KR102570289B1 - Method for preventing rollover of agricultural vehicle on the slope and apparatus thereof - Google Patents

Abstract

One embodiment of the present invention, detecting the stall of the engine of the running agricultural vehicle; detecting whether the slope of the ground on which the agricultural vehicle is located is more inclined than a predetermined value; And if the slope of the ground is more inclined than a preset value, processing a speed reduction process of reducing the speed of the agricultural vehicle to a speed lower than the speed at the time of detection, regardless of a user's input to the agricultural vehicle. Disclosed is a method for preventing an overturn of an agricultural vehicle on an inclined surface, comprising the steps of:

Description

Method for preventing rollover of agricultural vehicle on the slope and apparatus thereof {Method for preventing rollover of agricultural vehicle on the slope and apparatus thereof}

The present invention relates to a method for preventing an agricultural vehicle from overturning on an inclined surface, and more particularly, to a method for preventing an agricultural vehicle performing agricultural work on an inclined surface from overturning, and an apparatus for implementing the method.

Recently, there is a trend in which autonomous driving functions are installed in agricultural vehicles for work convenience. Unlike general self-driving cars that drive on public roads, the main purpose of agricultural vehicles equipped with self-driving functions is to provide high work convenience and work efficiency. It can be seen that there is more focus on

More specifically, the significance of autonomous driving in agricultural vehicles is to drive straight ahead and curve driving through steering wheel manipulation without driver/worker manipulation. In order to implement and optimize sophisticated self-driving functions, the absolute angle of the wheel of the vehicle can be measured with a sensor in addition to the actual steering wheel operation and steering wheel angle, and it can be used for control.

A module for implementing the autonomous driving function of agricultural vehicles may be implemented by mounting various sensors, controllers, and parts to agricultural vehicle manufacturers when producing agricultural vehicles, or by manufacturing a separate commercial autonomous driving kit for agricultural vehicles. It can also be implemented in a mounting manner.

Automated agricultural vehicles equipped with autonomous work functions may have sudden engine stalls due to defects in electronic control units and temporary failures of fuel and ignition systems. In the case of a general car, if an engine stall occurs while driving at high speed on a highway, coasting is performed for a certain period of time, so even if there is a vehicle following behind, the steering wheel operation (hydraulic steering wheel) and brake (hydraulic steering wheel) until the brake hydraulic pressure is completely released. brake) can be operated, so it is possible to promote safety in the way the vehicle moves on the shoulder.

However, in the case of an automated agricultural vehicle, if an engine stall occurs while working or driving on a steep slope, the weight of the vehicle can force it to drive downhill. Since the brake pressure is weakened after a certain period of time and the brake is no longer applied, the vehicle is out of control and a rollover accident may occur. Therefore, technology is needed to prevent such an accident.

Republic of Korea Patent Publication No. 10-2021-0062727 (published on May 31, 2021)

A technical problem to be solved by the present invention is to provide a method for preventing an agricultural vehicle performing agricultural work on a slope from overturning after an engine stall.

A method according to an embodiment of the present invention for solving the above technical problem includes detecting a stall of an engine of a running agricultural vehicle; detecting whether the slope of the ground on which the agricultural vehicle is located is more inclined than a predetermined value; And if the slope of the ground is more inclined than a preset value, processing a speed reduction process of reducing the speed of the agricultural vehicle to a speed lower than the speed at the time of detection, regardless of a user's input to the agricultural vehicle. Include steps.

In the above method, the processing of the speed reduction process may be performed after the first method is determined in consideration of the level of the transmission gear of the agricultural vehicle.

In the above method, the processing of the speed reduction process may be performed after determining the second method in consideration of the presence or absence of a Power TO (PTO) of the agricultural vehicle.

In the above method, the step of processing the speed reduction process may be processed after determining the third method considering a rising or falling state of a hitch of a power take-off device of the agricultural vehicle.

In the above method, the processing of the speed reduction process may be performed after determining the fourth method considering the work machine connected through the power take-off device of the agricultural vehicle.

In the above method, the step of processing the speed reduction process may be processed after determining the fifth method considering the operation of the lift for adjusting the height of the work machine.

In the above method, the processing of the speed reduction process may be performed after determining the ratio of the engine speed of the agricultural vehicle and the level of the transmission gear in the sixth method.

In the method, the processing of the speed reduction process may include determining whether a first condition considering a level of a transmission gear of the agricultural vehicle is satisfied, and if the first condition is satisfied, the power take-off device of the agricultural vehicle It may be determined whether the second condition considering presence or absence is satisfied and then processed.

In the above method, the step of processing the speed reduction process reduces the speed of the agricultural vehicle to a first speed in consideration of the level of the transmission gear of the agricultural vehicle, and the first speed is still at the detected time point. If the speed is higher than the first speed, the speed of the agricultural vehicle may be lowered to the first speed by using the lift of the power take-off device of the agricultural vehicle.

In the above method, the processing of the speed reduction process includes reducing the speed of the agricultural vehicle to a second speed by using a lift of the power take-off device of the agricultural vehicle, and the second speed is still the detected time point. If the speed is higher than the speed of the agricultural vehicle, the speed of the agricultural vehicle may be lowered than the second speed in consideration of the level of the transmission gear of the agricultural vehicle.

In the method, in the step of processing the speed reduction process, if the slope of the ground is more inclined than a preset value, a notification signal for preventing the agricultural vehicle from overturning may be transmitted to the user's terminal.

In the method, in the step of processing the speed reduction process, if the slope of the ground is more inclined than a predetermined value, a warning is output through at least one of a lamp and a speaker provided in the agricultural vehicle, and the agricultural vehicle The speed of the vehicle can be reduced.

In the method, in the step of detecting whether the slope of the ground is more inclined than a predetermined value, the slope of the ground may be detected through an inertial measurement unit (IMU) installed in the agricultural vehicle.

