JP6925882B2 - Work machine control device, work machine control method and work machine - Google Patents

Description

The present invention relates to, for example, a work machine control device, a work machine control method, and a work machine.

Conventionally, the document shown in Patent Document 1 is known as a technique for controlling the speed and the like of the working machine when the working machine is turned. Further, a document shown in Patent Document 2 is known as a technique for controlling a traveling route of a working machine.
In the working machine of Patent Document 1, a position deviation calculation unit that calculates a position deviation from the position of the own vehicle with respect to the target traveling path and a first control calculation unit that outputs a first steering value for eliminating the deviation based on the position deviation. And a steering drive unit, and the steering drive unit is steered based on the first steering value.

Japanese Unexamined Patent Publication No. 2014-945926

As described above, in the working machine of Patent Document 1, the auto-steering control that is automatically steered by the steering drive unit so as to eliminate the position deviation between the target traveling path and the position of the own vehicle is performed along the target traveling path. The working machine can be run. However, depending on the situation, there is a risk that the working machine cannot return to the target traveling path even if the steering drive unit steers.

Therefore, in view of the above problems, an object of the present invention is to provide a work machine control device, a work machine control method, and a work machine capable of returning the work machine (vehicle body) to a traveling route.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The control device of the work machine is based on the first control unit that sets the steering angle and the steering direction of the steering device provided on the vehicle body so that the deviation between the travel route and the position of the vehicle body becomes small, and the travel route. against brake Te, a second control unit for setting a one of the brake first wheel and a second wheel provided on the vehicle body, wherein the second control unit by the first control unit After setting the steering angle and steering direction of the steering device, when the position of the vehicle body does not approach the traveling route, braking of the first wheel and the second wheel corresponding to the steering direction of the steering device is performed. conduct.

The second control unit sets the braking of either the first wheel or the second wheel when the direction indicated by the traveling route and the traveling direction of the vehicle body are different.
After setting the steering angle of the steering device so that the first control unit returns the vehicle body to the traveling route, the second control unit sets the steering angle of the first wheel and the second wheel based on the traveling state of the vehicle body. Set either braking.

The working machine includes a steering device capable of changing the direction of the vehicle body, a first wheel provided on the vehicle body, a second wheel provided on the vehicle body and separated from the first wheel in the vehicle body width direction, and the first wheel. Set the steering angle and steering angle of the steering device provided on the vehicle body so that the deviation between the braking device that brakes either the wheel or the second wheel and the traveling route and the position of the vehicle body becomes small. A control device including a first control unit for performing the braking and a second control unit for setting the braking of either the first wheel or the second wheel to the braking device based on the traveling route. When the position of the vehicle body does not approach the traveling route after the steering angle and steering direction of the steering device are set by the first control unit, the second control unit may perform the first wheel and the second wheel among the first wheel and the second wheel. Brakes the wheels corresponding to the steering direction of the steering device.

The control method of the work equipment includes a first step of setting a steering angle for the steering device based on the traveling route, and a first wheel provided on the vehicle body for the braking device based on the traveling route. It includes a second step of setting the braking of any of the second wheels.

According to the present invention, the working machine (vehicle body) can be returned to the traveling route.

It is a figure which shows the structure of the work machine and the control block diagram. It is a figure which shows an example of the traveling route R of a tractor. It is a figure which shows the state which the tractor travels on the traveling route R1. It is a figure which shows the state which the tractor is shifted to the left side with respect to the traveling route R1. It is a figure which shows the state which the tractor is shifted to the right side with respect to the traveling route R1. It is a figure which shows the state which the traveling direction of a tractor is different from the direction of the traveling route R1. It is a figure which shows the flow of the braking control in the auto steer control. FIG. 1 is a diagram showing a state in which the tractor does not return to the traveling route even if the steering device (front wheel) is steered to the right. FIG. 2 is a diagram showing a state in which the tractor does not return to the traveling route even if the steering device (front wheel) is steered to the right. It is an overall view of a tractor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
FIG. 1 shows a control block diagram of the working machine. Working machines are agricultural machines such as tractors, combines, and rice transplanters. A working machine will be described by taking a tractor as an example.
As shown in FIG. 6, the tractor 1 includes a vehicle (vehicle body) 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having a front wheel 7F and a rear wheel 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7 may also be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like, and is composed of a diesel engine in this embodiment. The transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward. A cabin 9 is provided in the vehicle body 3, and a driver's seat 10 is provided in the cabin 9.

