KR20220126206A - Control device - Google Patents

Abstract

The present invention is to provide a control device capable of detecting an idle state of a work vehicle at low cost. A control device (100) according to one embodiment includes a detecting unit (101) and an idle detecting unit (102). The detecting unit (101) detects the number of rotations of each wheel, the wheels which are installed on the left and right sides of a work vehicle (1) working on pavement and are allowed for differential control for rotating the wheels at different numbers of rotations during turning. The idle detecting unit (102) detects the idle state of the wheels based on the difference in the number of rotations between the left and right wheels.

Description

CONTROL DEVICE

The present invention relates to a control device.

DESCRIPTION OF RELATED ART Conventionally, the control apparatus which drives a work vehicle autonomously by controlling an operation device based on the positional information of a work vehicle in a pavement is known (for example, refer patent document 1).

Japanese Patent Laid-Open No. 2016-24541

However, in the prior art, there is room for improvement in terms of detecting the idle state of the wheels in the work vehicle without cost.

The present invention has been made in view of the above, and an object of the present invention is to provide a control device capable of detecting an idle state of a work vehicle at low cost.

In order to solve the above-mentioned subject and achieve the objective, the control apparatus 100 by one aspect of embodiment is equipped with the detection part 101 and the idle speed detection part 102. As shown in FIG. The detection unit 101 is a wheel installed in the left and right directions of the work vehicle 1 working on the pavement, and detects the rotation speed of each wheel capable of differential control that rotates the left and right sides at a different rotation speed when turning. The idling detection unit 102 detects the idling state of the wheel based on the left-right difference in the rotation speed of the left and right wheels.

According to one aspect of the embodiment, the idle state of the work vehicle can be detected at low cost.

1 is a side view showing a work vehicle;
2 is a plan view showing a work vehicle;
3 is a block diagram showing a control system centering on a control device for a seedling transplanter.
4 is a block diagram showing the functional configuration of the controller.
It is explanatory drawing of the autonomous driving in the packaging of a seedling transplanter.
6 is a diagram showing processing of the travel control unit.
7 is a flowchart for explaining a process performed during idle.
8 is a flowchart for explaining processing by mode transition.
9 is a flowchart for explaining processing by mode transition.

(Overview of the work vehicle)

First, an outline of the work vehicle 1 according to the first embodiment will be described with reference to FIGS. 1 and 2 . 1 is a side view showing a work vehicle 1 . 2 is a plan view showing the work vehicle 1 .

Note that, in the following description, the front-rear direction refers to the traveling direction when the work vehicle 1 moves straight forward, and the front side of the traveling direction is defined as "front" and the rear side as "rear". The traveling direction of the work vehicle 1 is a direction from the cockpit 41 toward the steering wheel 35 (steering device) when going straight (refer to FIGS. 1 and 2 ).

A left-right direction is a direction orthogonal to a horizontal direction with respect to the front-back direction, and prescribe|regulates left-right toward the "front" side. That is, in the state where the operator (also referred to as an operator) sits in the cockpit 41 and faces forward, the left side is "left" and the right side is "right".

The vertical direction is a vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of description, and the present invention is not limited by these directions.

In the embodiment, the work vehicle 1 is described as a seedling transplanter 1 of a riding type that includes a seedling planting unit 4 as a pavement work device and receives a seedling into the pavement. As shown in Figs. 1 and 2, the seedling transplanter 1 is provided with a liftable seedling planting unit 4 on the rear side of the traveling vehicle body 2 via a lifting link mechanism 3 to plant seedlings on the pavement. .

The body part of the fertilization apparatus 5 is arrange|positioned above the rear part of the traveling vehicle body 2 . In addition, when the work vehicle 1 is not the seedling transplanter 1, a seeding device for supplying seeds or the like may be provided as the working device.

The traveling vehicle body 2 is a four-wheel drive vehicle which is a wheel and is provided with the left and right front wheels 10 and the rear wheel 11 which are drive wheels. On the front side of the main frame 15 constituting the vehicle body frame of the traveling vehicle body 2 , the transmission case 13 that transmits the driving force to the seedling planting part 4 and the like, and the driving force supplied from the engine 30 , that is, the engine 30 ), a hydraulic continuously variable transmission device 14 that outputs the rotation generated in the transmission case 13 is installed.

The continuously variable transmission device 14 is a hydrostatic continuously variable transmission called so-called HST (Hydraulic Static Transmission). Hereinafter, a case in which the continuously variable transmission device is the HST 14 will be described.