An apparatus according to another embodiment of the present invention for solving the above technical problem is a stall detection unit for detecting a stall of an engine of a running agricultural vehicle; an inclination detection unit which detects whether the inclination of the ground on which the agricultural vehicle is located is more inclining than a preset value; And if the slope of the ground is more inclined than a preset value, processing a speed reduction process of reducing the speed of the agricultural vehicle to a speed lower than the speed at the time of detection, regardless of a user's input to the agricultural vehicle. Includes a reduction processing unit.

An embodiment of the present invention may provide a computer readable recording medium storing a program for executing the method.

According to the present invention, it is possible to prevent an overturn accident of an agricultural vehicle performing autonomous work on a slope.

In addition, according to the present invention, it is possible to secure the user's safety by providing a notification to the user before the agricultural vehicle is overturned.

1 is a diagram for explaining an example of a system including an agricultural vehicle according to an exemplary embodiment.
2(a) and 2(b) are views for explaining an example of controlling an agricultural vehicle according to an exemplary embodiment.
3 is a diagram for explaining examples of data obtained from a vehicle for farming according to an exemplary embodiment.
4 is a diagram for explaining another example of controlling an agricultural vehicle according to an exemplary embodiment.
5 is a diagram illustrating an example of an agricultural vehicle equipped with a work machine according to an exemplary embodiment.
6 is a block diagram illustrating an example of the agricultural vehicle described in FIGS. 1 to 5 .
FIG. 7 is a block diagram illustrating an example of modules included in the processor described in FIG. 6 .
8 is a diagram for explaining a speed reduction process using a lift of a power take-off device.
9 is a diagram schematically illustrating an example of an engine stalled agricultural vehicle on a slope.
10 schematically shows another example of an engine stalled agricultural vehicle on a slope.
11 is a flowchart illustrating an example of a method according to the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. Effects and features of the present invention, and a method of achieving them will become clear with reference to the embodiments described later in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and when describing with reference to the drawings, the same or corresponding components are given the same reference numerals, and overlapping descriptions thereof will be omitted. .

In the following embodiments, terms such as first and second are used for the purpose of distinguishing one component from another component without limiting meaning.

In the following embodiments, singular expressions include plural expressions unless the context clearly indicates otherwise.

In the following embodiments, terms such as include or have mean that features or elements described in the specification exist, and do not preclude the possibility that one or more other features or elements may be added.

When an embodiment is otherwise embodied, a specific process sequence may be performed differently from the described sequence. For example, two processes described in succession may be performed substantially simultaneously, or may be performed in an order reverse to the order described.

1 is a diagram for explaining an example of a system including an agricultural vehicle according to an exemplary embodiment.

Referring to FIG. 1 , the system 1 includes a farm vehicle 10 , a server 20 , a worker 30 , and other subjects 40 other than the worker 30 . Hereinafter, the worker 30 and other subjects 40 are not only natural persons or corporations, but also devices (eg, various devices capable of communicating with other devices) used by the worker 30 and other subjects 40, respectively. It can be.

The agricultural vehicle 10 may include a vehicle that can be utilized in agriculture. For example, the agricultural vehicle 10 may perform agricultural work to be performed for agriculture (eg, rice paddy or field work, transportation of agricultural materials, etc.), and the worker 30 moves the farmland, etc. may also be used to For example, the agricultural vehicle 10 may be a tractor, but is not limited thereto.

Meanwhile, the agricultural vehicle 10 may not be limited to a vehicle that can be utilized only for agriculture. In other words, the agricultural vehicle 10 may mean a means of transportation that is not limited to those used in agriculture, such as ordinary cars, trucks, and motorcycles.

The agricultural vehicle 10 may perform wired communication and/or wireless communication with the worker 30 and/or other subjects 40 through the server 20 . In addition, the agricultural vehicle 10 may perform wireless communication with the satellite 50 in order to implement various functions using GPS signals.

Data obtained from the agricultural vehicle 10 may be transmitted to the worker 30 and/or other subjects 40 through the server 20 . In addition, the worker 30 and/or other entity 40 may transmit data to the agricultural vehicle 10 . Accordingly, the worker 30 and/or other entity 40 may perform various tasks based on the data related to the agricultural vehicle 10 . In addition, as the agricultural vehicle 10 communicates with the worker 30, the worker 30 may perform various controls related to the operation of the agricultural vehicle 10. For example, the operator 30 may perform driving, parking, agricultural work, and the like of the agricultural vehicle 10 without directly boarding the agricultural vehicle 10 .

For example, a wired communication method may be connected through a wired cable, but is not limited thereto. On the other hand, the method of wireless communication may correspond to NFC (Near Field Communication), ZIGBEE, Bluetooth, ultra-wideband (UWB) communication, LTE, GNSS (Global Navigation Satellite System), eCALL, etc., but is not limited thereto. .

Meanwhile, communication may also be performed between modules included in the agricultural vehicle 10 . For example, within the agricultural vehicle 10, communication may be performed by Ethernet, CAN-FD, etc., but is not limited thereto.

In addition, although it is shown in FIG. 1 that the agricultural vehicle 10 communicates with the worker 30 and other subjects 40 through the server 20, it is not limited thereto. For example, the agricultural vehicle 10 and the worker 30 and/or other subjects 40 may be in direct communication connection. Accordingly, the worker 30 and/or other subjects 40 may transmit/receive data related to the agricultural vehicle 10, control the agricultural vehicle 10, and the like without going through the server 20.

The other subject 40 may be any subject related to the agricultural vehicle 10 except for the worker 30 . For example, if the other entity 40 is directly or indirectly related to the agricultural vehicle 10, such as a manufacturer of the agricultural vehicle 10, a seller of the agricultural vehicle 10, a financial institution, or a government agency, the corresponding entity is not limited thereto. It can be. Here, being directly/indirectly related may be, but is not limited to, production, sales, operation, finance, and policy of the agricultural vehicle 10 .

The agricultural vehicle 10 may be a mechanical vehicle. Here, the mechanical vehicle refers to a traditional vehicle in which a mechanical signal is mainly utilized in controlling the agricultural vehicle 10 . In this case, a separate control module is attached to the agricultural vehicle 10, and the attached control module communicates with an external device (eg, the server 20 or the device of the operator 30), thereby enabling the agricultural vehicle ( 10) can be controlled.

