver of the preceding vehicle 1a can confirm the replenishment of the packing material at an early stage by, for example, the remaining amount reduction information displayed by the display unit (not shown) of the preceding vehicle 1a. Further, by automatically stopping the following vehicle 1b at the turning position, the following vehicle 1b can be stopped at the end of the field F, so that it is possible to prevent the driver or the like from moving in the field F.

Further, the following vehicle 1b automatically stops when the distance from the preceding vehicle 1a in the traveling direction is less than a predetermined distance. As a result, even if there is a speed difference between the preceding vehicle 1a and the following vehicle 1b, contact can be avoided.

Further, the control system S of the work vehicles 1a and 1b according to the embodiment is a grass collecting work machine that collects grass at a position where the grass diffused on the ground is moved to either the left or right side with respect to the traveling direction as the grass collecting position 300. The preceding vehicle 1a provided with Wa and the following vehicle 1b equipped with a packing work machine Wb for packing the grass collected by the preceding vehicle 1a in a roll shape are provided, and the following vehicle 1b collects grass in the preceding vehicle 1a. The vehicle automatically travels on the travel route set based on the locus of the position 300. As a result, the work can be performed smoothly.

Further, the preceding vehicle 1a goes straight on the outward route to collect grass, then turns and goes straight on the return route substantially parallel to the outward route to repeat the grass collecting work. The following vehicle 1b starts the work traveling when the grass collecting work on the outward route and the return route is completed. As a result, it is possible to avoid omission of collection of cut grass in the packing work.

Further, when the grass collecting positions 300a and 300b on the outward route and the return route of the preceding vehicle 1a fall within a predetermined range, the following vehicle 1b omits one of the outward route and the return route in its own one round trip process. .. The working distance in the packing work of the following vehicle 1b can be reduced.

Further, the control system S further includes an information terminal 100 for setting the work width of the grass collecting work machine Wa and the work position of the packing work machine Wb. This allows the worker to change the settings for the weed collection work and the packing work.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1a Leading vehicle (working vehicle)
1b Subsequent vehicle (working vehicle)
200 Travel locus 300 Weeding position S control system Wa Weeding work machine Wb Packing work machine

Claims (6)

A preceding vehicle equipped with a grass collecting work machine that collects grass that has diffused on the ground along the track.
A trailing vehicle equipped with a packing work machine for packing the cut grass collected by the preceding vehicle in a roll shape.
The following vehicle
A work vehicle control system characterized in that it automatically travels on a travel route set based on the travel locus of the preceding vehicle. The preceding vehicle is
The grass collecting work machine is driven by the power taken out by its own PTO shaft, and the grass collecting work machine is driven.
The following vehicle
When traveling on the traveling path set based on the traveling locus in which the PTO axis of the preceding vehicle has traveled in the driven state, the packing work machine is driven.
The first aspect of claim 1, wherein the packing work machine is not driven when traveling on the traveling path set based on the traveling locus in which the PTO axis of the preceding vehicle has traveled in a non-driven state. Work vehicle control system. The preceding vehicle is
The grass collecting work machine is mounted so that it can be raised and lowered.
The following vehicle
When traveling on the traveling path set based on the traveling locus of traveling in a state where the elevating position of the grass collecting working machine of the preceding vehicle is less than a predetermined position, the packing working machine is driven.
When traveling on the traveling path set based on the traveling locus of traveling in a state where the elevating position of the grass collecting working machine of the preceding vehicle is equal to or higher than a predetermined position, the packing working machine shall not be driven. The work vehicle control system according to claim 1 or 2. The preceding vehicle is
The grass collecting work machine is deformed into a deformed state according to the working time and the non-working time.
The following vehicle
When the weed-collecting work machine of the preceding vehicle travels on the travel path set based on the travel locus that traveled in the deformed state at the time of the work, the packing work machine is driven.
When the weed-collecting work machine of the preceding vehicle travels on the travel path set based on the travel locus of traveling in the deformed state during non-work, the packing work machine is not driven. The work vehicle control system according to any one of claims 1 to 3. The preceding vehicle and the following vehicle
Work is performed by repeating the reciprocating process of going straight and turning.
The following vehicle
When the remaining amount of packing material for packing the mow is less than the predetermined amount, the preceding vehicle is notified of the remaining amount reduction information and automatically stops at the next turning position. The work vehicle control system according to any one of claims 1 to 4. The following vehicle
The work vehicle control system according to any one of claims 1 to 5, wherein when the distance to the preceding vehicle in the traveling direction is less than a predetermined distance, the vehicle automatically stops.

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