JP7004756B2 - Work vehicle coordination system - Google Patents

Description

The present invention relates to a work vehicle cooperation system in which a parent work vehicle and an unmanned maneuverable child work vehicle that follows the parent work vehicle perform ground work.

Patent Document 1 discloses a vehicle control system that sequentially determines a target traveling position based on an actual traveling position of a parent work vehicle and steers a child work vehicle toward the target traveling position. In this vehicle control system, the control mode and the parent work that make the child work vehicle follow the parent work vehicle so as to maintain the offset amount between the X (longitude) direction and the Y (latitude) direction set for the parent work vehicle. A control mode in which a child work vehicle follows a parent work vehicle is disclosed with a travel route obtained by moving the travel locus of the vehicle in parallel by the working width as a target travel route.

The follow-up control according to Patent Document 1 is intended for work in a vast work area, and is not intended for ground work in a field or the like having a relatively narrow area bounded by ridges or the like. Ground work in such work areas (fields), especially ground work for agriculture, includes reciprocating travel and U-turn work in which straight-ahead work and U-turn are repeated with respect to the central area of the work area. It is divided into a round trip that works while turning around a round work area defined around the area. Therefore, the work area is divided into a U-turn work area and a rotating work area in advance. A different direction change maneuvering algorithm is applied between the central work run, which is a work run for the U-turn work area, and the turn run, which is a work run for the turn work area.

It is known from Patent Document 2, for example, that ground work such as tilling work is performed on a U-turn work area and a turning work area by a single unmanned work vehicle. However, in order to realize the ground work consisting of the central work running and the turning work by the work vehicle cooperative control in which the child work vehicle follows the parent work vehicle, the control disclosed in Patent Document 1 and Patent Document 2 is used. It is not possible to simply combine them.

U.S. Pat. No. 6,732,024 Japanese Unexamined Patent Publication No. 11-266608

From the above circumstances, there is a demand for a system for realizing ground work traveling targeting a U-turn work area and a turning work area by work vehicle cooperative control in which a child work vehicle follows a parent work vehicle.

The work vehicle of the present invention is a work vehicle coordination system that performs ground work by a parent work vehicle and an unmanned maneuverable child work vehicle that follows the parent work vehicle, and is a parent that detects the position of the parent work vehicle. A position detection module, a child position detection module that detects the position of the child work vehicle, and a U-turn work area travel control that controls travel in a U-turn work area where work is performed by repeating straight-ahead work travel and U-turn. The U-turn work area travel control module comprises a module, the parent U-turn start point which is the start point of the U-turn of the parent work vehicle, and the parent U which is the end point of the U-turn of the parent work vehicle. Based on the turn end point, the child U-turn start point which is the start point of the U-turn of the child work vehicle and the child U-turn end point which is the end point of the U-turn of the child work vehicle are determined , and the U-turn is determined. In the turn work area travel control module, the child U-turn start point and the child U-turn end point are the parent U-turn start point and the parent U-turn end point on one end side of the U-turn work area. The parent U-turn start point and the parent U-turn end point are the child U-turn start point and the child U-turn end point on the other end side of the U-turn work area. The child U-turn start point, the child U-turn end point, the parent U-turn start point, and the parent U-turn end point are located on one end side and the other end. The child U-turn start point and the child U-turn end point are determined so as to be lined up in the horizontal direction on each of the unit sides, and the U-turn work area travel control module is the U-turn path of the child work vehicle. The portion of the U-turn path of the parent work vehicle that is farthest from the child U-turn start point and the child U-turn end point in the direction of the straight-ahead work travel is the parent U-turn in the direction of the straight-ahead work travel. The U-turn path of the child work vehicle is determined so as to partially overlap the start point and the end point of the parent U-turn .
Further, the work vehicle of the present invention is a work vehicle coordination system that performs ground work by a parent work vehicle and an unmanned maneuverable child work vehicle that follows the parent work vehicle, and detects the position of the parent work vehicle. A U-turn work area that controls travel in a U-turn work area in which a master position detection module for performing work, a child position detection module for detecting the position of the child work vehicle, and a U-turn work area in which work is repeatedly performed in a straight-ahead work and a U-turn are performed. A travel control module is provided, and the U-turn work area travel control module is a parent U-turn start point which is the start point of the U-turn of the parent work vehicle and the end point of the U-turn of the parent work vehicle. Based on the parent U-turn end point, the child U-turn start point which is the start point of the U-turn of the child work vehicle and the child U-turn end point which is the end point of the U-turn of the child work vehicle are determined. When traveling in the rotating work area defined around the U-turn work area, the machine in which the work end point in the U-turn work area is located on the outside and the machine in which the work end point in the U-turn work area is located on the inside. Drive outside .
Further, in a work vehicle coordination system in which a master work vehicle and an unmanned maneuverable child work vehicle that follows the parent work vehicle perform ground work, the system according to the present invention is a parent position that detects the position of the parent work vehicle. A detection module, a child position detection module that detects the position of the child work vehicle, a parent travel locus calculation unit that calculates the travel locus of the parent work vehicle from the position of the parent work vehicle, straight-ahead work travel, and a U-turn. In the turning work area defined around the U-turn work area where the work is repeatedly performed, the turning detection unit for detecting the turning running including the turning running and the turning work running consisting of forward and reverse, and the above-mentioned The turning back of the child work vehicle is based on the ground working width of the parent work vehicle, the ground working width of the child work vehicle, and the turning back running locus including the turning back running start point and the turning back running completion point in the turning back running of the parent work vehicle. From the turning-back running target calculation unit that calculates the running start point and the turning-back running completion point, the ground work width of the master work vehicle, the ground work width of the child work vehicle, and the turning work travel locus of the parent work vehicle. The turning work running target calculation unit that calculates the target running position in the turning work running of the child work vehicle from the turning back running completion point to the next turning back running start point, the turning back running start point, the turning back running completion point, and the above. It is provided with a steering control unit for unmanned operation of the child work vehicle based on the target traveling position.

