KR20190009018A - Velocity Control Apparatus and the Mehod for Working Safety of Automatic Driving Agricultural Machine - Google Patents

Abstract

The present invention relates to a velocity control apparatus and a method for working safety of an automatic driving agricultural machine and, more specifically, relates to a velocity control apparatus and a method for working safety of an automatic driving agricultural machine, wherein while work is performed with an agricultural working vehicle that is autonomously driven, working safety is determined by all grasping whether a self-position of the agricultural working vehicle is stabilized, and the work is accurately performed along a working path. Therefore, the agricultural working vehicle is decelerated or accelerated to prevent human and material damage caused by the agricultural working vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a speed control apparatus for a work safety of an autonomous traveling agricultural machine,

The present invention relates to a speed control apparatus and method for safety of an autonomous traveling agricultural machine, and more particularly, to a speed control apparatus and method for an autonomous traveling agricultural machine, To determine the stability of the operation, and to slow down or accelerate the agriculture work vehicle based on the determination of the stability of the work, thereby preventing human and material damage caused by the agriculture work vehicle. And more particularly, to a speed control apparatus and method for safety of work of a vehicle.

Generally, autonomous driving technology is a technology that allows the driver to recognize the driving environment himself / herself without operating the driver and to travel to the target point. The starting point and the destination are inputted by using the lane departure avoidance system, the vehicle change control technique, , It is possible to select the optimum travel route and travel on its own route, and a vehicle to which the autonomous travel technology is applied is called an autonomous vehicle or an unmanned vehicle.

These autonomous driving techniques are basically applied to automobiles running on the roads, but they are also widely used for military purposes and agricultural techniques. Specifically, there is an autonomous tractor as an agricultural machine applied autonomous driving technology. An autonomous tractor is a self-moving tractor that allows the tractor to measure the position and size of the arable land and then create and work on the work path.

These autonomous tractors are equipped with a GPS-based position recognition system, IMU (Inertial Mwasurement Unit) technology for measuring speed, direction and acceleration, hybrid EPS (Hybrid Electronic Power Steering) system , Work path generation and follow-up technology. Agricultural machinery, such as autonomous tractors, is an essential choice for enhancing competitiveness considering the poor agricultural environment and manpower in Korea, but it is not easily applied in Korea due to the agricultural environment with narrow land area and sloping farmland It is true.

On the other hand, autonomous driving agricultural machines such as autonomous driving tractors are more important than the speed of the vehicles in terms of track following accuracy and operational stability, unlike commercial vehicles running on paved roads. Although the commercial vehicle is intended to move safely and quickly to the destination, the autonomous traveling agricultural machine is required to follow the route and to follow the route, Is also required.

In this autonomous driving agricultural machine, the driving speed of the vehicle is the most influential to the attitude and path following of the vehicle. Since the driving speed of the vehicle directly affects the stability of the posture according to the road surface of the cultivated land, it is necessary to adjust the working speed according to the attitude information of the working vehicle in order to secure the working stability.

However, in the existing autonomous traveling agricultural machine, when the work route is set, the work is performed by following the constant speed route according to the initially set speed, and it is difficult to cope with sudden change of the vehicle posture caused by the irregular road surface, There is a problem that human and property damage occur.

That is, when the posture of the vehicle is suddenly changed due to the irregular road surface such as pebbles or pits in the cultivated land, an immediate response is not made and an accident such as deviation of path or vehicle overturn occurs. .

Korean Registered Patent No. 10-1040219 (June 23, 2011)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a speed control apparatus and method for safety of an autonomous traveling agricultural machine of the present invention, And to check whether the movement route recognized in real time agrees with the work route to change the speed of the agriculture work vehicle to secure the accuracy of work and stability of work and to prevent human and material damage caused by agriculture work vehicle We will do it.

In order to achieve the above object, an autonomous traveling agricultural machine according to the present invention is an autonomous traveling agricultural machine in which an agricultural work vehicle, which is not occupied by a driver, moves along a predetermined work path,

A GPS sensor for measuring the actual vehicle speed and absolute position of the agricultural work vehicle and calculating the side slip angle; An IMU sensor for measuring attitude information of the vehicle; A vehicle attitude information measuring unit for measuring attitude information of the agricultural work vehicle based on the signals of the GPS sensor and the signals of the IMU sensor; An ECU for controlling the engine rpm so that the agricultural work vehicle is decelerated or accelerated; And a control unit for evaluating the stability of the operation of the agricultural work vehicle according to the measurement result of the vehicle attitude information measuring unit and providing an acceleration or deceleration signal to the ECU.

