JP7060497B2 - Agricultural autonomous driving work vehicle - Google Patents

Description

The present invention relates to an autonomous agricultural work vehicle that autonomously travels along a linear work path.

Conventionally, the combine is used to drive straight along a straight work path and to change the route from the end of the straight work path to the next straight work path in a predetermined running pattern. In a work mode that repeats driving, it is possible to automatically change the route so as to eliminate the troublesomeness of changing the route and reduce the operational burden on the driver, and the driver knows that this route change is automatically performed. (For example, see Patent Document 1), a technique provided with a voice notification means is known so that the device can be easily recognized.

Japanese Unexamined Patent Publication No. 2009-232783

In the above technique, the voice notification means is set to notify by voice whether or not the combine is being driven automatically, and the operator who drives the combine can only recognize whether or not the combine is being driven automatically. Therefore, since the next operation is not notified by voice to the assistants and the like working in the surroundings, the process may unexpectedly proceed in an unexpected direction.

The present invention has been made in view of the above situations, and is a case where a worker near the agricultural autonomous traveling work vehicle does not notice the traveling direction or the change in the working state of the agricultural autonomous traveling work vehicle. Also provides an agricultural autonomous traveling work vehicle that can make workers aware of changes in the traveling direction and working conditions of the agricultural autonomous traveling work vehicle.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, in claim 1, in an agricultural autonomous traveling work vehicle in which a work machine is attached to a vehicle body portion that autonomously travels along a linear work path, the agricultural autonomous traveling work vehicle is based on a signal received from a satellite. Notification of a change in the operation of the control unit that acquires the position information of the agricultural autonomous traveling work vehicle and autonomously travels the agricultural autonomous traveling work vehicle along the work route, and the work machine attached to the agricultural autonomous traveling work vehicle. The control unit includes means, and the control unit executes the notice notification by the notification means before the set time or the set distance to the change start point at which the change of the working state by the work machine is started.

In claim 2, the notification means includes a notice notification regarding a change in the operation of a work machine attached to the agricultural autonomous traveling work vehicle and a change in the current operation of the work machine attached to the agricultural autonomous traveling work vehicle. Of the notifications related to the above, the above-mentioned advance notice is given priority.

In claim 3, the advance notice includes a change in the traveling direction due to the vehicle body portion, and when the change in the traveling direction due to the vehicle body portion and the change in the state due to the working machine are performed at the same time. One of them is selected to execute the advance notice by the notifying means.

According to the present invention, the notification means is an agricultural autonomous traveling work before the agricultural autonomous traveling work vehicle reaches the end of the linear working path and starts turning toward the next linear working path. Since the advance notice regarding the change in the operation of the vehicle is given, it is possible to make the worker near the agricultural autonomous traveling work vehicle aware of the operation of the agricultural autonomous traveling work vehicle.

Schematic side view showing an autonomous work vehicle, GPS satellites, and a reference station. Control block diagram. The figure which shows the working state by the autonomous traveling work vehicle and the accompanying traveling work vehicle. The figure which shows the control flowchart.

An embodiment in which an autonomous traveling work vehicle 1 capable of autonomous traveling by using a satellite positioning system is used as a tractor and a rotary tilling device 24 is attached to the rear of the autonomous traveling work vehicle 1 as a working machine will be described. However, the work vehicle is not limited to the tractor and may be a combine or the like, and the work machine is not limited to the rotary tiller, such as a ridger, a mower, a rake, a seeder, a fertilizer, a wagon, etc. May be.

In FIGS. 1 and 2, the overall configuration of the tractor, which is the autonomous traveling work vehicle 1, will be described. The engine 3 is installed in the bonnet 2, the dashboard 14 is provided in the cabin 11 at the rear of the bonnet 2, and the steering handle 4 as the steering operation means is provided on the dashboard 14. The rotation of the steering handle 4 rotates the directions of the front wheels 9.9 via the steering device. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 includes an angle sensor such as a rotary encoder, and is arranged at a rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering wheel 4 may be detected or the operating amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the control device 30.