Further, a connecting portion 8 composed of a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3. A working device 2 is attached to and detached from the connecting portion 8. By connecting the work device 2 to the connecting portion 8, the work device 2 can be towed by the vehicle body 3. The working device 2 includes a tilling device for cultivating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a cutting device for cutting grass and the like, a spreading device for spreading grass and the like. A grass collecting device for collecting grass and the like, a molding device for molding grass and the like, and the like. Note that FIG. 6 shows an example in which a tilling device is attached as the working device 2.

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

Like the main transmission 5b, the auxiliary transmission 5c has a plurality of gears and a shifter for changing the connection of the gears. The auxiliary transmission 5c changes the rotation input from the main transmission 5b and outputs (shifts) by appropriately changing the connection (meshing) of the plurality of gears with the shifter.
The shuttle unit 5d has a shuttle shaft 12 and a forward / backward switching unit 13. The power output from the auxiliary transmission 5c is transmitted to the shuttle shaft 12 via gears and the like. The front-rear switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward movement and the reverse movement of the tractor 1 by turning on and off the hydraulic clutch. The shuttle shaft 12 is connected to the rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports the rear axle 21R to which the rear wheel 7R is attached.

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

The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch can transmit the power from the propulsion shaft 5a, for example, the power of the shuttle shaft 12 is transmitted via the gear and the transmission shaft. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via the front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to the front wheel differential device 20F, and the front wheel differential device 20R rotatably supports the front axle 21F to which the front wheels 7F are attached.

The first clutch 17 and the second clutch 18 are composed of a hydraulic clutch or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 31 to which hydraulic oil discharged from a hydraulic pump is supplied. The first clutch 17 switches between a connected state and a disconnected state depending on the opening degree of the first operating valve 31. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 32. The second clutch 18 switches between a connected state and a disconnected state depending on the opening degree of the second operating valve 32. The first operating valve 31 and the second operating valve 32 are, for example, a two-position switching valve with a solenoid valve, and are switched to a connected state or a disconnected state by exciting or degaussing the solenoid of the solenoid valve.

When the first clutch 17 is in the disengaged state and the second clutch 18 is in the connected state, the power of the shuttle shaft 12 is transmitted to the front wheels 7F through the second clutch 18. As a result, the front wheels and the rear wheels are driven by power in four-wheel drive (4WD), and the rotation speeds of the front wheels and the rear wheels are substantially the same (4WD constant velocity state). On the other hand, when the first clutch 17 is in the connected state and the second clutch 18 is in the disconnected state, the four-wheel drive is performed and the rotation speed of the front wheels is faster than the rotation speed of the rear wheels (4WD acceleration state). Further, when the first clutch 17 and the second clutch 18 are in the connected state, the power of the shuttle shaft 12 is not applied to the front wheels 7F, so that the rear wheels are driven by the power, which is a two-wheel drive (2WD).

As shown in FIG. 1, the tractor 1 includes a braking device. The braking device includes a left braking device 25a and a right braking device 25b. The left braking device 25a and the right braking device 25b are disc-type braking devices, and can be switched between a braking state for braking and a release state for releasing braking. The left braking device 25a is provided on the left side of the rear axle 21R, and the right braking device 25b is provided on the right side of the rear axle 21R. For example, a left brake pedal and a right brake pedal are provided in the vicinity of the driver's seat 10. When the operator operating the tractor 1 operates (depresses) the left brake pedal, the left connecting member 26a connected to the left brake pedal moves in the braking direction, and the left braking device 25a can be put into a braking state. When the operator operates (depresses) the right brake pedal, the right connecting member 26b connected to the right brake pedal moves in the braking direction, and the right braking device 25b can be put into the braking state.

Further, a left hydraulic actuating portion 27a that is actuated by hydraulic oil is connected to the left connecting member 26a. A third actuating valve (left braking valve) 28a is connected to the left hydraulic actuating portion 27a via an oil passage. By operating the left hydraulically actuated portion 27a by the third actuating valve 28a, the left connecting member 26a can be moved in the braking direction. Further, a right hydraulic actuating portion 27b operated by hydraulic oil is connected to the right connecting member 26b. A fourth actuating valve (right braking valve) 28b is connected to the right hydraulic actuating portion 27b via an oil passage. By operating the right hydraulically actuated portion 27b by the fourth actuating valve 28b, the right connecting member 26b can be moved in the braking direction.

