JP2024042337A - Controlled system of tractor - Google Patents

Abstract

To provide a controlled system of a tractor which can travel safely in order to solve the problem that although a technology for estimating a traffic width and a curvature of a traffic lane by recognizing a white line of a traveling traffic lane and an azimuth angle of an own vehicle, recognizing an oncoming vehicle, and ringing an alarm when there is a risk that the own vehicle deviates from the traffic lane, it is difficult for the tractor to safely travel only by traveling within the traffic lane because a whole width of a traveling vehicle changes in a tractor traveling with a work machine depending on a width of the work machine.SOLUTION: A work machine 7 is mounted on a tractor 1 equipped with a camera 9 for photographing a front side, an obstacle sensor 10 for recognizing a relative position of obstacles 15 and 16, and a control device. The control device stores information on right and left widths of the work machine 7, analyzes video image data of the camera 9 to acquire a width of a road 11 and a traveling position, and rings an alarm in the case where there is a risk that the tractor comes into contact with the obstacles 15 and 16 recognized by the work machine 7.SELECTED DRAWING: Figure 2

Description

The present invention relates to a control system for a tractor that safely travels on a road.

There is a well-known technology that recognizes the white lines of the driving lane, estimates the lane width, lane curvature, and the own vehicle's azimuth, recognizes oncoming vehicles, and sounds an alarm when there is a risk of the vehicle deviating from the lane. Patent Document 1).

Japanese Patent Application Publication No. 2014-085805

However, since the width of the entire vehicle body changes depending on the width of the working implement in a tractor that travels with a different working implement, it has been difficult to travel safely just by driving within the lane.

An object of the present invention is to provide a control system for a tractor that can drive safely on roads.

In the invention according to claim 1, a working machine 7 is mounted on a tractor 1 equipped with a camera 9 that photographs the front, an obstacle sensor 10 that recognizes the relative positions of obstacles 15 and 16, and a control device, and the control device The information on the horizontal width L of the machine 7 is stored, and the video data of the camera 9 is analyzed to obtain the width W of the road 11 and the traveling position, and the information is calculated to prevent the machine 7 from coming into contact with the recognized obstacles 15 and 16. This is a tractor control system that issues an alarm in certain situations.

According to the invention as set forth in claim 1, when the working machine 7 having the horizontal width L wider than the tractor 1 is mounted, the risk of contact with the obstacles 15 and 16 can be reduced.

In the invention according to claim 2, when the width W and the center line 12 of the road 11 are recognized and the obstacle 15 is detected on the opposite side to the center line 12, the working machine 7 is located on the opposite side from the center line 12. 2. The tractor control system according to claim 1, wherein an alarm is issued when the vehicle protrudes from the vehicle.

According to the invention set forth in claim 2, it is possible to appropriately recognize the risk of contact and safely deal with it.

The invention as claimed in claim 3 provides a monitor or display provided on the tractor 1 that displays the center line 12 and roadside line 13 of the road 11, the position of the tractor 1, the amount of protrusion of the work implement 7, the presence or absence of obstacles 15, 16, and the obstacles. 3. A tractor control system according to claim 1 or 2, which displays a distance to an object.

In the fourth aspect of the invention, the control device analyzes the video data of the camera 9, recognizes the center line 12 and roadside line 13 of the road 11, and calculates the width W of the road 11. 2. The tractor control system according to claim 1, wherein a traveling position within a width W of 11 is calculated.

In the invention as set forth in claim 5, the control device analyzes the video data of the camera 9, recognizes the center line 12 and the roadside ridge 14 of the road 11, calculates the width W of the road 11, and also calculates the width W of the road 11. 2. A tractor control system according to claim 1, wherein a traveling position within a width W of the road 11 is calculated.

1 is a schematic diagram showing the configuration of a control system for a tractor according to an embodiment of the present invention. It is a schematic diagram which shows the structure of the control system of a tractor same as the above. It is a schematic diagram which calculates the width W of the road 11 in the control system of the same tractor as above. It is a schematic diagram which calculates the width W of the road 11 in the control system of the same tractor as above. It is a schematic diagram which calculates the width W of the road 11 in the control system of the same tractor as above. It is a schematic diagram which calculates the width W of the road 11 in the control system of the same tractor as above. It is a display example of the monitor in the control system of the same tractor as above. This is a display example of the same monitor as above.

As one embodiment of the present invention, a control system for a tractor traveling on a general road will be described.

<Tractor 1>
As shown in Figure 1, the tractor 1 is a front-rear four-wheel drive vehicle, and is provided with left and right front wheels 2L, 2R and left and right rear wheels 3L, 3R at the four corners of the vehicle body. The front wheel axle cases supporting the left and right front wheels 2L, 2R are attached to the underside of the front frame, and the rear wheel axle cases supporting the left and right rear wheels 3L, 3R are attached to the left and right rear side surfaces of the transmission case.