Meanwhile, the agricultural vehicle 10 may be an electronic vehicle. Here, the electronic vehicle refers to a vehicle in which electronic signals are mainly utilized in controlling the agricultural vehicle 10 . In this case, the agricultural vehicle 10 may be controlled by communicating with an external device (eg, the server 20 or the device of the worker 30).

Meanwhile, the server 20 may transmit/receive data related to the agricultural vehicle 10 and store the same. In addition, the server 20 may process data stored in a form that the operator 30 or other subjects 40 can use usefully, and transmit the processed data to the operator 30 or other subjects 40 .

As described above, the system 1 may provide the operator 30 or other subject 40 with an environment different from an environment in which the existing agricultural vehicle 10 is used. Specifically, conventionally, the worker 30 directly drives the agricultural vehicle 10 and performs agricultural work. In addition, data that can be obtained from the agricultural vehicle 10 must be directly entered or memorized by the worker 30, and the other subject 40 must rely on the worker 30 to obtain information about the agricultural vehicle 10. do.

However, as the system 1 operates, the agricultural vehicle 10 can operate unmanned, and the worker 30 can freely control the agricultural vehicle 10 in a place separated from the agricultural vehicle 10. . In addition, the worker 30 and other subjects 40 may collect data related to the agricultural vehicle 10 without any extra effort, and may process the collected data from the agricultural vehicle 10 . Alternatively, the operator 30 and other subjects 40 may collect processing results of data related to the agricultural vehicle 10 from the server 20 .

Hereinafter, examples that can be implemented as the system 1 is operated will be described in detail with reference to FIGS. 2 to 4 .

2(a) and 2(b) are views for explaining an example of controlling an agricultural vehicle according to an exemplary embodiment.

FIG. 2(a) illustrates an example in which an existing agricultural vehicle operates, and FIG. 2(b) illustrates an example in which the agricultural vehicle operates according to an exemplary embodiment.

Referring to (a) of FIG. 2 , an existing agricultural vehicle is operated and controlled by direct involvement of a worker 30 . Specifically, after the worker 30 gets on the agricultural vehicle, it operates as the worker 30 directly adjusts a steering device, an accelerator, and a deceleration device included in the agricultural vehicle. In addition, the worker 30 performs agricultural work by directly loading a working tool on the agricultural vehicle or connecting the working machine to the agricultural vehicle.

Referring to (b) of FIG. 2 , the agricultural vehicle 10 according to an embodiment may be operated and controlled without a worker 30 directly riding on it. Specifically, the agricultural vehicle 10 may perform autonomous driving and autonomous work according to a control signal transmitted from an external device (eg, the device of the worker 30, the server 20, etc.).

For example, a controller capable of controlling a steering device, an accelerator, and a deceleration device may be installed in the agricultural vehicle 10, and the agricultural vehicle 10 may be operated according to a control signal input to the controller. In particular, the above-described controller can be universally implemented, and as it is installed in the existing agricultural vehicle described above with reference to FIG. 2 (a), autonomous driving and Autonomous tasks can be performed.

3 is a diagram for describing examples of data acquired from a vehicle for farming according to an exemplary embodiment.

Referring to FIG. 3 , the agricultural vehicle 10 may communicate with an external device 300 . Here, the external device 300 may be a server 20 of FIG. 1 , a device of a worker 30 and/or a device of another subject 40 . The external device 300 may be any device capable of communicating with other devices, calculating or processing data, and storing data without limitation. For example, the external device 300 may correspond to a PC, tablet PC, smart phone, wearable device, etc., but is not limited thereto.

Depending on the operation of the agricultural vehicle 10 and agricultural work, various data may be generated. For example, as the agricultural vehicle 10 is produced, data on the agricultural vehicle 10 itself (eg, model name, horsepower, release year, factory price, transmission type, appearance, specification, etc.) can be created In addition, as the agricultural vehicle 10 is driven, CAN (Controller Area Network) data, accident-related data, failure-related data, and other driving data (eg, engine torque ratio, engine load ratio, engine RPM (Revolutions Per Minute), engine operation hours, cumulative fuel consumption, fuel consumption, engine failure information, engine oil temperature, engine room temperature, coolant temperature, current gear shift, transmission oil temperature, mileage, travel time, etc.) can be created. In addition, as agricultural work is performed with the agricultural vehicle 10 , data related to farming tools, data related to crops, data related to farmland where farming work has been performed, and the like may be generated.

Data generated according to the operation of the agricultural vehicle 10 and agricultural work may be transmitted to the external device 300 . And, the external device 300 may output and store the transmitted data, and may process the transmitted data according to a predetermined standard. Accordingly, various solutions related to the agricultural vehicle 10 may be provided to the worker 30 .

As an example, through the external device 300, the operator 30 manages agricultural work, maintains and repairs the agricultural vehicle 10, remotely diagnoses the agricultural vehicle 10, and manages fuel efficiency of the agricultural vehicle 10. etc. can be performed.

As another example, the worker 30 may track the current location of the agricultural vehicle 10 or monitor the current agricultural work of the agricultural vehicle 10 through the external device 300 . In addition, through the external device 300, the operator 30 can remotely start or turn off the agricultural vehicle 10 and turn on/off the air conditioning system of the agricultural vehicle 10.

As another example, through the external device 300, the worker 30 can prevent theft of the agricultural vehicle 10, start the agricultural vehicle 10 without the key of the agricultural vehicle 10, or can be turned off In addition, through the external device 300, the worker 30 detects an accident of the agricultural vehicle 10 or in an emergency (eg, injury of the worker 30, breakdown of the agricultural vehicle 10, etc.) report can be made.

4 is a diagram for explaining another example of controlling an agricultural vehicle according to an exemplary embodiment.