The driver's seat 5 is arranged behind the steering wheel 4, and the mission case 6 is arranged below the driver's seat 5. Rear axle cases 8 and 8 are connected to the left and right sides of the mission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles. The power from the engine 3 is changed by a transmission (main transmission and auxiliary transmission) in the mission case 6, so that the rear wheels 10 and 10 can be driven. The transmission is composed of, for example, a hydraulic continuously variable transmission, and the movable swash plate of the variable displacement hydraulic pump is operated by a speed change means 44 such as a motor to enable speed change. The speed change means 44 is connected to the control device 30. The rotation speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and input to the control device 30 as a traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

A PTO clutch, a PTO transmission, and a braking device 46 are housed in the mission case 6, the PTO clutch is turned on and off by the PTO on / off means 45, the PTO on / off means 45 is connected to the control device 30, and power is applied to the PTO axis. It is possible to control the connection and disconnection of. The braking device 46 is connected to the control device 30 so that braking is possible during operator operation or automatic driving. The control device 30 includes a storage device 30m such as a CPU (central processing unit), RAM, and ROM, an interface, and the like, and the storage device 30m stores programs and data for operating the autonomous traveling work vehicle 1.

A front axle case 7 is supported on the front frame 13 that supports the engine 3, front wheels 9.9 are supported on both sides of the front axle case 7, and power from the mission case 6 can be transmitted to the front wheels 9.9. It is configured in. The front wheels 9 and 9 are steering wheels, which can be rotated by the rotation operation of the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 composed of a power steering cylinder as a steering driving means. It is possible. The steering actuator 40 is connected to the control device 30 and is driven by automatic traveling control.

An engine controller 60, which is an engine rotation control means, is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, or the like is connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 detects the load from the set rotation speed and the actual rotation speed, controls it so that it does not become an overload, and transmits the state of the engine 3 to the remote control device 112 described later so that it can be displayed on the display 113. There is.

Further, a level sensor 29 for detecting the fuel level is arranged in the fuel tank 15 arranged below the step and connected to the control device 30, and the display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 is used for fuel. A fuel gauge that displays the remaining amount is provided and connected to the control device 30. Then, information about the remaining fuel amount is transmitted from the control device 30 to the remote control device 112, and the remaining amount of fuel and the workable time are displayed on the display 113 of the remote control device 112.

On the dashboard 14, an engine tachometer, a fuel gauge, a monitor indicating an abnormality, a monitor indicating an abnormality, and a display means 49 for displaying a set value are arranged.

Further, the rotary tillage device 24 is configured to be vertically mounted as a work machine via the work machine mounting device 23 behind the tractor machine to perform the tillage work. An elevating cylinder 26 is provided on the mission case 6, and by expanding and contracting the elevating cylinder 26, the elevating arm constituting the work equipment mounting device 23 can be rotated to raise and lower the rotary tiller device 24. The elevating cylinder 26 is expanded and contracted by the operation of the elevating actuator 25, and the elevating actuator 25 is connected to the control device 30.

A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile communication device 33 is provided with a position calculation means to transmit latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (USA), satellite positioning systems (GNSS) such as the Quasi-Zenith Satellite (Japan) and Glonass Satellite (Russia) can be used for highly accurate positioning, but in this embodiment, GPS is used. explain.

The autonomous traveling work vehicle 1 is provided with a gyro sensor 31 for obtaining posture change information of the machine body and an azimuth sensor 32 for detecting the traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the directional sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the tilt (pitch) of the autonomous traveling work vehicle 1 in the front-rear direction, the angular velocity of the tilt (roll) in the left-right direction of the machine, and the angular velocity of the turn (yaw). By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle and the turning angle of the body of the autonomous traveling work vehicle 1 in the front-rear direction and the left-right direction. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid type gyro sensor, a vibration type gyro sensor, and the like. The gyro sensor 31 is connected to the control device 30, and inputs information related to the three angular velocities to the control device 30.

The azimuth sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. Specific examples of the directional sensor 32 include a magnetic directional sensor and the like. The azimuth sensor 32 is connected to the control device 30, and information related to the orientation of the aircraft is input to the control device 30.

In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the stance / direction calculation means, and the stance of the autonomous traveling work vehicle 1 (direction, inclination in the front-rear direction of the machine and left-right direction of the machine, turning direction). ).