In the transmission case 13, an auxiliary transmission mechanism 16 for switching the traveling mode of the traveling vehicle body 2 at the time of road running in the high-speed mode or the planting of a seedling in the low-speed mode is provided. Front wheel final cases 10a are installed on the left and right sides of the transmission case 13, and front wheels ( 10) is installed.

In addition, on the rear side of the main frame 15, rear wheel gear cases 11a are mounted on both left and right sides of the rear frame 22 (refer to FIG. 2) installed in the transverse direction, respectively, outward from the rear wheel gear case 11a. Rear wheels 11 are respectively attached to the protruding left and right rear axles 11b.

Further, on the upper portion of the rear frame 22 , the left and right link support frames 23 supporting the lifting link mechanism 3 protrude upward. It is the lower side of the link support frame 23 on the left and right, and a pair of left and right lower link arms 24 are provided between the left and right. A lifting cylinder 25 operated by hydraulic pressure is provided between the left and right of the lower link arms 24 on the left and right.

An upper link arm 26 is provided above the elevating cylinder 25, and the elevating link mechanism 3 which is a parallel link mechanism is comprised. In addition, the lower link arms 24 on the left and right each connected to the traveling body 2 side at one end, the lifting cylinder 25 and the other end side of the upper link arm 26 are attached to the front part of the seedling planting part 4 . do.

In addition, the engine 30 is mounted on the main frame 15 . The rotational power of the engine 30 is transmitted to the transmission case 13 through the belt transmission 21 and the HST 14 . After the rotational power transmitted to the transmission case 13 is shifted by the auxiliary transmission mechanism 16 in the transmission case 13, it is divided into running power and external extraction power.

In addition, the rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, the power steering mechanism 88 of the handle 35 (refer to FIG. 3), the lifting cylinder 25, and the like.

The external extraction power extracted from the rotation power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided in the rear part of the traveling body 2, and the planting transmission shaft 67 from the planting clutch case 27. It is transmitted to the seedling planting part 4 by .

On the other hand, the left and right drive shafts 42 are installed in the rear portion of the transmission case 13 . The rotational power from the engine 30 is transmitted to the left and right rear wheel gear cases 11a via the transmission case 13 and the drive shaft 42 .

In addition, the side clutch 44 (refer to FIG. 3) for turning on/off power transmission to the right and left drive shafts 42 is disposed above the left and right drive shafts 42 in the transmission direction. As shown in FIG. 1 , a side clutch pedal 43a for turning the left and right side clutches 44 on/off is provided at the lower front side of the cockpit 41 and on one left and right sides.

Among the left and right side clutch pedals 43a, when the side clutch pedal 43a inside the turning is turned off to turn off the side clutch 44, and then the steering wheel 35 is operated for turning driving, the rear wheel 11 inside the turning ) can completely block the drive rotation.

A bonnet 39 is provided on the upper portion of the front side of the traveling vehicle body 2 , in which a control panel 38 for operating each part is disposed thereon. The control panel 38 is provided with a monitor 86 (refer to Fig. 3) and the like.

Moreover, in the bonnet 39, the steering wheel 35 which steers the traveling body 2, the shift operation lever 36 which operates the HST 14 and the seedling planting part 4, and the auxiliary transmission mechanism 16 are operated A sub-shift operation lever 37 and the like are provided.

In addition, an openable and openable front cover 40 is installed on the front side of the bonnet 39 . In the inside of the front cover 40, a fuel tank, a battery, and an interlocking mechanism for rotating the lower side of the left and right front wheels 10 and the left and right front wheel final cases 10a by steering of the handle 35 are provided. The front wheel 10 is a steering wheel which turns according to the steering of the steering wheel 35, for example.

An engine cover 30a covering the upper and side portions of the engine 30 is installed at the rear side of the bonnet 39 and at an upper position of the engine 30, and on the upper portion of the engine cover 30a, a cockpit where the operator sits ( 41) is installed.

It is the rear side of the cockpit 41, and the fertilization device 5 is provided in the rear end side of the main frame 15. The driving force of the fertilization apparatus 5 is transmitted by the fertilization transmission mechanism provided so that it may apply to the fertilization apparatus 5 from the left and right side of the rear wheel gear case 11a of either side.