As described above, in the left braking device 25a and the right braking device 25b, the left rear wheel 7R is not only operated by the left brake pedal and the right brake pedal, but also by the operation of the left hydraulically actuated portion 27a and the right hydraulically actuated portion 27b. And each of the right rear wheel 7R can be put into a braking state independently.
As shown in FIGS. 1 and 6, the tractor 1 includes a steering device 11. As shown in FIG. 1, the steering device 11 includes a steering wheel (steering wheel) 11a, a rotation shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering) that assists the steering of the steering wheel 11a. Mechanism) 11c and. The auxiliary mechanism 11c includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34. The control valve 34 is a solenoid valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by moving the spool or the like. The control valve 34 can also be switched by steering the steering shaft 11b. The steering cylinder 35 is connected to an arm (knuckle arm) 36 that changes the direction of the front wheels 7F.

Therefore, when the steering wheel 11a is operated, the switching position and opening degree of the control valve 34 are switched according to the steering wheel 11a, and the steering cylinder 35 expands and contracts to the left or right according to the switching position and opening degree of the control valve 34. By doing so, the steering direction of the front wheels 7F can be changed. The steering mechanism 11 described above is an example, and is not limited to the configuration described above.
As shown in FIG. 6, the tractor 1 includes a position detecting device 39. The position detecting device 39 is mounted on the top plate of the cabin 9 of the tractor 1. Although the position detection device 39 is mounted on the top plate of the cabin 9, the mounting location of the tractor 1 is not limited and may be another location. Further, the position detection device 39 may be attached to the work device 2. The position detection device 39 is a position detection device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the position detection device 39 receives signals transmitted from the positioning satellite (position of the positioning satellite, transmission time, correction information, etc.), and detects the position (for example, latitude, longitude) based on the received signals. Therefore, since the position detecting device 39 is provided on the tractor 1 or the like, the position of the tractor 1 when traveling can be detected. As shown in FIG. 1, the position (machine position) detected by the position detection device 39 can be acquired by the control device 40 described later.

As shown in FIG. 1, the tractor 1 includes a control device 40. The control device 40 is a device that controls the traveling system and the working system in the tractor 1. Specifically, the control device 40 has a first control unit 41, a storage unit 43, and an acquisition unit 49. The first control unit 41 and the acquisition unit 49 are composed of electrical / electronic components provided in the control device 40, a program incorporated in the control device 40, and the like. The storage unit 43 is a non-volatile memory or the like.

The first control unit 41 can control the first control (auto steering control) in the steering device 11 based on the travel route (planned travel route) R.
The auto steering control is a control valve so that at least the position of the tractor 1 (the position detected by the position detection device 39) and the traveling route R match, that is, the vehicle body 3 and the traveling route R1 match. It is a control for setting the switching position and the opening degree of 34. In other words, the auto steering control sets the moving direction and the moving amount of the steering cylinder 35 (steering direction and steering angle of the front wheels 7F) so that the position of the tractor 1 and the traveling route R match.

The travel route R is set using a computer such as a personal computer (PC), a smartphone (multifunctional mobile phone), or a tablet.
FIG. 2 shows an example of the traveling route R of the tractor. In setting the travel route R, as shown in FIG. 2, a work place (field or the like) F for working with the tractor 1 is displayed on the display unit of the computer. The traveling route R of the tractor 1 is set in the work place F displayed on the display unit of the computer. An operator, an administrator, or the like sets a travel route R on a work place F displayed on a display unit of a computer by using a computer interface or the like. For example, as the traveling route R, a straight traveling portion R1 for making the tractor 1 go straight and a turning portion R2 for turning the tractor 1 are set. The straight-ahead portion R1 and the swivel portion R2 on the travel route R are associated with positions (latitude, longitude), and at least the positions corresponding to the straight-ahead portion R1 and the swivel portion R2 are determined on the computer to travel. Route R can be set. The setting of the traveling route R shown in FIG. 2 is an example and is not limited.

When the setting of the traveling route R is completed by the computer, for example, an electronic storage medium such as a USB memory or an SD card is connected to the computer, and the traveling route R set by the computer is transferred to the electronic storage medium. Then, the electronic storage medium that stores the travel route R is connected to a device mounted on the tractor 1, for example, a control device 40 or a display device 48. The display device 48 is a device that displays various information of the tractor 1, for example, a device having a liquid crystal panel or the like.

