JP7525325B2 - Tractor - Google Patents

Description

The present invention relates to a tractor that performs automatic steering running.

There is known a tractor that includes a traveling machine body, a positioning system that detects the position and orientation of the traveling machine body, and a control unit that automatically steers the traveling machine body based on the detected position data and detected orientation data detected by the positioning system (see, for example, Patent Documents 1 and 2). In this type of tractor , the mounting position (left/right offset amount, front/rear offset amount, and up/down offset amount) of the position detection antenna relative to the reference position for controlling the traveling machine body and the arrangement direction of the position detection antenna and the orientation detection antenna relative to the reference orientation for controlling the traveling machine body are set as correction parameters, and the detected position data and detected orientation data detected by the positioning system are converted into position data and orientation data of the reference position using these parameters and the detection value of the gyro.

JP 2002-358122 A JP 2018-180922 A

Normally, the reference position for controlling the traveling body is set to the center position of the traveling body's vehicle width, so if an error occurs between the position data of the calculated reference position and the actual center position of the traveling body's vehicle width, an error in the travel interval will occur in the round trip process that is twice the distance of the error. Conventionally, when such an error occurred, it was necessary to repeatedly correct or re-enter multiple parameters, which was a cumbersome task, until the error was eliminated.

The present invention has been created in view of the above-mentioned circumstances and with the objective of solving these problems. The invention of claim 1 is a tractor comprising a traveling body, a positioning system for detecting the position and orientation of the traveling body, and a control unit for automatically steering the traveling body based on the detected position data and detected orientation data detected by the positioning system, wherein the positioning system comprises a position detection antenna and an orientation detection antenna, both of which use a GNSS antenna for positioning , and a gyro , and the position detection antenna and the orientation detection antenna are attached to a positioning frame provided on the traveling body so as to be aligned with a predetermined gap therebetween, and the control unit has first parameter setting means for setting a first parameter which is an offset amount of the first direction of the position detection antenna relative to a reference position for control of the traveling body, and a second direction perpendicular to the first direction of the position detection antenna relative to the reference position. a third parameter setting means for setting a third parameter which is an offset amount of the position detection antenna relative to the reference position in a third direction perpendicular to the first and second directions; a fourth parameter setting means for setting a fourth parameter which is an orientation of the vehicle body traveling direction relative to a reference orientation for control of the traveling vehicle body, which is obtained from the orientation of the arrangement direction of the position detection antenna and the orientation detection antenna based on the positioning results of the position detection antenna and the orientation detection antenna; a reference position data calculation means for calculating position data and orientation data of the reference position based on the detected position data, the detected orientation data, the first to fourth parameters, and the detection value of the gyro; and a fifth parameter setting means for setting a fifth parameter which is an amount by which the calculated position data of the reference position is offset in the vehicle width direction.
The invention of claim 2 is the tractor described in claim 1, characterized in that the control unit further includes a model selection means for selecting a model, and a parameter reading means for reading the first to fourth parameters of the selected model from the first to fourth parameters that are preset for each model.
The invention of claim 3 is the tractor according to claim 1 or 2, characterized in that the mounting position of the position detection antenna is in the vicinity of the rear wheel axle of the traveling body in a plan view.

According to the invention of claim 1, a fifth parameter setting means is provided for setting a fifth parameter, which is an amount by which the position data of the calculated reference position is offset in the vehicle width direction. Therefore, if an error occurs in the stroke interval during a round-trip stroke operation, the stroke interval error can be eliminated simply by setting half of the actually occurring stroke interval error as the fifth parameter, without having to perform the cumbersome task of repeatedly correcting or re-inputting a plurality of parameters until the error is eliminated.
According to the invention of claim 2, the control unit further includes a model selection means for selecting a model, and a parameter reading means for reading the first to fourth parameters of the selected model from the first to fourth parameters preset for each model. This not only makes it easier to set the first to fourth parameters, but also prevents a decrease in the accuracy of automatic steering due to erroneous parameter setting.
According to the invention of claim 3, the mounting position of the position detection antenna is near the rear wheel axle of the running body in a plan view, so that in a work vehicle such as a tractor which has a work machine connected to the rear of the running body, the offset amount in the vehicle width direction of the reference position can be set with high accuracy by observing the work marks.