Referring to FIG. 4 , the external device 400 may output information about the current state of the agricultural vehicle 10 through communication with the agricultural vehicle 10 . For example, the external device 400 may output information about the current location of the agricultural vehicle 10 acquired through a GPS signal. In addition, when the agricultural vehicle 10 is currently driving, the external device 400 may output information about the engine RPM, current speed, fuel efficiency, operation time, and the current number of gear shifts of the agricultural vehicle 10.

Accordingly, the worker 30 can grasp the current state of the agricultural vehicle 10 and remotely control the agricultural vehicle 10 . In other words, the worker 30 checks information output to the external device 400 without boarding the agricultural vehicle 10 and controls various functions of the agricultural vehicle 10 through the external device 400, thereby autonomously Driving and/or autonomous tasks may be implemented.

5 is a diagram illustrating an example of an agricultural vehicle equipped with a work machine according to an exemplary embodiment.

Referring to FIG. 5 , the agricultural vehicle 100 may perform agricultural work or civil engineering work while towing the work machine 500 . The agricultural vehicle 100 may provide a strong traction force to tow a heavy object, and may provide a plurality of shift stages to perform various tasks.

For example, the agricultural vehicle 100 may be a tractor. In addition, the work machine 500 is, for example, a tool for performing various agricultural tasks such as a shovel, a plow, a plow, a harrow, a rake, a rotavator, a baler, and a harvester may include Depending on the type of work machine 500 coupled to the agricultural vehicle 100, the agricultural vehicle 100 may perform various agricultural tasks such as plowing, tillage, disease and pest control, pumping and threshing.

The agricultural vehicle 100 may be coupled to the work machine 500 through the fastening part 140 . For example, the fastening part 140 may be located on the rear of the agricultural vehicle 100, but is not limited thereto. In other words, the fastening part 140 may be positioned so that the work implement 500 is coupled to a position that does not interfere with the operation and operation of the agricultural vehicle 100 .

The fastening part 140 may transfer the traction force of the agricultural vehicle 100 to the working machine 500 by being coupled with the coupling part 520 of the working machine 500 . For example, the fastening unit 140 is a three-point connection device and may include two lower links and one upper link, but is not limited thereto.

The height of the work implement 500 mounted on the fastening unit 140 can be adjusted by raising or lowering the fastening unit 140 according to manual manipulation of the worker 30 or automatic control of the agricultural vehicle 100 .

The work machine 500 may include a body 510 that performs work on land or crops while being towed by the agricultural vehicle 100 and a coupling part 520 coupled to the fastening part 140 .

The coupling part 520 may be disposed in front of the work machine 500 and coupled with the fastening part 140 . Also, the coupling part 520 may include a plurality of coupling points corresponding to the coupling part 140 . For example, when the fastening part 140 is a three-point connection device, the coupling part 520 may include three coupling points, and when the fastening part 140 is a two-point connection device, the coupling part 520 ) may include two bonding points.

The agricultural vehicle 100 according to an embodiment may control components included in the agricultural vehicle 100 so that the coupling part 140 and the coupling part 520 are accurately coupled. Specifically, the processor of the agricultural vehicle 100 configures the agricultural vehicle so that the coupling unit 140 and the coupling unit 520 can be coupled based on the current location of the work machine 500 and the current location and direction of the coupling unit 520. The elements of (100) can be controlled.

According to an embodiment of the present invention, the agricultural vehicle 100 may be one vehicle in a group of vehicles. The vehicle cluster may be a cluster including a plurality of agricultural vehicles in order to efficiently perform a series of agricultural tasks. At this time, the agricultural vehicles included in the vehicle cluster are not necessarily limited to the agricultural vehicle 100 illustrated in FIG. 5 and may be all types of vehicles that perform agricultural work. Also, the agricultural vehicles belonging to the vehicle cluster may be agricultural vehicles performing the same task or may be agricultural vehicles performing different tasks. That is, the types of agricultural vehicles belonging to the vehicle cluster may be the same or similar to each other.

Also, according to an embodiment, in a vehicle cluster in which a plurality of agricultural vehicles exist, one vehicle may serve as a master vehicle, and the remaining vehicles excluding the master vehicle may serve as slave vehicles. The master vehicle may control the operation of slave vehicles belonging to the same vehicle cluster. In this way, operations of the slave vehicles are controlled by the master vehicle, and efficient and planned agricultural work may be possible.

6 is a block diagram illustrating an example of the agricultural vehicle described in FIGS. 1 to 5 .

Referring to FIG. 6 , it can be seen that the agricultural vehicle 100 includes a steering device 130 , a fastening unit 140 , a traveling device 150 and a processor 250 . In the agricultural vehicle 100 shown in FIG. 6 , only components related to the present embodiment are shown. Accordingly, those skilled in the art can understand that other general-purpose components other than the components shown in FIG. 6 may be further included in the agricultural vehicle 100.

The steering device 130 may receive an input for manipulating the agricultural vehicle 100 and the work machine 500 . For example, the steering device 130 may include a lever, a handle, a button, and a touch screen. As an example, the steering device 130 may receive an input related to steering of the agricultural vehicle 100, an input related to the number of gear shifts of the agricultural vehicle 100, and the like from the worker 30. As another example, the agricultural vehicle 100 may perform steering and shifting by automatically controlling the steering device 130 .

The agricultural vehicle 100 may check information about the coupling part 140 and the coupling part 520 . As an example, the agricultural vehicle 100 provides information on the manufacturer and model of the fastening unit 140 and the coupling unit 520 from the operator 30 through a user input unit (eg, a button, a keyboard, a touch screen, etc.). , Information on the shapes and values of the fastening unit 140 and the coupling unit 520 may be input. As another example, the agricultural vehicle 100 analyzes the image of the work machine 500 photographed by the camera, and provides information about the manufacturer and model of the fastening part 140 and the fastening part 520 from the storage unit, and the fastening part 140. ) and information on the shape and value of the coupling part 520 can be read.

The traveling device 150 refers to a device that moves a vehicle body using power transmitted from a transmission device. As an example, the traveling device 150 may include a front wheel 112, a rear wheel 114, and an axle. As another example, the traveling device 150 may be a long track device including an endless track.