The vehicle attitude information measuring unit may include a vehicle posture stability determining unit for determining whether the agricultural work vehicle stably moves based on the pitch data and the roll data measured by the IMU sensor of the agricultural work vehicle, And a work path following stability determining unit that determines whether the agricultural work vehicle accurately follows the work path through the yaw angular velocity based on the measured yaw data and the side slip angle data measured by the GPS sensor.

Further, the GPS sensor is installed at the center of gravity of the agricultural work vehicle, and the IMU sensor is attached to the front axle of the agricultural work vehicle.

The speed control method for the work safety of the autonomous traveling agricultural machine of the present invention is characterized in that in controlling the autonomous traveling agricultural machine in which the agricultural work vehicle that the driver does not ride moves along the predetermined work path, A running start step of starting an autonomous running after setting a maximum permissible speed of the vehicle; The actual vehicle speed and absolute position of the agricultural work vehicle are measured using the GPS sensor while the agricultural work vehicle is running, and the side slip angle is calculated. In addition, the IMU sensor is used to calculate yaw data, pitch data and roll data A real-time dynamic analysis analysis step of measuring a real- A real-time attitude information measuring step of measuring a tracking stability of the agricultural work vehicle with respect to the vehicle attitude and the work path based on the signals of the GPS sensor and the signals of the IMU sensor; A step of judging the stability of the agriculture work vehicle in which the working stability condition of the agriculture work vehicle is satisfied and the work stability condition of the agriculture work vehicle is not satisfied if both the vehicle posture stability and the work path following stability are satisfied; And a shifting step of accelerating the agriculture work vehicle if the work stability condition of the agriculture work vehicle is satisfied and decelerating the agriculture work vehicle otherwise.

In addition, the operational stability determination step of the agriculture work vehicle satisfies all the conditions that the yaw angular velocity is less than the permissible value and the side slip angle is the allowable value or more as a factor related to the steering stability of the agriculture work vehicle, , The roll angle and the pitch angle satisfy both of the conditions below the respective allowable values, it is determined that the operation stability condition is satisfied, and otherwise, the operation stability condition is not satisfied.

An apparatus and method for speeding up work safety of an autonomous traveling agricultural machine according to the present invention is a device and method for controlling an operating speed of an agricultural work vehicle, So that it is possible to secure both the steering accuracy and the work stability, as well as to prevent the human and material damage due to the deviation and the overturning of the agriculture working vehicle.

1 is a block diagram schematically showing a speed control apparatus for safety of an autonomous traveling agricultural machine according to the present invention
2 is a reference diagram for explaining measurement data of the IMU sensor according to the present invention
3 is a flowchart showing an algorithm of a speed control method for work safety of an autonomous traveling agricultural machine according to the present invention

The term used in the present invention is a general term that is widely used at present. However, in some cases, there is a term selected arbitrarily by the applicant. In this case, the term used in the present invention It is necessary to understand the meaning.

Hereinafter, the technical structure of the present invention will be described in detail with reference to preferred embodiments shown in the accompanying drawings.

Here, it should be noted that the expressions related to the directions of up and down, left and right, right, left, and bottom are all described based on the drawings.

The speed control device for the work safety of the autonomous traveling agricultural machine of the present invention is applied to an autonomous traveling agricultural machine in which an agricultural work vehicle that the driver does not ride moves along a predetermined work path, A GPS sensor 10 for measuring an actual vehicle speed and absolute position of the agricultural work vehicle and calculating a side-slip angle; An IMU sensor (20) for measuring attitude information of the vehicle; A vehicle attitude information measuring unit 30 for measuring attitude information of the agricultural work vehicle based on the signals of the GPS sensor 10 and the signals of the IMU sensor 20; An ECU (50) for controlling the engine rpm so that the agricultural work vehicle is decelerated or accelerated; And a control unit (40) for evaluating the stability of the operation of the agricultural work vehicle according to the measurement result of the vehicle attitude information measuring unit (30) and providing an acceleration or deceleration signal to the ECU (50).

Here, the GPS sensor 910 is installed at the center of gravity of the agricultural work vehicle, and the IMU sensor 20 is preferably attached to the front axle of the agricultural work vehicle. The GPS sensor 10 measures the absolute position of the vehicle using the GPS signal of the satellite, measures the _vehicle V _vehicle as the actual vehicle speed, and measures the vehicle slip angle? _GPS to obtain the side slip angle?. Here, the side slip angle beta signifies a stagger angle between the tire direction and the vehicle traveling direction when the agricultural work vehicle is turning. The IMU sensor 20 is provided to provide attitude information of the agricultural work vehicle and collects yaw data, pitch data and roll data to determine the operational stability.