When the electronic storage medium is connected to the devices (control device 40, display device 48) of the tractor 1, the acquisition unit 49 of the control device 40 requests the electronic storage medium for the travel route R, and travel transmitted from the electronic storage medium. The route R can be acquired. The storage unit 43 stores the travel route R acquired by the acquisition unit 49.
The method of inputting the travel route R from the computer to the control device 40 is not limited to the above-mentioned example, and the travel route R transmitted from the computer or the like is provided with a communication device for wireless communication in the tractor 1. May receive. In this case, when the communication device receives the travel route R, the acquisition unit 49 can acquire the travel route R received from the communication device by requesting the communication device for the travel route R.

As shown in FIG. 1, a steering angle detecting device 44 and a switch (command switch) 47 are connected to the control device 40. The steering angle detecting device 44 is a device capable of detecting the steering angle of the steering device 11 [the steering angle of the steering wheel 11a or the steering angle (turning angle) of the front wheels 7F].
The command switch 47 is a switch that can be switched ON / OFF, and enables auto-steering control when it is ON and disables auto-steering control when it is OFF. Further, the command switch 47 is installed near the driver's seat 10 and can be operated by the operator. The command switch 47 may be any switch, whether it is a switch that holds ON or OFF, or an automatic return type switch that is turned ON only at the time of pushing. The command switch 47 may be switched ON / OFF by displaying the figure of the command switch 47 on the display device 48 and manipulating the figure.

The first control unit 41 executes auto steering control when the command switch 47 is turned on after the tractor 1 starts traveling. First, the first control unit 41 compares the position of the tractor 1 (machine position) detected by the position detection device 39 with the position indicated by the travel route R (planned travel position), and compares the machine position with the planned travel schedule. When the positions match, the steering angle and steering direction (steering angle and steering direction of the front wheels 7F) of the steering wheel 11a in the steering device 11 are held unchanged (the opening degree and switching position of the control valve 34 are changed). Keep unchanged).

On the other hand, when the machine position and the planned travel position do not match, the first control unit 41 causes the steering wheel 11a in the steering device 11 so that the deviation (deviation amount) between the machine position and the planned travel position becomes zero. The steering angle and / or the steering direction of the control valve 34 is changed (the opening degree and / or the switching position of the control valve 34 is changed).
As shown in FIG. 3A, when the deviation between the machine position and the planned traveling position is less than the threshold value, for example, when the machine position Q1 of the tractor 1 is on the straight traveling portion R1, the first control unit 41 is a control valve. The current value output to 34 is not changed. As shown in FIG. 3B, when the deviation between the machine position and the planned traveling position is equal to or greater than the threshold value and the machine position Q2 of the tractor 1 is located on the left side with respect to the straight traveling portion R1, the first control unit 41 Sets the switching position of the control valve 34 so that the steering direction of the steering wheel 11a is to the right, and increases the current value output to the control valve 34 according to the magnitude of the deviation to set the steering angle. ..

As shown in FIG. 3C, when the mechanical position Q3 of the tractor 1 is located on the right side with respect to the straight-ahead portion R1, the first control unit 41 controls the valve so that the steering direction of the handle 11a is to the left. The switching position of 34 is set, and the current value output to the control valve 34 is increased according to the magnitude of the deviation to set the steering angle.
In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the machine position and the planned traveling position, but the direction of the traveling route R and the traveling direction (traveling) of the tractor 1 (vehicle body 3) are changed. When the direction (direction) is different from the direction (vehicle body direction) F1, that is, when the angle θ of the vehicle body direction F1 with respect to the traveling route R is equal to or greater than the threshold value, the first control unit 41 has an angle θ of The steering angle may be set so as to be zero (the vehicle body direction F1 matches the direction of the traveling route R). Further, the first control unit 41 determines the final steering angle in the auto steering control based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (direction deviation θ). It may be set. The setting of the steering angle in the auto steering control in the above-described embodiment is an example and is not limited.