A substantially horizontal floor step 33 is formed in both the left and right sides in the lower part of the engine cover 30a and the bonnet 39. As shown in FIG. As shown in Fig. 2, the floor step 33 has a partial lattice shape. For example, mud on the shoes of the operator who walks on the floor step 33 falls, or the fallen mud falls onto the pavement.

Moreover, as shown in FIG. 2, the rear step 330 is connected behind the floor step 33. As shown in FIG. The surface of the rear step 330 is preferably subjected to an anti-slip process in which, for example, a plurality of protrusion patterns are formed so that the foot becomes less slippery during operation.

In addition, it is the front side of the traveling vehicle body 2, and a spare seedling frame 50 for arranging a plurality of spare seedling loading tables 52 at intervals in the vertical direction on the seedling frame post 51 is installed on the left and right sides, respectively, Working materials, such as a seedling supplemented to the seedling planting part 4, and a fertilizer bag, can be loaded.

Moreover, the seedling tank 53 which loads the seedlings to be planted in a pavement is attached to the rear end part of the raising/lowering link mechanism 3 together with the sliding mechanism which slides in the left-right direction. In the seedling tank 53, the seedling partition fence 54 long in the up-down direction is respectively arrange|positioned at predetermined intervals in the left-right direction. Below the seedling tank 53, the seedling planting apparatus 55 which scrapes out the loaded seedling, and plants it in a field|vehicle is arrange|positioned.

The seedling planting apparatus 55 is to plant the same number as the number of planting operation assistants partitioned by the seedling partition fence 54, ie, 8 sets simultaneously, and the planting transmission case 56 is spaced below the seedling tank 53, Four are arrange|positioned, and the planting rotary 57 which takes a seedling by the planting stem 58 and plants it in a pavement, rotating to the right and left both sides of the planting transmission case 56 is attached, respectively.

As for the fertilization apparatus 5, the fertilization hopper 70 in which a fertilizer is stored is partitioned by the same number (in the example shown in FIG. 2, for 8 groups) as the number of work crews of the seedling planting part 4. In addition, since the fertilization hopper 70 for 8 sets is long in the left-right direction, the convenience of putting in and putting on and taking off a fertilizer falls, so-called side fertilization structure may be sufficient as what was divided into 4 sets|pieces by arranging each left and right, respectively.

At the lower part of the fertilization hopper 70, a take-out device 71 for supplying a set amount of fertilizer is installed for every set. Below the take-out device 71, the ventilation duct 72 through which the conveyance wind which moves a fertilizer passes is provided in the left-right direction. The fertilization hose 73 which guides a fertilizer in the vicinity of the seedling planting position of the seedling planting part 4 is provided below the take-out apparatus 71. Moreover, the blower 74 which operates by the electric motor 76 for blowers to generate|occur|produce a conveyance wind is provided in the one side edge part of the ventilation duct 72. As shown in FIG.

As shown in FIG.1 and FIG.2, below the seedling planting part 4, the center float 62C which grounded on the pavement surface, and slides, and the side floats 62L, 62R of each of two right and left are rotatable around an axis. is installed In addition, the center float 62C and the side floats 62L and 62R on either side may be collectively referred to as the float 62 in some cases.

Moreover, below the seedling planting part 4 WHEREIN: The stop rotor 63 which stops the unevenness|corrugation of a pavement surface is provided in the front side rather than the float 62. As shown in FIG. Further, a driving force is transmitted to the stationary rotor 63 from the left and right rear wheel gear cases 11a through the rotor transmission shaft 63a.

In addition, as shown in FIG. 1, either left or right is grounded on the pavement surface on the left and right both sides of the seedling planting part 4, and the line|wire which forms the groove|channel used as the reference|standard of running in the next work tank (next process). Markers 65 are respectively provided. When the left and right side drawing markers 65 are grounded on the left and right, the other side is spaced upward, and when the seedling planting part 4 is raised at the time of turning, both left and right both sides are spaced upward, and the seedling planting part 4 after turning. When descending, the left and right sides are separated upward and the other side is grounded.

Further, as shown in Figs. 1 and 2, a center mascot 66, which is the left and right central portion of the traveling vehicle body 2, and is provided in front of the bonnet 39, is elongated in the vertical direction. By aligning the center mascot 66 with the grooves formed in the pavement by the left and right scribing markers 65, it is possible to travel according to the working position of the immediately preceding work group, and it is possible to improve work precision and prevent non-work occurrence. .