Meanwhile, although not shown in FIG. 6 , the agricultural vehicle 100 may further include a power generating device, a transmission device, a power take-out device, and a hydraulic device.

The power generating device may generate power necessary for driving and working of the agricultural vehicle 100 . For example, the power generating device may be a device equipped with a diesel engine or a gasoline engine.

The transmission device may appropriately convert the vehicle speed or traction force of the agricultural vehicle 100 into various speeds with the power transmitted from the power generating device. For example, the transmission may be a mechanical transmission or a hydraulic transmission. The transmission device may be implemented in the form of a transmission gear of various shapes or sizes according to the driving speed and method required for the agricultural vehicle 100 .

A power take-off (PTO) is a device that transmits some of the power generated by the power generating device to the work machine 500 or the like. For example, the power take-off device may be connected to a shifting device and transmit power to the work machine 500 of a size required according to the work machine 500 and the type of work.

The hydraulic device is used for an operation of moving a part of the work machine 500 or the like. For example, the hydraulic system drives a hydraulic pump with rotational power of an engine, sends hydraulic oil generated from the hydraulic pump to a hydraulic cylinder by a control valve, and pushes a piston using hydraulic pressure to move the work machine 500. .

The processor 250 may control all components included in the agricultural vehicle 100 . More specifically, the processor 250 controls the operation of all components included in the agricultural vehicle 100 as well as the steering device 130, the fastening unit 140, and the traveling device 150, thereby controlling the operation of the agricultural vehicle 100. ) to perform operation, parking, work (eg, agricultural work, civil work, etc.). The processor 250 may be implemented as an array of a plurality of logic gates, or may be implemented as a combination of a general-purpose microprocessor and a memory in which programs executable by the microprocessor are stored. In addition, those of ordinary skill in the art can understand that the processor 250 may be implemented in a different type of hardware from the above-described type.

FIG. 7 is a block diagram illustrating an example of modules included in the processor described in FIG. 6 .

Referring to FIG. 7 , it can be seen that the processor 250 includes a stall detection unit 251, a slope detection unit 253, and a reduction processing unit 255. Since the stall detection unit 251, the slope detection unit 253, and the reduction processing unit 255 are sub-modules included in the processor 250, they may be modules capable of independent calculations since they include individual calculation units. In addition, although the processor 250 in FIG. 7 is illustrated as including a total of three sub-modules, according to an embodiment, at least one or more modules shown in FIG. 7 are included in another module, or at least two or more modules are included in one module. It may be implemented in an integrated form as a module of.

The stall detecting unit 251 detects a stall of the engine of the agricultural vehicle 100 during driving. Here, the stall of the engine means a phenomenon in which the engine stops even though the engine stop command is not transmitted to the engine through the input unit of the agricultural vehicle 100, and the fuel of the agricultural vehicle 100 is exhausted, or the agricultural vehicle 100 ) refers to a phenomenon that may occur when the electrical system modules included in ) are out of order. In particular, when the agricultural vehicle 100 is a highly automated agricultural tractor including an autonomous work function, it essentially includes an automatic transmission, and the agricultural tractor equipped with the automatic transmission is driven by tire lock during sudden braking in a direct deceleration section. When the load applied to the engine rapidly increases, engine stall may occur. Mainly, when the agricultural vehicle 100 performs agricultural work on a slope with a high inclination, engine stall may occur for the above reason. When an engine stall is detected, the stall detecting unit 251 may transmit history information on occurrence of an engine stall to the inclination detecting unit 253 .

The inclination detection unit 253 may detect whether the inclination of the ground where the agricultural vehicle is located is more inclination than a preset value. As an example, the slope detection unit 253 may determine the slope value of the ground through an inertial measurement unit (IMU) provided in the agricultural vehicle 100 and compare it with a preset value. The information that the IMU can detect is three-dimensional information, and includes roll information, pitch information, and yaw information. Among them, pitch information can be used to determine whether the ground on which the agricultural vehicle 100 is located is uphill or downhill. In addition, a reference value for comparison with the slope of the ground identified by the IMU is set in advance in the slope detection unit 253, and this reference value can be a value verified experimentally, mathematically, or empirically, and can be varied as needed. can

The reduction processing unit 255 determines that the engine stall is detected by the stall detection unit 251 and the slope detection unit 253 determines that the slope of the ground where the agricultural vehicle is located is more inclined than a predetermined value, the engine stall It is determined that this is due to the slope of the ground where the agricultural vehicle 100 is located, and the running speed of the agricultural vehicle 100 can be reduced. At this time, the reduced driving speed of the agricultural vehicle 100 becomes the speed at the time when the slope detection unit 253 detects whether the slope of the ground is more inclined than a preset value, and the driving speed of the agricultural vehicle 100 is actively As it is quickly reduced to , an accident in which the agricultural vehicle 100 is overturned can be minimized, and damage to the agricultural vehicle 100 can be minimized.

Hereinafter, various embodiments of the speed reduction process of the reduction processing unit 255 will be described, and in order to distinguish each embodiment, the first method or the second method is called, but each embodiment is different from another embodiment. It is regarded as an embodiment that can be implemented individually without being dependent. That is, the reduction processing unit 255 can efficiently and safely reduce the speed of the agricultural vehicle 100 according to at least one of the first to ninth methods to be described later.

As an example, the reduction processing unit 255 may reduce the speed of the agricultural vehicle 100 according to the determined first method after determining the first method considering the level of the transmission gear of the agricultural vehicle. Here, the level of the transmission gear means a number when the gear characteristics are called 1st gear, 2nd gear, 3rd gear, and the like. Compared to the high gear, the low gear has a larger number of teeth and a larger overall gear size, so when the engine is running at the same RPM, the number of revolutions of the low gear is much lower than that of the high gear. The reduction processing unit 255 checks the level of the transmission gear of the current agricultural vehicle, and reduces the speed of the agricultural vehicle 100 in consideration of the level of the checked transmission gear, thereby effectively reducing the speed of the agricultural vehicle 100. can be reduced.