As described above, the tractor 1 can be driven along the traveling route R by the auto steering control by the first control unit 41.
Further, the control device 40 has a second control unit 42. The second control unit 42 is composed of electrical / electronic components provided in the control device 40, a program incorporated in the control device 40, and the like. The second control unit 42 performs control different from that of the first control unit 41, and performs second control (braking control) regarding braking of the front wheels 7F and / or the rear wheels 7R based on the traveling route R. For example, in a situation where the tractor 1 is off the travel route R, even if the steering angle of the steering device 11 is set in the direction in which the tractor 1 approaches the travel route R by auto-steering control, the tractor 1 approaches the travel route R. If not, the second control unit 42 performs braking control for the front wheels 7F and / or the rear wheels 7R. In braking control, for example, one of two rear wheels (first wheel) 7R and rear wheels (second wheel) 7R arranged in the width direction is braked. Further, in the braking control, for example, one of two front wheels (first wheel) 7F and front wheels (second wheel) 7F arranged in the width direction is braked.

Hereinafter, the braking control by the second control unit 42 will be described by taking the braking of the rear wheel 7R as an example.
As shown in FIG. 4, when the command switch 47 is switched from OFF to ON by the operator after the engine 4 of the tractor 1 is started (S1), the auto steering control by the first control unit 42 is started (S2). When the auto steering control is started by the first control unit 41, the second control unit 42 monitors the traveling state (behavior of the tractor 1) of the tractor 1 (S3: monitoring (evaluation) processing). In other words, the second control unit 42 evaluates the auto steering control.

For example, in the auto steering control by the first control unit 41, when the steering angle of the steering device 11 is set so that the tractor 1 returns to the traveling route R, the second control unit 42 sets the steering angle of the first control unit 41. It is confirmed whether or not the tractor 1 has returned to the traveling route R depending on the setting. The second control unit 42 executes braking control when it is confirmed from the traveling state that the tractor 1 has not returned to the traveling route R in the monitoring process (S4: braking control).

If the machine position does not change in the steering direction even if the steering angle is set by the auto steering control, the braking control of the second control unit 42 sets the braking of either the first wheel or the second wheel. To execute. For example, the second control unit 42 brakes one of the first wheel and the second wheel corresponding to the steering direction steered by the auto steering control. Specifically, as shown in FIG. 5A, after the first control unit 41 steers the front wheel 7F to the right at the position P1, the position deviation between the tractor 1 and the traveling route R becomes less than the threshold value even after a predetermined time has elapsed. If this is not the case, the second control unit 42 outputs a control signal to the right braking valve 28b by braking control, and reduces the rotation speed of the right rear wheel 7R by braking the right braking device 25b.

Similar to FIG. 5A, when the position deviation between the tractor 1 and the traveling route R does not fall below the threshold value even after a predetermined time has passed after the first control unit 41 steers the front wheel 7F to the left at the position P1, the second The control unit 42 outputs a control signal to the left braking valve 28a by braking control, and reduces the rotation speed of the left rear wheel 7R by braking the left braking device 25b.
That is, when the tractor 1 does not approach the traveling route R even if the steering angle is changed by the auto steering control, the second control unit 42 determines the wheels of the first wheel and the second wheel corresponding to the steering direction. Perform braking.

Next, after the braking control, the second control unit 42 determines whether or not the position deviation is less than the threshold value (S5), and if the position deviation is less than the threshold value (S5, Yes), ends the braking control. (S6).
The second control unit 42 may set the braking of either the left rear wheel 7R or the right rear wheel 7R when the direction indicated by the traveling route R and the traveling direction of the tractor 1 are different. good. For example, as shown in FIG. 5B, when the directional deviation θ between the tractor 1 and the traveling route R does not fall below the threshold value even after a predetermined time has elapsed after the first control unit 41 steers the front wheel 7F to the right at the position P2. The second control unit 42 outputs a control signal to any of the right braking valves 28b by braking control, and reduces the rotation speed of the right rear wheel 7R by braking the right braking device 25b.

Similar to FIG. 5B, when the directional deviation θ between the tractor 1 and the traveling route R does not fall below the threshold value even after a predetermined time has elapsed after the first control unit 41 steers the front wheel 7F to the left at the position P4, the first 2 The control unit 42 outputs a control signal to the left braking valve 28a by braking control, and reduces the rotation speed of the left rear wheel 7R by braking by the left braking device 25b.
As described above, the second control unit 42 has the first wheel (left rear wheel 7R) and the second wheel (right rear wheel 7R) when the positional deviation between the traveling route R and the tractor 1 is equal to or greater than the threshold value. One of the braking settings is set. Alternatively, the second control unit 42 sets the first wheel (left rear wheel 7R) and the second wheel (right rear) when the directional deviation θ between the direction of the traveling route R and the traveling direction of the tractor 1 is equal to or greater than the threshold value. The braking of any of the wheels 7R) is set.