Next, a method of acquiring the position information of the autonomous traveling work vehicle 1 by using GPS (Global Positioning System) will be described. GPS is a system originally developed for navigation support for aircraft, ships, etc., and has 24 GPS satellites (4 each on six orbital planes) and GPS satellites that orbit about 20,000 kilometers above the sky. It consists of a control station that tracks and controls GPS satellites, and a user's communication device that performs positioning. Examples of the positioning method using GPS include various methods such as independent positioning, relative positioning, DGPS (differential GPS) positioning, and RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in the present embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to FIGS. 1 and 2.

In RTK-GPS (Real-time Kinematic-GPS) positioning, GPS observation is performed simultaneously by a reference station whose position is known and a mobile station that seeks a position, and the data observed by the reference station is used as a mobile station by radio or other means. It is a method of transmitting in real time to and finding the position of the mobile station in real time based on the position result of the reference station.

In the present embodiment, the mobile communication device 33, the mobile GPS antenna 34, and the data reception antenna 38, which are mobile stations, are arranged on the autonomous traveling work vehicle 1, and the fixed communication device 35, the fixed GPS antenna 36, and the data transmission antenna, which are reference stations, are arranged. 39 is arranged in a predetermined position so as not to interfere with the work in the field. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, the phase is measured (relative positioning) at both the reference station and the mobile station, and the data measured by the fixed communication device 35 of the reference station is measured from the data transmission antenna 39. It transmits to the data receiving antenna 38.

The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37, .... This signal is transmitted to the mobile communication device 33 for positioning. At the same time, the fixed GPS antenna 36, which serves as a reference station, receives signals from GPS satellites 37, 37, ..., Positions them with the fixed communication device 35, transmits them to the mobile communication device 33, analyzes the observed data, and moves. Determine the location of the station. The position information thus obtained is transmitted to the control device 30.

In this way, the control device 30 in the autonomous traveling work vehicle 1 is provided with the automatic traveling means for automatically traveling, and the automatic traveling means receives the radio waves transmitted from the GPS satellites 37, 37 ... And sets them in the mobile communication device 33. The position information of the aircraft is obtained at time intervals, the displacement information and orientation information of the aircraft are obtained from the gyro sensor 31 and the orientation sensor 32, and the aircraft follows a preset path R set in advance based on the position information, the displacement information and the orientation information. The steering actuator 40, the speed change means 44, the elevating actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled so that the vehicle can automatically travel and work automatically. The position information of the outer circumference of the field H, which is the work range, is also set in advance by a well-known method and stored in the storage device. Further, since it is possible to drive on the road outside the field H, the left and right brake pedals are connected by an actuator when it can be recognized on a public road and a map outside the field. Then, it is possible to set a country or region where automatic driving is possible in advance. If you set a country or region where autonomous driving is possible, you will not be able to drive autonomously in countries or regions outside the setting, and you will not be able to work, and you will be able to prevent theft and resale.

Further, an obstacle sensor 41 and a camera 42 are arranged in the autonomous traveling work vehicle 1 as obstacle detecting means and connected to the control device 30 so as not to come into contact with the obstacle. For example, the obstacle sensor 41 is composed of an infrared sensor or an ultrasonic sensor, is arranged at the front, side, or rear of the airframe and is connected to the control device 30, and there is an obstacle in front, side, or rear of the airframe. When it detects whether or not it is an obstacle and detects an obstacle, it issues an alarm and controls to reduce or stop the traveling speed. Details will be described later.

Further, the autonomous traveling work vehicle 1 is equipped with a camera 42 for photographing the front and the work machine, and is connected to the control device 30. The image taken by the camera 42 is displayed on the display 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100.

The remote control device 112 sets the set travel path R of the autonomous traveling work vehicle 1, remotely controls the autonomous traveling work vehicle 1, and monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the working machine. , It stores work data.

In the present embodiment, the operator rides on the accompanying traveling work vehicle 100 and operates the operation, and the remote control device 112 is mounted on the accompanying traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. As shown in FIG. 3, the accompanying traveling work vehicle 100 travels while working diagonally behind the autonomous traveling work vehicle 1, and monitors and operates the autonomous traveling work vehicle 1. However, depending on the work mode, the accompanying traveling work vehicle 100 may travel behind the autonomous traveling work vehicle 1 to perform the work, and the work is not limited to this. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof will be omitted. The accompanying traveling work vehicle 100 may be provided with a mobile communication device 33 for GPS and a mobile GPS antenna 34.