FIG. 1 is a side view of a tractor according to an embodiment of the present invention. FIG. FIG. 2 is a perspective view showing a main part of a positioning frame. FIG. 1A is a perspective view of the automatic steering unit, and FIG. 1B is a front view showing an operation panel of the automatic steering unit. FIG. 2 is a block diagram showing the control configuration of the riding rice transplanter. 11A and 11B are diagrams showing setting screens, where FIG. 11A is an explanatory diagram showing a setting menu screen, and FIG. 11B is an explanatory diagram showing a model selection screen. 11A is an explanatory diagram showing an antenna position setting screen, and FIG. 11B is an explanatory diagram showing an equipment mounting direction setting screen. 13A is an explanatory diagram showing the reference position offset adjustment screen in a state where the adjustment buttons are not displayed, and FIG. 13B is an explanatory diagram showing the reference position offset adjustment screen in a state where the adjustment buttons are displayed. FIG. 13 is a flowchart showing a processing procedure of reference position setting control.

The following describes an embodiment of the present invention with reference to the drawings. In Figs. 1 and 2, 1 is a running machine body of a tractor (work vehicle), and the running machine body 1 includes an engine mounting section 2 on which an engine (not shown) is mounted, a transmission case 3 which changes the speed of the engine power and outputs it as running power and working power, front wheels 5 which are driven by the running power output by the transmission case 3 and are steered in response to the operation of a steering wheel 4, rear wheels 6 which are driven by the running power output by the transmission case 3, a control section 7 on which an operator rides, and a work machine connection section 8 to which various work machines (not shown) can be connected so as to be raised and lowered freely.

As shown in Figure 4, the control section 7 includes a driver's seat (not shown) where an operator sits, and various operating tools including the steering wheel 4 described above are arranged around the driver's seat. As shown in Figures 4 and 5 (A), a steering device 9 is connected to the steering wheel 4. The steering device 9 includes a steering motor 10 (see Figure 6) that rotates the steering wheel 4 with motor power instead of manually operating the steering wheel 4, and an operation panel 11 on which operating tools and monitor lamps related to the automatic steering control described below are arranged. Note that manual operation of the steering wheel 4 is permitted even while the steering motor 10 is being driven.

As shown in FIG. 5B, the operation panel 11 includes an operation switch 12 that can be switched between an operation ON state that allows power supply to the steering motor 10 and an operation OFF state that restricts power supply, an automatic steering switch 13 that can be switched from an automatic steering OFF state in which the automatic steering control does not perform automatic steering to an automatic steering ON state in which automatic steering is performed, and from the automatic steering ON state to the automatic steering OFF state, a start point A registration switch 14 that registers a start point A, which will be described later, an end point B registration switch 15 that registers an end point B, which will be described later, and multiple notification lamps 19a to 19d that display the switching state of each switch 13 to 15 and the status of the positioning system 22, which will be described later.

1 to 3, a positioning frame 21 is attached to the roof 20 of the control unit 7. Two GNSS antennas 23 and 24 and a correction signal receiving device 25, which are components of a positioning system 22 described below, are attached to the positioning frame 21.

As shown in FIG. 6, the traveling vehicle 1 is equipped with a positioning system 22 and a control unit 26 as a control configuration for performing automatic steering control. For example, an RTK-GNSS positioning system capable of high-precision positioning with an error of a few centimeters is adopted as the positioning system 22. The RTK-GNSS positioning system performs GNSS positioning such as GPS at a fixed base station and a moving mobile station, and corrects the positioning data in real time with a correction signal transmitted from the base station to the mobile station, thereby achieving high-precision positioning with an error of a few centimeters. In addition, if two GNSS antennas are installed at a specified interval on the mobile station, it becomes possible to detect not only the absolute position of the mobile station but also the traveling direction (azimuth) of the mobile station with high accuracy based on the two positioning results.