Therefore, even if the steering angle of the steering device 11 is changed by auto-steering control, even if the tractor 1 does not approach the traveling route R, the second control unit 42 performs one-sided braking, so that the tractor 1 has one brake. The direction can be changed to bring the tractor 1 closer to the traveling route R. For example, when the field is muddy or the field is inclined, the direction of the tractor 1 may not be changed by the auto steer control. However, as described above, the direction of the tractor 1 can be changed by applying one brake. Can be changed.

When the position deviation is equal to or higher than the threshold value and the directional deviation θ is equal to or higher than the threshold value, that is, when both the position deviation and the directional deviation are equal to or higher than the threshold value, the second control unit 42 may perform braking control. Further, the braking device 25 described above is a device that brakes by moving the connecting members 26a and 26b in the braking direction, but may be an electromagnetic type device that electrically brakes. In this case, the second control unit 42 can switch between the braking state and the releasing state by outputting a control signal (for example, a current) to the braking device 25 (left braking device 25a, right braking device 25b).

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.
The above-mentioned work machine control device, work machine control method, and work machine can be applied to automatic traveling in which the tractor 1 is automatically traveled along the travel route R. In automatic traveling, for example, in a situation where the steering angle of the steering device 11 is steered by auto-steering control, the position deviation or orientation deviation θ of the tractor 1 causes the tractor 1 to travel even after a predetermined time has elapsed from the start of steering. Braking control is executed when the vehicle does not approach the route R, or when the tractor 1 does not approach the travel route R even after traveling a predetermined distance after starting steering. The control method in automatic driving is not limited to the above-mentioned example.

In the above-described embodiment, the travel route R is set by an external computer such as a personal computer (PC), a smartphone (multifunctional mobile phone), or a tablet, but the travel route R setting is set by the display device 48 or the like. You may do it with a device. That is, the display device 48 displays the route setting screen (setting screen) as shown in FIG. The operator can set the travel route R by operating the display device 48 while riding on the tractor 1. The method of setting the travel route R in the display device 48 is the same as that of the external computer described above. Further, the setting method of the traveling route R is not limited to the setting method shown in the embodiment.

1 Tractor 7F Front wheel 7R Rear wheel 11 Steering device 40 Control device 41 1st control unit 42 2nd control unit

Claims (6)

A first control unit that sets the steering angle and steering direction of the steering device provided on the vehicle body so that the deviation between the traveling route and the position of the vehicle body becomes small.
A second control unit that sets the braking of either the first wheel or the second wheel provided on the vehicle body with respect to the braking device based on the traveling route.
With
When the position of the vehicle body does not approach the traveling route after the steering angle and steering direction of the steering device are set by the first control unit, the second control unit is among the first and second wheels. A control device for a working machine that brakes wheels corresponding to the steering direction of the steering device. The work machine according to claim 1, wherein the second control unit sets braking for either the first wheel or the second wheel when the deviation between the traveling route and the position of the vehicle body is equal to or greater than a threshold value. Control device. The second control unit according to claim 1 or 2, wherein when the direction indicated by the traveling route and the traveling direction of the vehicle body are different, the braking of either the first wheel or the second wheel is set. Work equipment control device. A steering device that can change the direction of the car body and
The first wheel provided on the car body and
A second wheel provided on the vehicle body and separated from the first wheel in the vehicle body width direction,
A braking device that brakes either the first wheel or the second wheel,
The first control unit that sets the steering angle and the steering angle in the steering direction of the steering device provided on the vehicle body so that the deviation between the travel route and the position of the vehicle body becomes small, and the braking device based on the travel route. A control device having a second control unit that sets the braking of either the first wheel or the second wheel, and
With
When the position of the vehicle body does not approach the traveling route after the steering angle and steering direction of the steering device are set by the first control unit, the second control unit is among the first and second wheels. A working machine that brakes the wheels corresponding to the steering direction of the steering device. The working machine according to claim 4, wherein the second control unit sets braking for either the first wheel or the second wheel when the deviation between the traveling route and the position of the vehicle body is equal to or greater than a threshold value. .. The second control unit according to claim 4 or 5, wherein when the direction indicated by the traveling route and the traveling direction of the vehicle body are different, the braking of either the first wheel or the second wheel is set. Working machine.

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