According to this configuration, the turning travel in the turning work area of the parent work vehicle is divided into a turning back running and a turning work running. First, from the turn-back running locus of the parent work vehicle from the turn-back running start point, which is the starting point of the turn-back running, to the turning-back running completion point, and from the turning-back running locus of the child work vehicle estimated in consideration of the ground work width. The turning-back running start point and turning-back running completion point of the child work vehicle are calculated. It should be noted that the turning-back running completion point is the starting point of the turning work running where the ground work is actually carried out. Next, when the running target position that guides the child work vehicle from the turning start point to the turning running completion point is calculated, the child working vehicle is turned back by maneuvering the child work vehicle based on this running target position. Reach the completion point. This turning-back running completion point is also the starting point for turning work. Therefore, the child work platform is subjected to the normal follow-up work running that follows the work trace of the parent work vehicle so as to maintain a predetermined overlap amount from the starting point of the turning work. As a result, efficient ground work can be realized by the ground work width of the parent work vehicle and the ground work width of the child work vehicle even when traveling around the turning work area.

Since the turning run is a preparatory run for moving to the starting point of the turning work, it is a run in a non-working state accompanied by forward movement and reverse movement. From this, in the embodiment of the present invention, the transition point from the working state to the working state in the turning back running can be regarded as the turning back running start point of the parent work vehicle, and the working state from the non-working state in the turning back running. The transition point to can be regarded as the turning-back running completion point of the parent work vehicle. Based on the turning-back running start point and the turning-back running completion point of the parent work vehicle, the turning-back running start point and the turning-back running completion point of the child work vehicle are calculated.

In order to more reliably detect the turning-back running of the parent work platform, it is advisable to consider the direction when moving forward and the direction when moving backward. Therefore, as a preferred embodiment of the present invention, the rotating work traveling detection unit is configured to recognize the turning-back traveling of the parent working vehicle based on the traveling locus of the parent working vehicle in a non-working state. May be good.

In the turning-back running, the work vehicle is rotated to reach the starting point of the work running by moving forward to change the direction and then moving backward in the non-working state. At that time, since the work is not performed, it is not necessary for the child work vehicle to follow the travel locus of the parent work vehicle as long as the turning travel completion point, which is the starting point of the turning work travel, can be reached. For example, the reverse travel of the aerial work platform can travel straight toward the turning completion point at the shortest distance. For this reason, in a preferred embodiment of the present invention, the reverse traveling to the turning-back running completion point in the turning-back running of the child work platform is performed regardless of the traveling locus of the parent work vehicle.

It is desirable that the functional unit for making the child work vehicle follow the preceding parent work vehicle in one control unit as much as possible. For this purpose, in one of the preferred embodiments of the present invention, the child position detection module and the steering control unit are mounted on the child work vehicle, the parent position detection module and the parent travel locus calculation unit. , The turning running recognition unit, the turning back running target calculation unit, and the turning work running target calculation unit are mounted on the master work vehicle, and the child work vehicle and the parent work vehicle can mutually transmit data. It is connected to the. In this configuration, the child work vehicle requires only minor modifications, which is convenient for a system using a plurality of child work vehicles.

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

It is a schematic diagram explaining the basic principle of the follow-up to the parent work vehicle of the child work vehicle in the turning work traveling area in the work vehicle cooperation system of this invention, and (a) is the parent worker and child work in the whole work place. The traveling locus of the vehicle is shown, (b) shows the traveling locus of the main work vehicle turning and turning work, and (c) shows the traveling locus of the child work vehicle turning and turning work. It is a side view of the tractor with a tilling device applied as a work vehicle in an embodiment of a work vehicle coordination system. It is a functional block diagram which shows the functional part which constructs a work vehicle cooperation system. It is a schematic diagram which shows the transmission of the basic data in a linear work run. It is a schematic diagram which shows the transmission of the basic data in U-turn running. It is a schematic diagram which shows the transmission of the basic data in a turning-back run. It is a flowchart which shows an example of running control in a U-turn work place. It is a schematic diagram which shows the traveling locus of a master work vehicle and a child work vehicle in a work run in a U-turn work area and a U-turn run. It is a schematic diagram which shows the departure position of the parent work vehicle and the child work vehicle in the turning-back running performed prior to the turning work running. It is a schematic diagram explaining the turn-back running at the first corner part of a parent work vehicle. It is a schematic diagram explaining the target running point of the turning-back running at the first corner part of a child work vehicle. It is a schematic diagram explaining the turn-back running at the first corner part of a child work platform. It is a schematic diagram explaining the turn-back running at the next corner part of a parent work vehicle. It is a schematic diagram explaining the turn-back running at the next corner part of a child work platform.