As another example, the reduction processing unit 255 may determine the agricultural vehicle 100 in a second method considering the presence or absence of a power take-off device (PTO), and reduce the speed of the agricultural vehicle 100 according to the determined second method. there is. The agricultural vehicle 100 may include or omit a power take-off device. The reduction processing unit 255 detects whether the agricultural vehicle 100 has a power take-off device, and if there is a power take-off device, considering the driving characteristics of the power take-off device, the agricultural vehicle 100 that is likely to overturn on a slope due to an engine stall ) speed can be reduced. If the agricultural vehicle 100 does not have a power take-off device, the reduction processing unit 255 may reduce the speed of the agricultural vehicle 100 through another method that does not use the power take-off device.

In addition, the reduction processing unit 255 may adopt a third method considering the rising or falling state of the hitch of the power take-off device of the speed reduction agricultural vehicle 100 as a speed reduction process. Specifically, the reduction processing unit 255 can efficiently reduce the traveling speed of the agricultural vehicle 100 in which the engine stall occurs by controlling the raising or lowering of the hitch of the power take-off device.

In addition, the reduction processing unit 255 may employ a fourth method considering a work machine connected through the power take-off device of the agricultural vehicle 100 as a speed reduction process. Specifically, the power take-off device converts mechanical energy generated from the main engine of the agricultural vehicle 100 at a predetermined ratio and provides it to the work machine 500, so that the work machine 500 can operate without a separate power source. The processing unit 255 may effectively reduce the driving speed of the agricultural vehicle 100 by considering at least one of the weight, height, direction, volume, and operation characteristics of the implement 500 .

In addition, the reduction processing unit 255 may adopt the fifth method considering the operation of the lift of the power take-off device as a speed reduction process. When the work machine 500 is connected through the power take-off device, the reduction processing unit 255 lifts the work take-off device in consideration of at least one of the weight, height, direction, volume, and operation characteristics of the work machine 500. It is possible to control the movement of the agricultural vehicle 100 so that it does not overturn even when the engine of the agricultural vehicle 100 is stalled on the slope.

A schematic description of the third to fifth modes will be described later with reference to FIGS. 8 to 10 .

As another embodiment, the reduction processing unit 255 may employ the sixth method considering the ratio of the engine speed of the agricultural vehicle 100 and the level of the transmission gear as a speed reduction process. This embodiment refers to an embodiment in which the level of the transmission gear is adjusted in consideration of a gear ratio between a main gear that is directly connected to the engine and rotates, and a transmission gear that rotates in mesh with the main gear, In order to effectively reduce the speed of the agricultural vehicle 100, if the information on the gear ratio is set in advance, the agricultural vehicle 100 can be rapidly stabilized using this information. For example, if the current gear ratio is 1:2, the reduction processing unit 255 may reduce the driving speed of the agricultural vehicle 100 by changing the level of the transmission gear to change the gear ratio to 4:1.

Reducing the driving speed of the agricultural vehicle 100 by the reduction processing unit 255 through the sixth method is engine brake by forcibly shifting the transmission gear of the agricultural vehicle 100 traveling in a high gear to a low gear. It can be understood as implementing the effect of. Engine braking means that a deceleration effect is obtained without any relation to the mechanical brake device by forcibly changing the transmission gear, which has been operated in a high gear above a certain level, to a low gear. As the gear ratio is suddenly changed to a lower gear, the engine speed It has the effect of rapidly reducing the speed of the vehicle as the friction of the piston and energy loss due to air compression occur repeatedly. When the reduction processing unit 255 reduces the driving speed of the agricultural vehicle 100 in consideration of the ratio of the transmission gear through the sixth method, it is not a brake through a formal brake device, so even in a situation where the brake device does not function properly, agricultural use The vehicle 100 can be effectively decelerated.

As another embodiment, after determining whether the first condition considering the level of the transmission gear of the agricultural vehicle 100 is met, the reduction processing unit 255 considers the presence or absence of the power take-off device of the agricultural vehicle after the first condition is satisfied. A seventh method of determining whether the second condition is satisfied and processing may be employed. This embodiment is for rapidly reducing the running speed of the agricultural vehicle 100 and preventing the overturning of the agricultural vehicle 100 by sequentially applying the above-described first method and the second method. The processing order may be changed in such a way that it is determined whether the first condition is satisfied and processed after the second condition is satisfied.

More specifically, the reduction processing unit 255 reduces the driving speed of the agricultural vehicle to a first speed in consideration of the level of the transmission gear of the agricultural vehicle 100, and the first speed is still detected by the slope detection unit 253. If it is higher than the running speed at the point in time, the speed reduction process of lowering the first speed of the agricultural vehicle 100 once more by using the lift of the power take-off device of the agricultural vehicle 100 may be operated in an eighth manner. can

In addition, the reduction processing unit 255 reduces the current driving speed of the agricultural vehicle 100 to the second speed by using the lift of the power take-off device of the agricultural vehicle 100, and the second speed is still determined by the slope detection unit 253. If is higher than the driving speed at the time of detection, a speed reduction process of lowering the driving speed of the agricultural vehicle 100 lower than the second speed in consideration of the level of the transmission gear of the agricultural vehicle 100 is performed in a ninth manner. it might work

The reduction processing unit 255 stores all algorithms for implementing the aforementioned methods 1 to 9, and when any one of the first to ninth methods is set through an external input, it operates only in the set method. Thus, the overturning of the agricultural vehicle 100 can be prevented.

In addition, the reduction processing unit 255 transmits a notification signal for preventing the overturning of the agricultural vehicle 100 to the external device 300 when the slope of the ground detected by the slope detection unit 253 is more inclined than a preset value. You can also control it. Here, the external device 300 may be a terminal used by an owner who owns the agricultural vehicle 100 or a worker who manages the agricultural vehicle 100 . The owner or worker may receive information through the terminal that the engine of the agricultural vehicle 100 is about to roll over in a stalled state and take effective measures.