6, the positioning system 22 of this embodiment includes a GNSS unit 27 which is a control unit that executes RTK-GNSS positioning, a reference GNSS antenna 23 (position detection antenna) and an azimuth GNSS antenna 24 ( azimuth detection antenna) attached to the positioning frame 21 at a predetermined interval in the vehicle width direction, a correction signal receiving device 25 that receives a correction signal from a fixedly installed RTK base station 28, and a gyro 32 that detects the inclination of the reference GNSS antenna 23 and the azimuth GNSS antenna 24. The GNSS unit 27 transmits positioning data (absolute position data and traveling direction data) obtained by the RTK-GNSS positioning to the control unit 26 via a wired communication means such as a CAN, and transmits the data to the tablet 29 via a wireless communication means such as Bluetooth (registered trademark). The tablet 29 is provided with a display screen with a touch panel, and has dedicated application software installed thereon, and displays navigation during work and a setting screen during setting.

The control unit 26 is a control unit that cooperates with the positioning system 22 to realize automatic steering control. The input side of the control unit 26 is connected to the aforementioned operation switch 12, automatic steering switch 13, start point A registration switch 14, end point B registration switch 15, as well as a steering angle sensor 30 that detects the steering angle of the front wheels 5, while the output side of the control unit 26 is connected to the aforementioned steering motor 10 and notification lamps 19a to 19d, as well as an alarm buzzer 31 that outputs an alarm sound.

The control unit 26 includes an automatic steering control means for executing automatic steering control, as well as first to fourth parameter setting means, a reference position data calculation means, a fifth parameter setting means, a model selection means, a parameter reading means, a reference position offset adjustment means, a display switching means, and the like, as functional configurations realized by the cooperation of hardware and software. Note that the above functional configurations may be realized not only by the control unit 26, but also by the cooperation of the control unit 26 and the positioning system 22 (including the tablet 29 and dedicated application software).

Automatic steering control is an automatic control function that automatically steers the traveling machine body 1 so that it travels along a virtual line in a predetermined direction that has been calculated in advance. The virtual line is automatically calculated when the start point A registration switch 14 is operated at the start position of the reference line, which is the first work process, to register the positioning data of start point A, and the end point B registration switch 15 is operated at the end position of the reference line to register the positioning data of end point B. Specifically, multiple virtual lines that are parallel to the reference line and spaced at equal intervals (work width intervals) are calculated.

In automatic steering control, the virtual line closest to the running body 1 among the calculated virtual lines is set as the target line, and the amount and direction of lateral deviation of the running body 1 from the target line are calculated based on the coordinate data of the target line and the positioning data of the running body 1 by the positioning system 22. A corrective steering angle is calculated based on the amount and direction of lateral deviation, and the corrective steering angle is output to the steering motor 10 to make the running body 1 run along the target line.

When the traveling vehicle 1 reaches the target end position, the operator manually operates the steering handle 4 to make the traveling vehicle 1 turn around the headland toward the start position of the next target line. When the traveling vehicle 1 reaches the start position of the next target line, automatic steering control is resumed either manually or automatically, and the traveling vehicle 1 travels along the next target line.

The reference position R of the traveling vehicle 1 in automatic steering control does not coincide with the mounting position G of the reference GNSS antenna 23, so the first to fourth parameters that define the offset between the reference position R and the mounting position G are set in advance, and the detected position data and detected orientation data detected by the positioning system 22 are converted into position data and orientation data of the reference position R using these parameters.

Specifically, the first parameter setting means sets a first parameter which is an offset amount of the first direction X (left-right direction: right direction is positive) of the reference GNSS antenna 23 relative to the reference position R for control of the traveling body 1, the second parameter setting means sets a second parameter which is an offset amount of the second direction Y (front-back direction: traveling direction is positive) perpendicular to the first direction of the reference GNSS antenna 23 relative to the reference position R, and the third parameter setting means sets a third parameter which is an offset amount of the third direction Z (up-down direction: right direction is positive) perpendicular to the first direction and the second direction of the reference GNSS antenna 23 relative to the reference position R. The third parameter is the offset amount of the reference GNSS antenna 23 and the azimuth GNSS antenna 24 relative to the reference azimuth (direction: upward is positive) for control of the traveling body 1, and the fourth parameter setting means sets a fourth parameter which is the arrangement direction of the reference GNSS antenna 23 and the azimuth GNSS antenna 24 relative to the reference azimuth (direction of travel: counterclockwise is positive) for control of the traveling body 1, and the reference position data calculation means calculates the position data and azimuth data of the reference position R based on the detected position data and detected azimuth data of the positioning system 22, the first to fourth parameters, and the detection value of the gyro 32 (or the input value of the equipment mounting direction setting screen 60 described later).