An engine is mounted in a bonnet 4 at the upper center of the front frame, and a radiator, cooling fan, fan belt, etc. are arranged in front of the engine.

A control panel, a steering wheel, and a seat are provided inside the cabin 5, and when the steering wheel is rotated left and right, a steering actuator is actuated to steer the left and right front wheels 2L and 2R left and right.

At the rear of the vehicle body, an elevating device 6 is provided which is moved up and down by an elevating hydraulic cylinder, and a working device 7, such as a rotary tiller, which is wider in left and right width than the vehicle width of the tractor 1, is attached to the elevating device 6. There is.

In addition to the rotary plowing machine, the working machines 7 include those of various widths, such as sowing machines, pest control machines, fertilizing machines, seedling transplanting machines, mowing machines, harvesting machines, and grass collecting machines. .

Rotational power from the engine is input to the transmission case via the main clutch. A forward/reverse clutch is provided at the entrance of the transmission case, and is configured to engage the transmission and switch between forward and reverse motion. Further, the power that has passed through the forward/reverse clutch is transmitted and branched into two systems: a traveling driving force that drives the left and right front wheels 2L, 2R and left and right rear wheels 3L, 3R, and a PTO driving force that is externally taken out power.

The traveling driving force is transmitted to the rear wheel differential device of the rear wheel axle case through a traveling transmission device consisting of a forward/reverse transmission section, a main transmission section, and an auxiliary transmission device, and drives the left and right rear wheels 3L and 3R. The case is equipped with left and right brake devices. In addition, the power after being shifted by the travel transmission is taken out to the front of the transmission case via the 2WD/4WD switching device, and is further transmitted to the front wheel differential device inside the front axle case by the front wheel transmission shaft. Drives front wheels 2L and 2R.

The PTO driving force is passed through the PTO clutch and the PTO transmission and is output to the PTO shaft that protrudes rearward from the rear of the transmission case. The transmission shaft 8 to the rotary tiller 7 is removably connected to the protruding part of the PTO shaft.

As shown in FIG. 2, the tractor 1 is provided with a control device inside the lower part of the control panel, and a camera 9 and a LiDAR 10 as an obstacle sensor are provided in the front upper part of the cabin 5. Detection information is input to the control device.

As shown in FIG. 3, the control device analyzes the video data of the camera 9, recognizes the center line 12 and the roadside line 13, which are the white lines of the road 11, calculates the width W of the road 11, and also calculates the width W of the road 11. The driving position within the width W of the road 11 of No. 1 is calculated.

As shown in FIG. 4, the control device analyzes the video data of the camera 9, recognizes both left and right road side lines 13, 13, which are white lines of the road 11, calculates the full width of the road 11, and calculates the total width of the road 11. /2 may be calculated as the width W of the road 11, and the traveling position of the tractor 1 within the width W of the road 11 may be calculated.

In addition, as shown in FIG. 5, the control device analyzes the video data of the camera 9 to determine whether the center line 12, which is the white line of the road 11, and the roadside road 11 have a different color (green or brown). 14 to calculate the width W of the road 11, and also calculate the traveling position of the tractor 1 within the width W of the road 11.

Further, as shown in FIG. 6, the control device analyzes the video data of the camera 9, recognizes both the left and right ridges 14, 14 of the road 11, calculates the full width of the road 11, and divides 1/2 of the width into the road. In addition to calculating the width W of road 11, the traveling position of the tractor 1 within the width W of the road 11 may also be calculated.

Then, the control device detects an obstacle 15 on the road such as an oncoming vehicle or an obstacle 16 outside the road such as a guardrail from the detection information of the LiDAR 10, and calculates the distance to the obstacle 15, 16.

Then, the driver actually measures and inputs the horizontal width L of the attached work implement 7 using a touch panel provided on the control panel, and the control device stores the input value.

Note that when the model of the working machine is inputted on the touch panel, the horizontal width may be automatically determined and stored from the model data file registered in the control device.

The control device also operates the steering actuator to steer the left and right front wheels 2L and 2R to the left and right to automatically control the vehicle body, operates the shift actuator to automatically control the travel transmission, and controls the main clutch and the The left and right brake devices are operated by the main clutch actuator and brake actuator to automatically stop the vehicle.

<Tractor control system>
1 and 2 are schematic diagrams showing the operation of the tractor control system when the tractor 1 travels on the road.

At the rear of the tractor 1, a working machine 7 having a horizontal width wider than the vehicle width of the tractor 1 is attached to a lifting device 6.

The driver actually measures the lateral width L of the work implement 7 that is attached and inputs it using a touch panel provided on the control panel, and the control device stores the input value of the lateral width L of the work implement 7.