In addition, the reduction processing unit 255 warns through at least one of lamps and speakers provided in the agricultural vehicle 100 when the slope of the ground detected by the slope detection unit 253 is more inclined than a preset value. ), and the speed of the agricultural vehicle 100 can be reduced. This embodiment allows people around the agricultural vehicle 100 to evacuate by providing a clear notification visually or audibly. Since is set to operate after detecting engine stall, no visual or audible warning is output if engine stall is not detected even if the slope of the inclined surface is more inclined than a preset value.

As an optional embodiment, the agricultural vehicle 100 may have a lever or button type input unit for canceling user input restrictions. More specifically, in the present embodiment, in the process of processing the speed reduction by the reduction processing unit 255, external input to the agricultural vehicle 100 may be temporarily blocked for safety, but the user input restriction is released. This is an embodiment in which the speed reduction process of the reduction processing unit 255 is temporarily stopped and the control right of the agricultural vehicle 100 is transferred to the user only when a user's input is applied to the input unit for doing so. According to the present invention, when a user who can skillfully handle the agricultural vehicle 100 is located around the agricultural vehicle 100, the user does not stop at simply providing a notification to evacuate, but actively uses the agricultural vehicle 100 may provide an opportunity to prevent the agricultural vehicle 100 from being overturned.

8 is a diagram for explaining a speed reduction process using a lift of a power take-off device.

According to the present invention, when an engine stall occurs while an agricultural vehicle equipped with a power take-off device runs/works on a steep slope, the reduction processing unit 255 operates the power take-off device to lift the power take-off device to the ground. You can implement a brake effect by touching it. That is, the present invention utilizes the resistance using the gripping force of the lift to the ground as a brake, and the agricultural vehicle 100 moves in a direction unintended by the operator (user) in a state in which the ignition is forcibly turned off and the brake operation is impossible. you can prevent it from happening.

The reduction processing unit 255 may contract/expand the cylinder by driving the solenoid valve 810 to control the hydraulic circuit 830. When the cylinder contracts/expands, the lift arm 850 of the power take-off device connected to the cylinder rises/falls, and the mechanical energy generated as the lift arm rises/falls moves through the lift rod to the lower link. , and the work machine 870 connected to the end of the lower link can be raised / lowered. The reduction processing unit 255 changes the potential energy of the work machine 870 by driving the solenoid valve 810 in the order shown in FIG. 8, and makes the work machine 870 properly contact the ground so that the brake effect can be implemented. can do.

9 is a diagram schematically illustrating an example of an engine stalled agricultural vehicle on a slope.

More specifically, FIG. 9 is a diagram in which the agricultural vehicle 100 and the work machine 500 described in FIG. 5 are positioned on a slope, and in FIG. 9, the engine of the agricultural vehicle 100 is stalled, so that the brake is considered to move downward along the ramp without being physically operated. As shown in FIG. 9 , after a certain period of time has elapsed after the engine stall occurs, the pressure of the brake becomes weak and the agricultural vehicle 100 cannot be stopped even with the brake, so if the method according to the present invention is not applied, the agricultural vehicle ( 100) may be overturned while moving downward along the ramp. In FIG. 9 , the implement 500 may be fixed in a floating form without contacting the ground due to the downward movement of the agricultural vehicle 100 .

10 schematically shows another example of an engine stalled agricultural vehicle on a slope.

More specifically, FIG. 10 shows that, according to the present invention, the lift of the power take-off device is forcibly operated to bring the implement 500 into contact with the ground, thereby generating strong friction and allowing the agricultural vehicle 100 to rapidly descend downward along the ramp. It shows preventing an accident that is overturned while going. The reduction processing unit 255 controls the hydraulic valve by driving the solenoid valve, and makes the cylinder into a contracted state. When the cylinder is in a contracted state, mechanical energy can be transmitted to the lower link through the lift rod while the lift arm descends. there is. The descending of the lower link causes the implement to descend, and as a result, the agricultural vehicle 100 can quickly stop due to friction generated when the implement comes into contact with the ground. As described above, the descent of the three-point link hitch composed of the lift arm, the lift rod, and the lower link causes the work machine to descend, and the friction caused by the descent of the work machine functions as a physical brake.

In particular, although not shown in FIG. 10, in a state in which power is not supplied to the power take-off device due to engine stall of the agricultural vehicle 100, the reduction processing unit 255 controls to supply power to the power take-off device once again, In order to implement a brake effect by moving the lift arm of the power take-off device in consideration of physical characteristics such as weight, direction, height, and volume of the implement 500, the reduction processing unit 255 further provides a separate power source. can include

11 is a flowchart illustrating an example of a method according to the present invention.

Since the method according to FIG. 11 may be implemented by the processor 250 described in FIGS. 6 and 7 and submodules physically or logically included in the processor 250, hereinafter, the contents described in FIGS. 6 and 7 and Redundant descriptions will be omitted.

The processor 250 may detect an engine stall of the driving agricultural vehicle 100 (S1110).

The processor 250 may detect whether the slope of the ground is more inclined than a preset value (S1130).

If the slope of the ground is more inclined than a predetermined value, the processor 250 may perform a speed reduction process to reduce the speed of the agricultural vehicle more than the speed at the time of detection. The speed reduction process may be at least one of the first to ninth methods described above.

According to the present invention, it is possible to prevent an overturn accident of an agricultural vehicle performing autonomous work on a slope.

In addition, according to the present invention, it is possible to secure the user's safety by providing a notification to the user before the agricultural vehicle is overturned.

Embodiments according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. At this time, the medium is a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a ROM hardware devices specially configured to store and execute program instructions, such as RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention, or may be known and usable to those skilled in the art of computer software. An example of a computer program may include not only machine language code generated by a compiler but also high-level language code that can be executed by a computer using an interpreter or the like.

Specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For brevity of the specification, description of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection of lines or connecting members between the components shown in the drawings are examples of functional connections and / or physical or circuit connections, which can be replaced in actual devices or additional various functional connections, physical connection, or circuit connections. In addition, if there is no specific reference such as “essential” or “important”, it may not be a component necessarily required for the application of the present invention.