Normally, the reference position R for the control of the traveling body 1 is set to the vehicle width center position of the traveling body 1. Therefore, if an error occurs between the calculated position data of the reference position R and the actual vehicle width center position of the traveling body 1, in the reciprocating travel work by the above-mentioned automatic steering control, a distance twice the error occurs as a travel interval error. Therefore, in the past, when such an error occurred, the cumbersome work of repeatedly correcting or re-inputting the first to fourth parameters was performed until the error was eliminated.

The fifth parameter setting means sets a fifth parameter, which is an amount by which the position data of the calculated reference position R is offset in the first direction X (vehicle width direction). In other words, if an error occurs in the stroke interval during a round-trip stroke operation, it is possible to eliminate the stroke interval error by simply setting half of the actually occurring stroke interval error as the fifth parameter, without having to carry out the cumbersome task of repeatedly correcting or re-inputting the first to fourth parameters until the error is eliminated.

Incidentally, the mounting position of the reference GNSS antenna 23 in this embodiment is near the rear wheel axle of the traveling body 1 in a plan view. In this way, in a work vehicle such as a tractor that has a work machine connected to the rear of the traveling body 1, the offset amount of the reference position in the vehicle width direction can be set with high precision by observing the work traces.

Figures 7 to 9 show setting screens for the first to fifth parameters, and in this embodiment, the setting screens are displayed using the display unit of the tablet 29. Figure 8 (a) shows an antenna position setting screen 50 on which the first to fifth parameters can be set, and includes a first parameter input unit 51 that allows input of the first parameter, a second parameter input unit 52 that allows input of the second parameter, a third parameter input unit 53 that allows input of the third parameter, a fourth parameter input unit 54 that allows input of the fourth parameter, and a fifth parameter input unit 55 that allows input of the fifth parameter.

The model selection means and the parameter reading means are functional configurations for facilitating the setting of the first to fourth parameters. The model selection means allows the user to select the model of the work vehicle, and the parameter reading means reads the first to fourth parameters of the selected model from the first to fourth parameters preset for each model. For example, when the setting icon 56 on the screen is tapped, the setting menu screen 57 shown in FIG. 7(a) is displayed. When "GNSS antenna position" is tapped on the setting menu screen 57, the model selection screen 58 shown in FIG. 7(b) is displayed. When "Equipment mounting position and orientation" is tapped on the setting menu screen 57, the equipment mounting orientation setting screen 60 shown in FIG. 8(b) is displayed. When "Saved work settings" is tapped on the setting menu screen 57, the antenna position setting screen 50 with the saved first to fifth parameters input is displayed.

When a suitable model is tapped on the model selection screen 58 shown in FIG. 7(b), the first to fourth parameters stored in advance as recommended settings for the selected model are loaded, and the antenna position setting screen 50 is displayed with the loaded first to fourth parameters input. Such model selection means and parameter loading means eliminate the need for the user to input parameters, making it easier to set the first to fourth parameters and preventing a decrease in the accuracy of automatic steering due to incorrect parameter settings.

Incidentally, the equipment mounting orientation setting screen 60 shown in FIG. 8 (b) includes a bottom orientation setting section 61 (select from floor direction, ceiling direction, rear, front, left direction, right direction) for setting the orientation of the bottom surfaces of the GNSS antennas 23, 24, a forward direction surface orientation setting section 62 (select from connector surface, left surface, back panel surface, right surface) for setting the orientation of the forward direction surface of the GNSS antennas 23, 24, a left-right tilt input section 63 for inputting the left-right tilt of the GNSS antennas 23, 24, a front-back tilt input section 64 for inputting the front-back tilt of the GNSS antennas 23, 24, and an orientation adjustment input section 65 for adjusting the orientation (antenna alignment direction). The device mounting direction setting screen 60 also includes a measurement execution operation section 66. When the measurement execution operation section 66 is tapped, the left-right and front-back tilts of the GNSS antennas 23 and 24 are measured based on the detection signal of the gyro 32, and the measurement results are automatically input to the left-right tilt input section 63 and the front-back tilt input section 64.