The remote control device 112 is removable from the operation unit such as the dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while being attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 and carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1. It is possible to operate. The remote control device 112 can be configured as, for example, a notebook type or tablet type personal computer. In this embodiment, it is composed of a tablet-type computer.

Further, the remote control device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote control device 112 are provided with transceivers 110 and 111 for communication, respectively. ing. The transceiver 111 is integrally configured with the remote control device 112. The communication means is configured to be able to communicate with each other by a wireless LAN such as WiFi. The remote control device 112 is provided with a display 113 on the surface of the housing, which is a touch panel type operation screen that can be operated by touching the screen, and a transceiver 111, a CPU, a storage device, a battery, and the like are housed in the housing.

The autonomous traveling work vehicle 1 can be remotely controlled by the remote control device 112. For example, the autonomous traveling work vehicle 1 can be operated for emergency stop, temporary stop, restart, change of vehicle speed, change of engine speed, up / down of work machine, on / off of PTO clutch, and the like. That is, the remote control device 112 controls the accelerator actuator, the speed change means 44, the braking device 46, the PTO on / off means 45, etc. via the transceiver 111, the transceiver 110, and the control device 30, so that the operator can easily operate the autonomous traveling work vehicle. 1 can be remotely controlled.

The display 113 can display an image of the surroundings taken by the camera 42, a state of the autonomous traveling work vehicle 1, a work state, information on GPS, an operation screen, and the like so that the operator can monitor them.

The state of the autonomous traveling work vehicle 1 is a running state, an engine state, a working machine state, etc., and the running state is a shift position, a vehicle speed, a remaining fuel amount, a battery voltage, etc., and is an engine state. Is the engine speed, load factor, etc., and the state of the work machine is the type of work machine, PTO speed, work machine height, etc., which are displayed on the display 113 by numbers, level meters, or the like.

The state of the work includes the work route (target route or set travel route R), work process, current position, distance from the process to the headland calculated, remaining route, number of processes, working time so far, and remaining. Working time etc. The remaining routes can be easily recognized by filling the existing work routes from the entire work routes. In addition, by displaying the next stroke from the current position with an arrow, it is possible to easily recognize the next stroke such as the turning direction from the present. The information related to GPS is the longitude and latitude of the actual position of the autonomous traveling work vehicle 1, the number of satellites captured, the radio wave reception intensity, the abnormality of the positioning system, and the like.

Next, the next operation notice notification when the autonomous traveling work vehicle 1 travels and works along the set traveling path R will be described with reference to FIGS. 1 to 3. The autonomous traveling work vehicle 1 is provided with a speaker 51 as a voice notification means, and the speaker 51 is connected to the control device 30. Further, the remote control device 112 is provided with a speaker 151 as a voice notification means, and the speaker 151 is connected to the remote control device 112 via the control device 130.

Then, when the autonomous traveling work vehicle 1 travels along the set traveling path R and changes the traveling direction or the working state while performing the work, the change start point P to change the traveling direction P. At the same time as giving a notice from the speaker 51 and the speaker 151 at a position in front of the set distance L, the display means 49 and the display 113 are set to indicate that the distance is in front of the set distance L. However, the timing of the advance notice is not limited to the set distance L from the change start point P, and the advance notice may be given before the set time until the change start point P is reached. Further, the advance notice may be given not only once but also by providing a plurality of set distances and giving a stepwise notice. Before the set distance L and before the set time, it can be arbitrarily changed by the setting means.

Notifications when changing the direction of travel include "turning right", "turning left", "backing", "stopping", etc., and notifications when changing the working state are "working machine". "I will go up", "I will go down the work machine", "... I will start (end) the work", "... will soon be gone", "... will be full soon", etc.

Then, when the change start point P is reached, the current operation is notified from the speaker 51 and the speaker 151, and at the same time, the current operation is displayed on the display means 49 and the display 113. When the current operation is completed, the notification and display of the current operation are stopped to prepare for the next notification. If the current operation is being notified and the point where the next change point is notified is reached, the notification of the current operation is interrupted and the advance notice is given priority. Further, in the case of rotary tillage work, at the change start point P reaching the field edge, turning and ascending of the working machine are performed at the same time. I am doing it.