In addition, if the control device has a model data file that stores various numerical data for each model, when the driver inputs the model of the work equipment on the touch panel, the control device automatically calculates the horizontal width of the work equipment 7. Automatically memorize L.

A driver moves the work implement 7 to the highest position using the lifting device 6, rides on the tractor 1, and travels on the road 11.

Then, video data from the camera 9 installed on the tractor 1 and detection information from the LiDAR 10 are input to the control device.

The control device analyzes the video data of the camera 9 and recognizes the center line 12 and the roadside line 13, which are white lines of the road 11, to calculate the width W of the road 11, and also calculates the width W of the road 11 of the tractor 1. The length of the work implement 7 protruding from the center line 12 into the opposite lane is calculated from the width W of the road 11, the lateral width L of the work implement 7, and the travel position.

At the same time, the control device detects an obstacle 15 on the road such as an oncoming vehicle or an obstacle 16 off the road such as a guardrail from the detection information of the LiDAR 10, calculates the distance to the obstacle 15, 16, and moves the tractor 1 as it is. The risk of coming into contact with an obstacle 15 while driving is calculated.

As shown in FIG. 7, the center line 12 and roadside line 13 of the road 11, the position of the tractor 1, the amount of protrusion of the work equipment 7, and obstacles are displayed on the monitor installed on the control panel or the head-up display installed on the windshield. The presence or absence of objects 15 and 16 and the distance to the obstacles are displayed to notify the driver and urge caution.

In particular, if the tractor 1 continues to drive, the risk of contact with the obstacles 15, 16 is calculated, and if it is determined that there is a risk of contact with the obstacles 15, 16, the control panel will be displayed as shown in FIG. A warning display is displayed on the installed monitor or a head-up display installed on the windshield, and an audio warning such as ``There is a risk of contact with an obstacle, be careful'' is issued or an alarm buzzer is sounded.

In addition, when the width W and center line 12 of the road 11 are recognized and the obstacle 15 is detected on the opposite side to the center line 12, if the work equipment 7 protrudes from the center line 12 to the opposite side. The system displays a warning on the monitor installed on the control panel or the head-up display installed on the windshield, and issues an audio warning such as ``There is a risk of collision with an obstacle, be careful'' or sounds a warning buzzer, which alerts the driver. can appropriately recognize the risk of contact in advance and deal with it safely.

Note that if the tractor 1 continues to drive, the risk of contact with the obstacles 15 and 16 is calculated, and if it is determined that there is a risk of contact with the obstacles 15 and 16, the control device operates the steering actuator to The front wheels 2L and 2R may be steered left and right to automatically steer the vehicle body to avoid the obstacles 15 and 16.

In that case, the control device operates the speed change actuator to automatically control the travel transmission to reduce the vehicle speed, or operates the main clutch and left and right brake devices with the main clutch actuator and brake actuator to automatically shift the vehicle body. The vehicle body may be stopped by stop control.

1 Tractor 7 Work equipment 9 Camera 10 Obstacle sensor 11 Road 12 Center line 13 Roadside line 14 Roadside ridge 15 Obstacle (obstruction on the road such as oncoming vehicle)
16 Obstacles (obstructions outside the road such as guardrails)
L Lateral width of work equipment 7 W Width of road 11

Claims (5)

A work implement (7) is attached to a tractor (1) equipped with a camera (9) that photographs the front, an obstacle sensor (10) that recognizes the relative position of obstacles (15, 16), and a control device. stores the information on the horizontal width (L) of the work machine (7), analyzes the video data of the camera (9) to obtain the width (W) of the road (11) and the running position, and then the work machine (7) A tractor control system is characterized in that it issues an alarm when there is a risk of contact with a recognized obstacle (15, 16). When the width (W) and center line (12) of the road (11) are recognized and an obstacle (15) is detected on the opposite side to the center line (12), the work equipment (7) 2. The tractor control system according to claim 1, wherein an alarm is issued when the tractor protrudes to the opposite side from (12). The monitor or display installed on the tractor (1) shows the center line (12) and roadside line (13) of the road (11), the position of the tractor (1), the amount of protrusion of the work equipment (7), and the obstacle (15, 3. The tractor control system according to claim 1, wherein the tractor control system displays the presence or absence of obstacle 16) and the distance to the obstacle. The control device analyzes the video data of the camera (9), recognizes the center line (12) and roadside line (13) of the road (11), and calculates the width (W) of the road (11). 2. The tractor control system according to claim 1, further comprising calculating the traveling position of the tractor (1) within the width (W) of the road (11). The control device analyzes the video data of the camera (9), recognizes the center line (12) of the road (11) and the roadside ridge 14, calculates the width (W) of the road (11), and calculates the width (W) of the road (11). 2. The tractor control system according to claim 1, further comprising calculating a traveling position within a width (W) of the road (11) in (1).

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