As shown in FIG. 9B, the reference position offset adjustment means displays a pair of left and right adjustment buttons 71L, 71R on the reference position offset adjustment screen 70 displayed by the tablet 29, and offsets the calculated position data of the reference position in the vehicle width direction in response to a tap operation on the adjustment buttons 71L, 71R. For example, each time the right adjustment button 71R is tapped, the fifth parameter is offset by 0.02 m in the positive direction, and each time the left adjustment button 71L is tapped, the fifth parameter is offset by 0.02 m in the negative direction.

The reference position offset adjustment screen 70 displays a body model 72 and a body center model 73 that show the positional relationship between the traveling body 1 and the reference position, and a pair of left and right adjustment buttons 71L, 71R are displayed below the body model 72 and the body center model 73, and are separated to the left and right, on the reference position offset adjustment screen 70. When the adjustment buttons 71L, 71R are tapped, the body model 72 and the body center model 73 are offset relative to each other in the left and right direction in response to the tapping. This reference position offset adjustment screen 70 not only enables accurate offset setting through intuitive operations, but also prevents the inconvenience of the display area of the body model 72 and the body center model 73 being blocked by the hand operating the adjustment buttons 31L, 71R.

The display switching means displays a display switching button 74 on the reference position offset adjustment screen 70, which can switch between displaying and hiding the adjustment buttons 71L and 71R. For example, when the display switching button 74 is tapped with the adjustment buttons 71L and 71R in a displayed state (FIG. 9(b)), the adjustment buttons 71L and 71R are hidden (FIG. 9(a)), and when the display switching button 74 is tapped with the adjustment buttons 71L and 71R in a hidden state (FIG. 9(a)), the adjustment buttons 71L and 71R are displayed (FIG. 9(b)). Such a display switching means can prevent unintended operation of the adjustment buttons 71L and 71R.

The display switching means automatically hides the adjustment buttons 71L, 71R if the adjustment buttons 71L, 71R are not operated for a predetermined time or distance during automatic steering driving. Such a display switching means can more reliably prevent unintentional erroneous operation of the adjustment buttons 71L, 71R.

Next, the reference position setting control of the control unit 26 that realizes the above-mentioned functional configuration (excluding the automatic steering control means) will be described with reference to FIG. 10.

As shown in FIG. 10, in the reference position setting control, the control unit 26 first judges whether to display the antenna position setting screen 50 (S1), and if the result of this judgment is YES, it displays the recommended setting values (first to fourth parameters) according to the model (S2), and then judges whether to input the setting value and offset value (fifth parameter) (S3, S5). If the control unit 26 judges that a setting value has been input, it calculates an antenna position setting value for converting the detected position data and detected orientation data of the positioning system 22 into position data and orientation data of the reference position R and saves the input setting value (S4). On the other hand, if an offset value has been input, it corrects the antenna position setting value and saves the input offset value (S6).

If the result of the determination in step S1 is NO, the control unit 26 determines whether or not the guidance screen (initial screen) is displayed (S7), and if the result of this determination is YES, it determines whether or not the left-right adjustment mode (reference position offset adjustment screen 70 is displayed) is displayed (S8). If the control unit 26 determines that the mode is left-right adjustment mode, it determines whether the left-right adjustment buttons 71L and 71R have been tapped (S9, S10), and if it determines that the right adjustment button 71R has been tapped, it performs a correction to add 0.02 m to the offset input value (S11), and if it determines that the left adjustment button 71L has been tapped, it performs a correction to subtract 0.02 m from the offset input value (S12).