Before explaining a specific embodiment of the work vehicle cooperation system according to the present invention, the basic principle of following the parent work vehicle of the child work vehicle in the rotating work travel area will be described with reference to FIG. In this work vehicle coordination system, ground work is performed by a manned maneuverable master work vehicle 1P and an unmanned maneuverable child work vehicle 1C that follows the parent work vehicle 1P. That is, the child work vehicle 1C follows the parent work vehicle 1P from the left rear of the preceding parent work vehicle 1P, so that the work width of the parent work vehicle 1P and the work width of the child work vehicle 1C are combined (actually). There is a slight overlap in the width of the ground).

The ground work area shown in FIG. 1 is a field whose outer circumference is bounded by ridges. Although shown briefly, this field is defined around a rectangular U-turn work area A where work is performed by repeating straight-ahead work and U-turns, and around this U-turn work area A. It is divided into a work area B around a rectangular ring. This work area division is generally performed in field work, and the rotating work area B is also called headland work. In this example, the work on the ground is cultivated by a tractor, and the work on the U-turn work area is performed first, and then the work on the turning work area B is performed. When shifting from the work of the U-turn work area A to the work of the turn work area B, the turning run is performed from the work end point of the U-turn work area A to the work start point in the turn work area B. In FIG. 1, the traveling locus of the parent work vehicle 1P is indicated by a thick black line, the traveling locus of the child working vehicle 1C is indicated by a thick white line, and the turning traveling locus is distinguished by a dotted line drawing.

It is necessary for the child work vehicle 1C to follow the turning back running of the parent work vehicle 1P which is performed by taking an appropriate route so that the turning work can be efficiently performed. The cooperative control performed at that time will be described below.
First, as shown in FIG. 1 (b), the parent work vehicle 1P departs from the turning-back running start point Pp1 which is the work end point of the U-turn work area in the non-working state (raising the tilling device). Then, the vehicle makes a forward turn so as to face the rear end of the work vehicle to Pp3, which is the turning work start point (which is also the turning completion point) set in one corner of the field, and the rear end of the work vehicle turns to the work start point. Stop at the turning point Pp2 facing. Next, the vehicle travels backward until it reaches the turning completion point Pp3, which is the starting point of the turning work. When the turning run is completed, the parent work vehicle 1P travels forward in the turning work area in the working state (lowering the tilling device). This rotation work running is performed so as to have a substantially linear running locus.

When it is detected from the travel locus of the master work vehicle 1P described above that the master work vehicle 1P has turned back, the travel locus and the ground work width of the master work vehicle 1P and the child work vehicle 1C (hereinafter, simply the work width). (Abbreviated as WP and Wc in FIG. 1, respectively), and as shown in FIG. 1 (c), the turning-back running start point Pc1 and the turning-back running completion point Pc3 of the child work vehicle 1C. Is calculated. When the turn-back running start point Pc1 and the turn-back running completion point Pc3 are calculated, the stop point (turn-back point) Pc2 of the turning forward running in the same direction as the turn-back running of the parent work vehicle 1P is also calculated, and this stop point (turn-back point) is also calculated. Point) The child work vehicle 1C is turned forward and forward in a non-working state up to Pc2. At that time, the turning forward running of the child work vehicle 1C is prohibited until interference with the parent work vehicle 1P performing the turning work running is avoided. The target running position in the reverse running from the stop point (turning point) Pc2 of the turning forward running of the child work vehicle 1C to the turning completion point Pc3 is that the rut of the child work vehicle 1C does not enter the work width around the parent work vehicle 1P. Under the above condition, it is calculated regardless of the travel locus of the master work vehicle 1P in the reverse reverse travel. The running target position in the turning work running from the turning work running start point, which is also the turning completion point Pc3, is the work width of the parent work vehicle 1P, the work width of the child work vehicle 1C, and the turning work running locus of the parent work vehicle 1P. From, it is calculated under the condition that the predetermined overlap of the working widths of each other is maintained. The turning work running of the child work vehicle 1C is executed based on the running target position in the calculated turning work running.

In the example shown in FIG. 1, the parent work width, which is the work width of the parent work vehicle 1P, and the child work width, which is the work width of the child work vehicle 1C, are the same, but may be different. The amount of misalignment between the parent work vehicle 1P and the child work vehicle 1C in the traveling crossing direction is ideally (parent work width + child work width) / 2, but in order to avoid work leftover due to tracking error, for example. Overlap of several tens of centimeters is set.