In the specification of the present invention (especially in the claims), the use of the term “above” and similar indicating terms may correspond to both singular and plural. In addition, when a range is described in the present invention, it includes an invention in which individual values belonging to the range are applied (unless there is a description to the contrary), and each individual value constituting the range is described in the detailed description of the invention Same as Finally, unless an order is explicitly stated or stated to the contrary for the steps constituting the method according to the present invention, the steps may be performed in any suitable order. The present invention is not necessarily limited according to the order of description of the steps. The use of all examples or exemplary terms (eg, etc.) in the present invention is simply to explain the present invention in detail, and the scope of the present invention is limited due to the examples or exemplary terms unless limited by the claims. it is not going to be In addition, those skilled in the art can appreciate that various modifications, combinations and changes can be made according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Claims (15)

detecting, by a stall detection unit, a stall of an engine of a running agricultural vehicle;
Detecting whether the slope of the ground where the agricultural vehicle is located is more inclined than a predetermined value when the slope detection unit receives history information that the engine stall has been detected from the stall detection unit and the stall of the engine is detected ; and
When the engine stall is detected by the reduction processing unit and the slope of the ground is more inclined than a predetermined value, regardless of the user's input to the input unit of the agricultural vehicle, the speed of the agricultural vehicle at the time of detection is higher than the speed of the agricultural vehicle. processing a rate reduction process to reduce the rate to a lower rate;
The step of processing the speed reduction process,
If the slope is more inclined than the predetermined value, sending a notification signal to the user's terminal,
In the process of processing the speed reduction process, when an input for canceling the input restriction on the input unit, provided in the agricultural vehicle and applied in the process of processing the speed reduction process, is detected, the speed reduction process is performed. A method for preventing an overturn of an agricultural vehicle on a slope by temporarily stopping and allowing the user's right to control the agricultural vehicle to be restored. According to claim 1,
The step of processing the speed reduction process,
A method for preventing an overturn of an agricultural vehicle on an inclined surface, which is processed after being determined in a first manner in consideration of a level of a transmission gear of the agricultural vehicle. According to claim 1,
The step of processing the speed reduction process,
A method for preventing overturning of an agricultural vehicle on an inclined surface, which is processed after determining in the second method considering the presence or absence of a power take-off device (PTO) of the agricultural vehicle. According to claim 1,
The step of processing the speed reduction process,
A method for preventing an overturn of an agricultural vehicle on an inclined surface, which is processed after determining in a third method considering a rising or falling state of a hitch of a power take-off device of the agricultural vehicle. According to claim 1,
The step of processing the speed reduction process,
A method for preventing overturning of an agricultural vehicle on an inclined surface, processed after the determination is made in the fourth method considering the work machine connected through the power take-off device of the agricultural vehicle. According to claim 5,
The step of processing the speed reduction process,
A method for preventing the overturning of an agricultural vehicle on an inclined surface, which is processed after the fifth method is determined in consideration of the operation of the lift for adjusting the height of the work machine. According to claim 1,
The step of processing the speed reduction process,
A method for preventing an overturn of an agricultural vehicle on an inclined surface, which is processed after being determined by a sixth method in which the ratio of the engine speed of the agricultural vehicle and the level of the transmission gear is considered. According to claim 1,
The step of processing the speed reduction process,
After determining whether the first condition considering the level of the transmission gear of the agricultural vehicle is satisfied,
When the first condition is satisfied, it is determined and processed whether the second condition considering the presence or absence of the power take-off device of the agricultural vehicle is satisfied and processed. According to claim 1,
The step of processing the speed reduction process,
Considering the level of the transmission gear of the agricultural vehicle, reducing the speed of the agricultural vehicle to a first speed,
If the first speed is still higher than the speed at the time of detection, the speed of the agricultural vehicle is further lowered to the first speed by using a lift of the power take-off device of the agricultural vehicle to prevent overturning of the agricultural vehicle on an inclined surface. method. According to claim 1,
The step of processing the speed reduction process,
Reduce the speed of the agricultural vehicle to a second speed using a lift of the power take-off device of the agricultural vehicle,
If the second speed is still higher than the speed at the time of detection, the speed of the agricultural vehicle is lowered than the second speed in consideration of the level of the transmission gear of the agricultural vehicle to prevent overturning of the agricultural vehicle on an inclined surface. method. According to claim 1,
The step of processing the speed reduction process,
If the slope of the ground is more inclined than a predetermined value, a notification signal for preventing the overturn of the agricultural vehicle is transmitted to the user's terminal. According to claim 1,
The step of processing the speed reduction process,
If the slope of the ground is more inclined than a predetermined value, a warning is output through at least one of a lamp and a speaker provided in the agricultural vehicle, and the speed of the agricultural vehicle is reduced. method. According to claim 1,
The step of detecting whether the slope of the ground is more inclined than a predetermined value,
A method for preventing a vehicle from overturning on an inclined surface by detecting an inclination of the ground through an inertial measurement unit (IMU) provided in the agricultural vehicle. A computer-readable recording medium storing a program for executing the method according to claim 1. A stall detection unit for detecting a stall of an engine of a driving agricultural vehicle;
an inclination detection unit receiving history information indicating that an engine stall has been detected from the stall detection unit and detecting whether a slope of the ground on which the agricultural vehicle is located is more inclined than a predetermined value when the stall of the engine is detected; and
If the stall is detected and the slope of the ground is more inclined than a predetermined value, the agricultural vehicle is reduced at a speed lower than the speed at the time of detection, regardless of a user's input to the input unit of the agricultural vehicle Including a reduction processing unit for processing a speed reduction process to
The reduction processing unit,
If the slope is more inclined than a predetermined value, sending a notification signal to the user's terminal;
In the process of processing the speed reduction process, when an input for canceling the input restriction on the input unit, provided in the agricultural vehicle and applied in the process of processing the speed reduction process, is detected, the speed reduction process is performed. An apparatus for preventing an overturn of an agricultural vehicle on a slope that temporarily stops and restores the control right of the user to the agricultural vehicle.

Images