According to the present embodiment configured as described above, a tractor is provided with a running body 1, a positioning system 22 that detects the position and orientation of the running body 1, and a control unit 26 that automatically steers the running body 1 based on the detected position data and detected orientation data detected by the positioning system 22, in which the positioning system 22 includes a reference GNSS antenna 23, an orientation GNSS antenna 24, and a gyro 32, and the control unit 26 includes a first parameter setting means for setting a first parameter which is an offset amount of the reference GNSS antenna 23 in a first direction relative to a reference position R for control of the running body 1, a second parameter setting means for setting a second parameter which is an offset amount of the reference GNSS antenna 23 in a second direction perpendicular to the first direction relative to the reference position R, and a third parameter setting means for setting a third parameter which is an offset amount of the reference GNSS antenna 23 in a third direction perpendicular to the first and second directions relative to the reference position R. The system includes a third parameter setting means for setting three parameters, a fourth parameter setting means for setting a fourth parameter which is the arrangement direction of the reference GNSS antenna 23 and the azimuth GNSS antenna 24 relative to the reference azimuth for control of the traveling body 1, a reference position data calculation means for calculating the position data and azimuth data of the reference position R based on the detected position data, detected azimuth data, the first to fourth parameters, and the detection value of the gyro 32 of the positioning system 22, and a fifth parameter setting means for setting a fifth parameter which is the amount by which the calculated position data of the reference position R is offset in the vehicle width direction. Therefore, if an error occurs in the travel interval during a round trip travel operation, the travel interval error can be eliminated by simply setting half of the actually occurring travel interval error as the fifth parameter, without having to carry out the cumbersome task of repeatedly correcting or re-inputting multiple parameters until the error is eliminated.

The control unit 26 also includes a model selection means for selecting a model, and a parameter reading means for reading the first to fourth parameters of the selected model from the first to fourth parameters preset for each model. This not only makes it easier to set the first to fourth parameters, but also prevents a decrease in the accuracy of automatic steering due to incorrect parameter setting.

In addition, the mounting position of the reference GNSS antenna 23 is near the rear wheel axle of the running body 1 in a plan view, so in a work vehicle such as a tractor that has a work machine connected to the rear of the running body 1, the offset amount of the reference position in the vehicle width direction can be set with high precision by observing the work traces.

REFERENCE SIGNS LIST 1 Traveling aircraft 9 Steering device 22 Positioning system 23 Reference GNSS antenna 24 Orientation GNSS antenna 26 Control unit 29 Tablet 32 Gyro 50 Antenna position setting screen 58 Model selection screen 60 Equipment mounting direction setting screen 70 Reference position offset adjustment screens 71L, 71R Adjustment button 72 Aircraft model 73 Aircraft center model 74 Display switching button

Claims (3)

A running body,
A positioning system for detecting the position and orientation of the traveling machine body;
A control unit that automatically steers the traveling machine body based on the detected position data and detected orientation data detected by the positioning system.
The positioning system includes a position detection antenna and an orientation detection antenna , both of which use a GNSS antenna for positioning , and a gyro ;
The position detection antenna and the azimuth detection antenna are attached to a positioning frame provided on the traveling body so as to be aligned with a predetermined gap therebetween,
The control unit is
A first parameter setting means for setting a first parameter which is an offset amount of the position detection antenna in a first direction relative to a reference position for control of the traveling machine body;
a second parameter setting means for setting a second parameter which is an offset amount of the position detection antenna in a second direction perpendicular to the first direction with respect to the reference position;
a third parameter setting means for setting a third parameter which is an offset amount of the position detection antenna in a third direction perpendicular to the first direction and the second direction with respect to the reference position;
A fourth parameter setting means for setting a fourth parameter , which is an orientation of the vehicle's traveling direction relative to a reference orientation for control of the traveling vehicle, obtained from the orientation of the arrangement direction of the position detection antenna and the orientation detection antenna based on the positioning results of the position detection antenna and the orientation detection antenna;
a reference position data calculation means for calculating position data and orientation data of the reference position based on the detected position data, the detected orientation data, the first to fourth parameters, and the detection value of the gyro;
and a fifth parameter setting means for setting a fifth parameter which is an amount by which the position data of the calculated reference position is offset in the vehicle width direction. The control unit is
A model selection means for selecting a model;
The tractor according to claim 1, further comprising a parameter reading means for reading the first to fourth parameters of a selected model from the first to fourth parameters preset for each model. 3. The tractor according to claim 1, wherein the position detection antenna is attached in a position adjacent to a rear wheel axle of the traveling body in a plan view.

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