Next, one specific embodiment of the work vehicle cooperation system of the present invention will be described. In this embodiment, the work vehicle is a tractor equipped as a ground work device with a cultivator 5 for cultivating fields bounded by ridges, as shown in FIG. The tilling device 5 is mounted on the rear part of the vehicle body 3 via a hydraulic elevating mechanism 4. The parent tractor 1P as the parent work vehicle 1P and the child tractor 1C as the child work vehicle 1C have substantially the same shape, and the control unit 30 is located at the center of the vehicle body 3 supported by the front wheels 2a and the rear wheels 2b. Is formed. The control unit 30 of the parent tractor 1P and the child tractor 1C is provided with a conventional steering wheel, various operation levers, a seat on which the driver sits, and the like. When the follow-up control based on the work vehicle coordination system of the present invention is executed, the parent tractor 1P is operated by the driver and the child tractor 1C is operated unmanned.

As shown in FIG. 3, in this embodiment, the electronic control unit for constructing the work vehicle cooperation system is a slave unit control unit 6 equipped on the master tractor 1P and a slave unit control unit mounted on the child tractor 1C. It is divided into 7 and 7. The master unit control unit 6 and the slave unit control unit 7 are provided with communication modules 60 and 70, respectively, so that data can be transmitted wirelessly to each other.

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

The parent position detection module 61 detects its own position, that is, the position of the parent tractor 1P by using GPS. The parent travel locus calculation unit 62 calculates and records the travel locus of the parent tractor 1P from the position (direction coordinates) detected by the parent position detection module 61. In the parent position detection module 61 and the child position detection module 71 described later, GPS is used for position detection in this embodiment, but the present invention is not limited to this, and for example, an orientation sensor. Or another method of detecting the position of the aircraft such as a gyro sensor may be used.

The U-turn work area travel control module 63 is a control module that controls travel in the U-turn work area A, and includes a U-turn work area recording unit 63a, a U-turn travel detection unit 63b, and a U-turn travel target calculation unit 63c. It is equipped with. The U-turn work area recording unit 63a records the directional coordinates that specify the outer shape of the U-turn work area A. The U-turn traveling detection unit 63b detects the U-turn of the parent tractor 1P and the child tractor 1C in the U-turn work area A. This U-turn is a direction change required between a substantially linear outbound and inbound travel in a working state in the U-turn working area A, and is performed in a non-working state in the rotating work area. The U-turn travel target calculation unit 63c overlaps each other's tillage widths based on the tillage width of the parent tractor 1P, the tillage width of the child tractor 1C, the work travel locus of the parent tractor 1P, and the position of the child tractor 1C. Also, the target traveling position of the child tractor 1C is calculated. Therefore, the U-turn travel target calculation unit 63c has a reciprocating travel route calculation function for calculating a linear reciprocating travel route in the U-turn work region A of the child tractor 1C, and a U-turn travel route in the peripheral work region of the child tractor 1C. It has a U-turn travel route calculation function that calculates based on a predetermined U-turn travel route calculation algorithm. This U-turn travel path calculation algorithm basically has a U-turn start point Q1 and a U-turn end point for the child tractor 1C calculated from the U-turn start point P1 and the U-turn end point P2 of the parent tractor 1P. The traveling route is obtained in consideration of the turning radius of the child tractor 1C so as to connect with Q2. The U-turn work area travel control module 63 transmits the calculated target travel position of the child tractor 1C to the slave unit control unit 7 via the communication module 60.

The turning work area running control module 64 is a control module that controls running in the turning work area, and includes a turning running detection unit 64a, a turning back running target calculation unit 64b, and a turning work running target calculation unit 64c. The rotation detection unit 64a detects rotation in the rotation work area of the parent tractor 1P and the child tractor 1C, including turning travel and rotation work including forward and reverse. For the detection, the rotating traveling detection unit 64a uses the position coordinates for specifying the outer shape of the U-turn work area A and the position coordinates for specifying the outer shape of the field to be worked. The turning-back running target calculation unit 64b is a child tractor based on the working width of the parent tractor 1P and the working width of the child tractor 1C, and the turning-back running locus including the turning-back running start point and the turning-back running completion point in the turning-back running of the parent tractor 1P. The turning-back running start point and the turning-back running completion point of 1C are calculated. The turning work running target calculation unit 64c is a child tractor from the turning back running completion point to the next turning back running start point from the work width of the parent tractor 1P, the work width of the child tractor 1C, and the turning work running locus of the parent tractor 1P. Calculate the target running position in the 1C round work run. The rotation work area travel control module 64 transmits the calculated target travel position of the child tractor 1C to the slave unit control unit 7 via the communication module 60.

The slave unit control unit 7 includes a communication joule 70, a slave position detection module 71, and a steering control unit 72. Similar to the parent position detection module 61, the child position detection module 71 detects its own position, that is, the position (azimuth coordinates) of the child tractor 1C by using GPS. The obtained position data of the child tractor 1C is transmitted to the master unit control unit 6 via the communication joule 70. The steering control unit 72 controls the steering of the front wheels 2a of the child tractor 1C and the drive of the rear wheels 2b based on the traveling target position wirelessly transmitted from the master unit control unit 6, and sequentially sets the child tractor 1C. Unmanned maneuvering to the target driving position to be performed.