The vehicle posture information measuring unit 30 includes a vehicle posture stability determining unit 31 for determining whether the agricultural work vehicle stably moves based on the pitch data and the roll data measured by the IMU sensor 20 of the agricultural work vehicle, A yaw rate based on the yaw data measured by the IMU sensor 20 of the working vehicle and a side slip angle data measured by the GPS sensor 10 are used to determine whether the agricultural work vehicle accurately follows the work path And a stability determining unit 32.

Referring to FIG. 2, the yaw data, the pitch data, and the roll data will be described below. The yaw data (φ _IMU ) corresponds to the direction of movement of the vehicle with the rotation angle with the height direction of the agricultural work vehicle as the reference axis. Yaw (ω), which is the yaw rate, can be obtained using yaw data. The pitch data corresponds to the front-back inclination of the agricultural work vehicle, which is the angle between the ground surface of the front wheel and the rear wheel of the agricultural work vehicle, with the rotation angle with the width direction as the reference axis. Which is an angle between the ground surface of the left-hand wheel and the right-hand wheel of the agricultural work vehicle. Therefore, it is possible to know the moving direction, the front-back inclination, the left-right inclination of the vehicle through the IMU sensor 20, and the yaw angular velocity which is the rotational angular velocity in the moving direction. The side slip angle? Of the vehicle can be obtained by using the difference between the vehicle slip angle? _GPS and the yaw data? _IMU obtained by the GPS sensor 10. This can be expressed as follows.

β = φ _GPS - φ _IMU

In other words, the vehicle posture stability determination unit 31 determines whether the vehicle is traveling stably by measuring the front-rear inclination and the left-right inclination of the vehicle using the roll data and the pitch data, Calculates the yaw angular velocity Yaw (?) Of the agricultural work vehicle and the vehicle slip angle? To determine whether the agricultural work vehicle is accurately following the work path.

The control unit 40 sends a shift signal to the ECU 50 in accordance with the determination results of the vehicle posture stability determination unit 31 and the work path following stability determination unit 32 of the vehicle attitude information measurement unit 30. [ That is, if both the determination result of the vehicle posture stability determination unit 31 and the determination result of the work path following stability determination unit 32 are satisfactory, it is determined that the stability of the operation of the agricultural work vehicle is satisfied and an acceleration signal is sent, If it is not good, it indicates that the operation stability of the agricultural work vehicle is not satisfied and sends a deceleration signal.

Meanwhile, as shown in FIG. 3, the speed control method for work safety of the autonomous traveling agricultural machine according to the present invention includes: a running start step of starting autonomous running after setting a maximum allowable speed of the agricultural work vehicle; The actual vehicle speed and absolute position of the agricultural work vehicle are measured using the GPS sensor while the agricultural work vehicle is running, and the side slip angle is calculated. In addition, the IMU sensor is used to calculate yaw data, pitch data and roll data A real-time dynamic analysis analysis step of measuring a real- A real-time attitude information measuring step of measuring a tracking stability of the agricultural work vehicle with respect to the vehicle attitude and the work path based on the signals of the GPS sensor and the signals of the IMU sensor; A step of judging the stability of the agriculture work vehicle in which the working stability condition of the agriculture work vehicle is satisfied and the work stability condition of the agriculture work vehicle is not satisfied if both the vehicle posture stability and the work path following stability are satisfied; And a shifting step of accelerating the agriculture work vehicle if the work stability condition of the agriculture work vehicle is satisfied and decelerating the agriculture work vehicle otherwise.

Here, the step of determining the stability of the agricultural work vehicle is a step of determining whether the yaw angular velocity Yaw (ω) is less than the allowable value (maximum allowable ω) and the side slip angle β is the allowable value (maximum allowable β) And satisfies the operation stability condition only when the angle of inclination, roll angle and pitch angle both satisfy the respective conditions below the respective allowable values as the driving stability related factors of the agricultural work vehicle, otherwise the operation stability condition is satisfied It is judged that it is not.

The control process using the speed control device and method for safety of the autonomous traveling agricultural machine of the present invention will be described as follows.