This will be described in more detail with reference to FIGS. 3 and 4. However, in the present embodiment, the description of the work notice is omitted, and only the notice notification when the traveling direction is changed will be described. When the autonomous traveling work vehicle 1 is traveling along the set travel path R, the control device 30 calculates the distance to the change start point P (S1), and the distance L1 to the change start point P is the set distance L. (S2), and when the distance L1 to the change start point P reaches the set distance L, the speaker 51 and the speaker 151 give a notice of the change in the traveling direction (S3). For example, when the farm reaches 10 meters from the edge of the field, the speaker 51 and the speaker 151 will announce by voice that "it will soon turn left". In the speaker 151, a control signal is transmitted from the control device 30 to the control device 130 via the transceiver 110 and the transceiver 111, and a notification signal is transmitted from the control device 130 to the speaker 151 to perform notification.

Further forward, when the change point P is reached (S4), the current operation is notified from the speaker 51 and the speaker 151 (S5). For example, it is a voice such as "turn" and "back". When the current operation is completed (S6), the voice notification is terminated (S7).

In this way, in the autonomous traveling work vehicle 1 provided with the position calculation means for positioning the position of the aircraft using the satellite positioning system and the control device 30 for automatically traveling and working along the set traveling route. A speaker 51 serving as a voice notification means is connected to the control device 30, and when the traveling direction is changed or the working state is changed, the control device 30 is at a position before the set distance L1 from the change start point P, and the control device 30 is the speaker 51. Since the warning of the next operation is given by the speaker, the operator who operates the autonomous traveling work vehicle 1 and surrounding workers can easily recognize the next operation of the autonomous traveling work vehicle, and the vehicle makes a sudden turn. You won't be surprised if you go backwards.

Further, since the control device 30 notifies the current operation by the speaker 51 which is a voice notification means, it is possible to make the surrounding workers and the like recognize the current operation of the autonomous traveling work vehicle 1, and the operator's blind spot. You can call attention even if there are people.

Further, it is also possible to perform advance notice notification and current operation notification by optical notification means in addition to voice. Specifically, as an optical notification means, a direction indicator is connected to the control device 30, and the direction indicator is blinked at a position before the set distance L1 from the change start point P, or a rotating light is provided to turn. Turn on the light. Further, a display panel 64 is provided as an optical notification means and connected to the control device 30 to display an arrow or a word in a turning direction. Further, the backlight is connected to the control device 30, and when the vehicle moves backward, the backlight is turned on or the display panel 64 displays "reverse".

As described above, the control device 30 is connected to the optical notification means, and the optical notification means notifies the next operation and the current operation. Therefore, the autonomous traveling work vehicle 1 can be easily operated even from a distant position. Can recognize the trend of.

Further, the control device 30 is capable of communicating with the display means 49 and the display 113, and the display means 49 and the display 113 display the next operation and the current operation. The trend of the autonomous traveling work vehicle 1 can be recognized and visually confirmed.

1 Autonomous traveling work vehicle 30 Control device 30m Storage device 49 Display means 51 Speaker 112 Remote control device 113 Display

Claims (3)

In an autonomous agricultural work vehicle in which a work machine is attached to a vehicle body that autonomously travels along a straight work path.
A control unit that acquires the position information of the agricultural autonomous traveling work vehicle based on the signal received from the satellite and autonomously drives the agricultural autonomous traveling work vehicle along the work route.
It is provided with a notification means for notifying a change in the operation of the work machine attached to the autonomous traveling work vehicle for agriculture .
The control unit executes the notice notification by the notification means before the set time or the set distance to the change start point at which the change of the work state by the work machine is started. vehicle. The notification means includes the notification notification regarding the change in the operation of the work machine attached to the agricultural autonomous traveling work vehicle and the notification regarding the change in the current operation of the work machine attached to the agricultural autonomous traveling work vehicle. The agricultural autonomous traveling work vehicle according to claim 1, wherein the advance notice is given priority. The advance notice includes a change in the traveling direction due to the vehicle body portion.
The first aspect of claim 1 , wherein when the change in the traveling direction by the vehicle body portion and the change in the state by the work machine are performed at the same time, one of them is selected to execute the advance notice by the notification means. Agricultural autonomous work vehicle.

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