In the U-turn work area A, the tilling device 5 is raised at the time of entering the non-working U-turn from the working run, and is lowered at the time of entering the working run from the U-turn running. The raising and lowering of the tilling device 5 is realized by the raising and lowering operation of the raising and lowering mechanism 4 by the control command from the working device control unit 31 mounted on the parent tractor 1P. In this embodiment, the work device control unit 31 is connected to the master unit control unit 6 through an in-vehicle LAN, and the operation command to the elevating mechanism 4 of the work device control unit 31 is the U-turn work area travel control module 63 and the rotation work. It is managed by the area travel control module 64. Therefore, the U-turn traveling detection unit 63b can confirm the start of the U-turn at the output timing of the ascending command to the elevating mechanism 4 and confirm the end of the U-turn at the output timing of the descending command. Further, in the traveling in the turning work area B, the tilling device 5 is raised at the time of turning back running and lowered at the time of transition from the turning back running to the turning work running. Therefore, the turning travel detection unit 64a confirms the start of the turning-back running at the output timing of the ascending command to the elevating mechanism 4, and confirms the end of the turning-back running at the output timing of the descending command.

Next, with reference to FIGS. 4, 5, and 6, the basic data flow in the coordinated control between the manned control parent tractor 1P and the unmanned control child tractor 1C will be described. FIG. 4 schematically shows a data flow in coordinated control for work running that leaves a substantially linear running locus. FIG. 5 schematically shows the flow of data in the coordinated control for U-turn running. FIG. 6 schematically shows the flow of data in the coordinated control for turning back running.

In the coordinated control in the work running that leaves a linear running locus, as shown in FIG. 4, the parent running locus is calculated from the parent position indicating the actual running position of the parent tractor 1P generated in a predetermined sampling cycle ( # A). Using the calculated parent travel locus and the child position indicating the actual travel position of the child tractor 1C at each time point, the parent work vehicle to ground work width (parent to ground work width) and the child work vehicle to ground work width (child). The work running target position is calculated in consideration of the work width to the ground) and the overlap amount of both work widths (# b). The calculated work travel target position becomes the control control target value, and the child tractor 1C is unmanned to perform wide ground work in collaboration with the parent tractor 1P (# c). The operation information related to the driving and work performed by the driver during the traveling of the parent tractor 1P is generated as a traveling / working parameter (parent parameter), and is used as a traveling / working parameter (child parameter) for the child tractor 1C. After being converted, it is used for traveling control and work control of the child tractor 1C.

In the coordinated control in the U-turn running in which the running locus is shown in FIG. 8, as shown in FIG. 5, the U-turn start operation and the U-turn end operation in the parent tractor 1P associated with the parent position are selected from the parent. The U-turn start point (indicated by P1 in FIG. 8) and the U-turn end point (indicated by P2 in FIG. 8) of the tractor 1P are calculated (# a1). Operation data such as the U-turn start operation and the U-turn end operation are generated by the parent tractor 1P as running / working parameters (parent parameters). A U-turn travel path is generated in both of these calculated data in consideration of the work width of the parent work vehicle and the work width of the child work vehicle (# a2). The shape data of the rotating work area B is taken into consideration when the U-turn traveling path is generated. The U-turn travel target position is calculated from the generated child U-turn travel route data and the child work vehicle position at each time point (# b). The calculated work travel target position becomes the control control target value, and the child tractor 1C is unmanned to perform an appropriate U-turn travel within the U-turn region (#c).

At the time of turning back running in the turning work area B where the running locus is shown in (b) and (c) of FIG. 1, as shown in FIG. 6, the stop at the turning back running of the parent tractor 1P in the parent tractor 1P. , The turning point, the turning point, and the turning completion point of the parent tractor 1P (indicated by Pp1, Pp2, and Pp3, respectively, in FIG. 1B) are the parents based on the running operations such as forward movement and reverse movement. Calculated in association with the position (# a1). Also here, running operations such as stop, forward, and reverse are generated by the parent tractor 1P as running / working parameters (parent parameters). The turning-back running path of the child tractor 1C is generated in consideration of each point of the calculated turning-back running, the parent work width, and the child working width (# a2). The turning back running target position is calculated from the generated turning back running route data and the child position at each time point (# b). The calculated turn-back travel target position becomes the maneuvering control target value, and the child tractor 1C is unmanned maneuvered in order to perform an appropriate turn-back travel (#c).

Next, an example of the flow of control of coordinated running between the parent tractor 1P and the child tractor 1C in this embodiment will be described. FIG. 7 shows a flowchart of cooperative traveling control between the parent tractor 1P and the child tractor 1C carried out in the U-turn work area A, and FIG. 8 shows the traveling loci of each other at that time. 9 to 14 are schematic views illustrating a traveling pattern between the parent tractor 1P and the child tractor 1C carried out in the rotating work area B.