When the work is started, the agriculture work vehicle performs the work while following the work path set at the set maximum traveling speed. If the working environment changes such as a change in the road surface state in the course of following the work path, the vehicle attitude information measuring unit 30 measures the change of the vehicle attitude information and transmits the measured change to the control unit.

That is, when the attitude information of the agricultural work vehicle suddenly changes and the attitude information data exceeding the set range is generated, the vehicle attitude information measuring unit 30 transmits the change information of the vehicle attitude to the control unit 40, A deceleration signal is sent to the engine 50 so that the engine rpm is lowered so that the agriculture work vehicle decelerates. The control unit 40 also sends a deceleration signal to the ECU 50 when a signal relating to the deviation of the work path of the agricultural work vehicle is transmitted from the work path following stability determining unit 32 of the vehicle attitude information measuring unit 30 It is natural that the agriculture work vehicle is allowed to decelerate by making the engine rpm low.

Of course, when stable posture information is continuously measured during the unit work time, the control section 40 may send an acceleration signal to the ECU 50 so that the rpm of the engine is increased. However, the engine rpm can be accelerated only up to the maximum permissible running speed of the agricultural work vehicle.

Although the apparatus and the method for controlling the speed for the autonomous driving agricultural machine have been described, it may be applied to the control of the power transmission according to the driving work conditions, and the speed control technique Can be used universally.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention. Various modifications and variations will be possible without departing from the spirit of the invention. Therefore, the scope of the present invention should be construed as being covered by the scope of the appended claims, and technical scope within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

10: GPS sensor 20: IMU sensor
30: vehicle attitude information measuring unit 31: vehicle attitude stability determining unit
32: Work path following stability determination unit 40:
50: ECU

Claims (5)

An autonomous traveling agricultural machine in which an agricultural work vehicle, on which a driver does not ride, moves along a predetermined work path,
A GPS sensor for measuring the actual vehicle speed and absolute position of the agricultural work vehicle and calculating the side slip angle;
An IMU sensor for measuring attitude information of the vehicle;
A vehicle attitude information measuring unit for measuring attitude information of the agricultural work vehicle based on the signals of the GPS sensor and the signals of the IMU sensor; An ECU for controlling the engine rpm so that the agricultural work vehicle is decelerated or accelerated; And a control unit for evaluating the stability of the operation of the agricultural work vehicle according to the measurement result of the vehicle attitude information measuring unit and providing an acceleration or deceleration signal to the ECU.
The method according to claim 1,
The vehicle-
A vehicle posture stability determining unit for determining whether the agricultural work vehicle stably moves on the basis of the pitch data and the roll data measured by the IMU sensor of the agricultural work vehicle and the yaw data measured by the IMU sensor of the agricultural work vehicle And a work path following stability determining unit for determining whether the agricultural work vehicle accurately follows the work path through the angular velocity and the side slip angle data measured by the GPS sensor. Device.
The method according to claim 1 or 2,
The GPS sensor is installed at the center of gravity of the agricultural work vehicle,
Wherein the IMU sensor is mounted on the front axle of the agriculture working vehicle.
In controlling an autonomous traveling agricultural machine that has been operated so that an agricultural work vehicle that the driver does not ride moves along a predetermined work path,
A running start step of starting an autonomous running after setting a maximum allowable speed of the agricultural work vehicle;
The actual vehicle speed and absolute position of the agricultural work vehicle are measured using the GPS sensor while the agricultural work vehicle is running, and the side slip angle is calculated. In addition, the IMU sensor is used to calculate yaw data, pitch data and roll data A real-time dynamic analysis analysis step of measuring a real-
A real-time attitude information measuring step of measuring a tracking stability of the agricultural work vehicle with respect to the vehicle attitude and the work path based on the signals of the GPS sensor and the signals of the IMU sensor;
A step of judging the stability of the agriculture work vehicle in which the working stability condition of the agriculture work vehicle is satisfied and the work stability condition of the agriculture work vehicle is not satisfied if both the vehicle posture stability and the work path following stability are satisfied;
And a shifting step of accelerating the agriculture work vehicle and decelerating the agriculture work vehicle if the working stability condition of the agriculture work vehicle is satisfied. .
The method of claim 4,
The operation stability determination step of the agriculture work vehicle,
As a factor related to the steering stability of the agricultural work vehicle, the yaw angular velocity is less than the permissible value, the side slip angle is not less than the allowable value, and the yaw angle, roll angle and pitch angle are both factors The control unit determines that the operation stability condition is satisfied and otherwise determines that the operation stability condition is not satisfied. The method of claim 1, wherein the operation stability condition is satisfied.

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