When the cooperative control starts, the initial setting process is first performed (# 10). In this initial setting process, for example, from the shape of the field where the tilling work is performed, the U-turn work area A where the tilling work is carried out while repeating the straight-ahead work running and the U-turn, and the surroundings around the U-turn work area A. The work area B is set and recorded. The rotating work area B is also used as an area for non-working U-turn running during the tilling work with respect to the U-turn work area A. Since the U-turn work area A is usually located in the center of the field, the U-turn work area A is also simply referred to as the central area A, and the turning work area B is located near the periphery of the field, so that the turning work area B is used. Is also simply referred to as peripheral region B.

The work run (substantially straight line run) of the central region A by the parent tractor 1P is started (# 11). After a predetermined time delay, the follow-up work run by the child tractor 1C is started (# 12).
As a result, cooperative cultivation work is performed by the work width of the parent tractor 1P and the work width of the child tractor 1C. Then, as shown in FIG. 8, when the parent tractor 1P reaches the peripheral region B, the tilling device 5 is raised and the U-turn running of the parent tractor 1P is started (# 21). The position of the parent tractor 1P at that time is recorded as the parent U-turn start point P1 (# 22). When the parent tractor 1P makes a U-turn and re-enters the central region A, the tilling device 5 is lowered and the working running of the parent tractor 1P is resumed (# 23). The position of the parent tractor 1P at that time is recorded as the parent U-turn end point P2 (# 24). When the parent U-turn start point P1 and the parent U-turn end point P2 are recorded, the child U-turn start point Q1 and the child U-turn end point Q2 of the child tractor 1C are calculated. In the corresponding peripheral region B shown in the figure, the child U-turn start point Q1 is displaced from the parent U-turn start point P1 in consideration of the lateral distance between the parent tractor 1P and the child tractor 1C and the amount of overlap. Become. The child U-turn end point Q2 is a position between the parent U-turn end point P2 and the child U-turn start point Q1, and is, for example, an intermediate position in FIG. Although not shown, when making a U-turn on the opposite side, the positional relationship between the parent U-turn start point P1 and the parent U-turn end point P2 and the child U-turn start point Q1 and the child U-turn end point Q2. Is exactly the opposite, and the child U-turn end point Q2 is located further outside the parent U-turn end point P2, and is obtained from the tillage width of the parent tractor 1P and the child tractor 1C and the amount of overlap thereof.

When the child U-turn start point Q1 and the child U-turn end point Q2 are calculated, the child U-turn travel route from the child U-turn start point Q1 to the child U-turn end point Q2 is calculated (# 25). Further, the position where the child tractor 1C almost reaches the directional posture of the work running before the child U-turn end point Q2 is calculated as the follow-up start point Qs (# 26). That is, by starting the follow-up to the parent tractor 1P from this follow-up start point Qs, the work travel locus of the child tractor 1C starting from the U-turn end point Q2 accurately corresponds to the work travel locus of the parent tractor 1P. It is a position where you can.

When the child tractor 1C reaches the child U-turn start point Q1, the U-turn running of the child tractor 1C is started (# 27). In the U-turn running of the child tractor 1C, it is checked whether or not the child tractor 1C reaches the follow-up start point Qs (# 28). When the child tractor 1C reaches the follow-up start point Qs (# 28Yes branch), the U-turn run of the child tractor 1C ends, and the follow-up run of the child tractor 1C, that is, the work run is resumed (jump to # 12).

It should be noted that the U-turn end point Q2 (working start point) of the child tractor 1C cannot be calculated unless the U-turn running of the parent tractor 1P is completed and the working running is started. The distance between the parent tractor 1P and the child tractor 1C is set. If the child tractor 1C makes a U-turn while the parent tractor 1P is traveling in a U-turn and reaches the work area B, the child tractor 1C stops at the position at that time and the parent tractor 1P makes a U-turn. A wait control that waits until the end is built in, but it is omitted in this flowchart.

Furthermore, this flowchart is for explanatory purposes, and there is no end of the routine, and it is an infinite loop. It is checked as a process, and when such an end command is input, the following coordinated control in the rotation work is executed.

As shown in FIG. 9, the turning-back running start point Pp1 and the stop point Pc0 of the child tractor 1C, which are the stop points of the parent tractor 1P at the start of the coordinated control in the rotation work in the peripheral area B, are the cultivation work of the central area A. It is a stop point at the end of. In this embodiment, the working width of the peripheral region B is equivalent to that of three tractors, and two laps of the parent tractor 1P and one lap of the child tractor 1C are required.

First, the parent tractor 1P makes a turning forward to the turning point Pp2 in the outermost working width area in a state where the tilling device 5 is raised (non-working state), and then turns backward to a turning point Pp2, and then turns back to the turning completion point. Reach Pp3 (see Figure 10). Since this turning-back running completion point Pp3 becomes the starting point of the turning work running, the linear turning work running starts by lowering the tilling device 5 (working state) and moving forward.

In order to avoid interference with the parent tractor 1P, it is necessary to wait until the parent tractor 1P passes in front of the child tractor 1C, but during that time, the child tractor 1C turns back and runs with the child tractor 1C's turning start point Pc1. The turning point Pc2 and the turning completion point Pc3, which are the targets of the above, are calculated (see FIG. 12). The travel to the turning-back running start point Pc1 of the child tractor 1C is the same as the working running following the parent tractor 1P in the central region A. Advance to Pc1, where the tiller 5 is raised and waits.

With reference to FIG. 11, a method of calculating the turning point Pc2 and the turning completion point Pc3, which are the targets of the turning running of the child tractor 1C, will be described. The position where the parent tractor 1P lowered the tilling device 5, that is, the travel locus of the parent tractor 1P from the starting point (turning completion point) Pp3 of the turning work travel, is half the work width between the parent tractor 1P and the child tractor 1C. The line that has been translated by the distance of is calculated as a cut-back auxiliary line. The intersection of this turning auxiliary line and the outer edge of the turning work area B is the turning running completion point Pc3 of the child tractor 1C. The position where the child tractor 1C reaches the turning auxiliary line at the turning turning angle from the turning running start point Pc1 of the child tractor 1C is calculated as the turning point Pc2. When the turning control of the child tractor 1C is started, as shown in FIG. 12, the child tractor 1C turns forward from the turning starting point Pc1 to the turning point Pc2 in a non-working state in which the tilling device 5 is raised. After that, the vehicle moves backward from the turning point Pc2 to the turning completion point Pc3. The reverse movement is performed linearly with the turn-back running completion point Pc3 as the running target position. Since the turning completion point Pc3 is the starting point of the turning work running, the parent tractor 1P is set based on the running target position calculated from the running locus of the parent tractor 1P in the working state in which the tilling device 5 is lowered at this position. While following, perform turning work running.

When the preceding parent tractor 1P travels to the outer peripheral end of the next corner region, as shown in FIG. 13, the tractor 1P then moves backward to the turning travel start point Pp1 in a non-working state in which the tilling device 5 is raised. From here, the second turning run starts. That is, the vehicle turns forward from the turning point Pp1 to the turning point Pp2 in a non-working state. Then, it moves backward to the outer edge of the rotating work area B and stops. Since this stop point becomes the starting point of the next round work run, the parent tractor 1P starts the forward run in the working state in which the tilling device 5 is lowered. At that time, a line obtained by translating the traveling locus of the forward traveling (rotating work traveling) of the parent tractor 1P by a distance of half the working width between the parent tractor 1P and the child tractor 1C is used as a turning auxiliary line here. At the same time, the turning point Pc2 is calculated on the turning auxiliary line. Further, the turning run start point Pc1 that can reach the turning point Pc2 is calculated at the turning turning angle.

The child tractor 1C approaching the next corner region waits until the parent tractor 1P reaches a predetermined point so as not to interfere with the parent tractor 1P during turning back running. After that, as shown in FIG. 14, the child tractor 1C turns as much as possible beyond the turning start point and moves forward to the outer edge of the work area B in the working state. Next, in the non-working state in which the tilling device 5 is raised, the vehicle moves backward to the turning start point Pc1. The turning-back running from the turning-back running start point Pc1 turns forward to the turning-back point Pp2 as in the previous turning-back running. Then, it moves backward to the outer edge of the rotating work area B and stops. Since this stop point is the start point of the turning work running, the traveling forward is carried out in the working state in which the tilling device 5 is lowered.

Similarly, if the circuit goes around through all the corners of the rotating work area B, in this example, the unworked area of the rotating work area B can be performed only by the parent tractor 1P, so that the child tractor 1C first Exit the field.

[Another embodiment]
(1) In the above-described embodiment, the number of child tractors 1C is one, but it is possible to apply the present invention to a plurality of child tractors 1C by a similar control method. At that time, if the number of child tractors 1C is two, two follow-up control methods are possible. In one of them, the first child tractor 1C is follow-up controlled based on the locus of the parent tractor 1P in consideration of the working width of the parent tractor 1P, and the second child tractor 1C is based on the locus of the parent tractor 1P. Therefore, the follow-up control is performed in consideration of the working width of the first child tractor 1C. In the other one, the first child tractor 1C is track-controlled based on the locus of the parent tractor 1P, and the second child tractor 1C is track-controlled with the first child tractor 1C as the parent tractor 1P. That is, when there are a plurality of child tractors 1C, follow-up control is also possible in which the preceding child tractor 1C is used as the parent tractor 1P.
(2) In the work vehicle cooperation system according to the present invention, the turning trajectories of the parent tractor 1P and the child tractor 1C are not limited to the travel loci in the above-described embodiment. From the working width of the parent tractor 1P and the working width of the child tractor 1C, and the turning running locus including the turning running start point Pp1 and the turning point Pp2 and the turning running completion point Pp3 in the turning running of the parent tractor 1P, the child tractor 1C Various turning trajectories can be adopted in which the turning running start point Pc1, the turning point Pc2, and the turning running completion point Pc3 can be calculated. Further, the turning points Pp2 and Pc2 of the parent tractor 1P and the child tractor 1C may be single or plural.
(3) In the above-described embodiment, the parent tractor 1P is a manned maneuvering type, but this parent tractor 1P can also be operated unmanned by adopting a program control method or a remote control method. The present invention also covers a parent tractor 1P, that is, a mode in which the parent work vehicle is also unmanned.
(4) In the above-described embodiment, the tractor equipped with the tilling device 5 is taken up as a working vehicle, but the present invention may be characterized by mounting other working devices such as a spraying device and a fertilizer application device instead of the tilling device 5. Can be used effectively. Further, the present invention can be applied to other work vehicles such as a combine, a rice transplanter, a lawn mower, a weeder, a civil engineering construction machine such as a bulldozer, and the like. Further, the parent work platform and the child work platform do not have to be of the same model, for example, a combination of a combine and a transport truck may be used.
(5) When the ground work device is a tillage device, the overlap, which is the overlapping length of the parent work width and the child work width, is basically indispensable, but in the case of a spraying device or fertilizer application device, etc. , A so-called underlap is set in which a predetermined interval is provided between the parent work width and the child work width without providing an overlap. Therefore, in the present invention, it is not essential to set the overlap OL, and it is an important point to realize the follow-up control so that the route distance between the parent work vehicle 1P and the child work vehicle 1C keeps a predetermined range.

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

1P: Parent work vehicle (parent tractor)
1C: Child work vehicle (child tractor)
61: Parent position detection module 62: Parent travel locus calculation unit 63: U-turn control module 63a: U-turn work area recording unit 63b: U-turn travel detection unit 63c: U-turn travel target calculation unit 64: Rotation travel control module 64a: Rotating travel detection unit 64b: Turning travel target calculation unit 64c: Rotating work travel target calculation unit 7: Slave unit control unit 70: Communication Jules 71: Child position detection module 72: Steering control unit 8: Slave unit control module Pc0: Slave work Car standby point Pp1: Turn-back running start point of the parent work vehicle (turning work starting point)
Pc1: Turning start point of the aerial work platform (starting point of turning work)
Pp2: Turn-back point of the parent work platform Pc2: Turn-back point of the child work platform Pp3: Turn-back running completion point of the parent work platform Pc3: Turn-back running completion point of the child work vehicle Work area (central area)
B: Rotating work area (U-turn area; peripheral area)

Claims (2)

It is a work vehicle cooperation system that performs ground work by a parent work vehicle and an unmanned maneuvering child work vehicle that follows the parent work vehicle.
The parent position detection module that detects the position of the parent work platform,
The child position detection module that detects the position of the child work platform and
It is equipped with a U-turn work area travel control module that controls travel in a U-turn work area where work is carried out by repeating straight-ahead work travel and U-turn.
The U-turn work area travel control module is based on a parent U-turn start point, which is the start point of the U-turn of the parent work vehicle, and a parent U-turn end point, which is the end point of the U-turn of the parent work vehicle. , The child U-turn start point which is the start point of the U-turn of the child work vehicle and the child U-turn end point which is the end point of the U-turn of the child work vehicle are determined .
In the U-turn work area travel control module, the child U-turn start point and the child U-turn end point are the parent U-turn start point and the parent U-turn end on one end side of the U-turn work area. The parent U-turn start point and the parent U-turn end point are the child U-turn start point and the child U-turn end point located between the points and on the other end side of the U-turn work area. The child U-turn start point, the child U-turn end point, the parent U-turn start point, and the parent U-turn end point are located between the points and the one end side and the other. The child U-turn start point and the child U-turn end point are determined so as to line up in the horizontal direction on each of the end sides of the child.
In addition, the portion of the U-turn path of the child work vehicle that is farthest from the child U-turn start point and the child U-turn end point in the direction of the straight-ahead work travel is the portion of the U-turn work area travel control module. The U-turn route of the child work vehicle is determined so as to overlap the portion of the U-turn route of the parent work vehicle that is farthest from the parent U-turn start point and the parent U-turn end point in the direction of the straight-ahead work travel. Work vehicle coordination system. It is a work vehicle cooperation system that performs ground work by a parent work vehicle and an unmanned maneuvering child work vehicle that follows the parent work vehicle.
The parent position detection module that detects the position of the parent work platform,
The child position detection module that detects the position of the child work platform and
It is equipped with a U-turn work area travel control module that controls travel in a U-turn work area where work is carried out by repeating straight-ahead work travel and U-turn.
The U-turn work area travel control module is based on a parent U-turn start point, which is the start point of the U-turn of the parent work vehicle, and a parent U-turn end point, which is the end point of the U-turn of the parent work vehicle. , The child U-turn start point which is the start point of the U-turn of the child work vehicle and the child U-turn end point which is the end point of the U-turn of the child work vehicle are determined.
When traveling in the rotating work area defined around the U-turn work area, the machine in which the work end point in the U-turn work area is located on the outside and the machine in which the work end point in the U-turn work area is located on the inside. A work vehicle coordination system that travels outside.

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