In addition, depending on the soil quality of the pavement, the guide line formed by the left and right scribing markers 65 may be buried immediately, and the standard of going straight may be lost. In this case, it is good to use the left and right side markers 19 provided on the front side rather than the left and right scribing markers 65 . That is, the planting operation matched to the planting of the seedling of a front work tank becomes possible by moving the side marker 19 on either side outward and positioning the side marker 19 above the planted seedling.

Moreover, as shown in FIG. 1, the seedling transplanter 1 is equipped with the position acquisition device 150. As shown in FIG. The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1 . The position acquisition device 150 includes, for example, a direction sensor and positioning means such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position acquisition device 150 may be constituted by a plurality of devices. The position acquisition device 150 may include a camera and an ultrasonic sensor, acquire the turning position in a pavement, and may detect the distance to a turning position.

For example, the position acquisition device 150 receives positioning information from the positioning means, creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, the current position, and acquire a defense The position acquisition device 150 is mounted on the mounting stay 59 , for example, and is disposed above the traveling vehicle body 2 .

The program for straight-ahead control and the program for turning control created based on the positional information by the position acquisition device 150 are stored in mutually separate places. The straight-ahead control program is stored, for example, in the straight-ahead control ECU (Electronic Control Unit) 100a in the position acquisition device 150, and the turning control program is, for example, housed in the bonnet 39 ECU 100b for turning control. is stored in In addition, ECU 100a for straight-ahead control and ECU 100b for turning control are included in the control apparatus 100 (refer FIG. 3) mentioned later. The ECU 100a for straight line control and the ECU 100b for turning control may be stored in the same ECU.

(control system of seedling transplanter)

Next, with reference to FIG. 3, the control system of the seedling transplanter 1 is demonstrated. 3 is a block diagram showing a control system centering on the control device 100 of the seedling transplanter 1 . The seedling transplanter 1 can control each part by electronic control, and is equipped with the control apparatus (henceforth a controller) 100 which controls each part.

The controller 100 is provided with a processing unit having a CPU (Central Processing Unit) or the like, a storage unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an input/output unit, which are connected to each other to give and receive signals. it is possible to receive A computer program and the like for controlling the seedling transplanter 1 are stored in the storage unit. The controller 100 exerts each function by reading a computer program or the like stored in the storage unit.

In the controller 100, for example, as actuators, a throttle motor 80, hydraulic control valves 81 and 82, a planting clutch operation solenoid 83, a side clutch operation solenoid 84, an HST 14 motor ( 85), a scribing marker raising/lowering motor 87, a steering motor 95 (motor), a differential lock switching motor 96, and the like are connected.

The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the intake air amount of the engine 30 . The hydraulic control valve 81 controls the expansion/contraction operation of the lifting cylinder 25 . The hydraulic control valve 82 controls the power steering mechanism 88 . The planting clutch operation solenoid 83 operates the planting clutch 27a.

The side clutch operation solenoid 84 operates the side clutch 44 which switches the power transmission state to the rear wheel 11 (refer FIG. 1). In addition, the side clutch 44 is provided in each of the rear wheels 11 on the right and left, and two side clutch operation solenoids 84 are provided in correspondence with each side clutch 44 .

The HST 14 motor 85 changes the inclination angle of the swash plate of the HST 14 by changing the rotation angle of the trunnion of the HST 14 . The steering motor 95 is a motor which drives the steering wheel 35 which is a steering device which adjusts the steering amount (rudder angle) of the front wheel 10 (refer FIG. 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35 . The scribing marker raising/lowering motor 87 raises and lowers the scribing marker 65 .

The differential lock switching motor 96 is a motor that switches the operation and stop of the operation of the differential lock mechanism 97 (also referred to as a co-rotating mechanism). The differential lock mechanism 97 locks the differential control which rotates each of the left and right front wheels 10 (or the rear wheels 11) at different rotation speeds at the time of turning. That is, when the differential lock mechanism 97 is turned on, the differential control is locked, and the left and right wheels rotate at the same rotational speed.

The controller 100 is connected to a rotation speed sensor 90 , a steering amount sensor 91 (a steering angle sensor), an inclination sensor 92 , and the like, which are detection devices. Four rotation speed sensors 90 are provided corresponding to each of the front wheels 10 and the rear wheels 11 on the left and right, and detect the rotation speeds of the front wheels 10 and the rear wheels 11 on the left and right, respectively.

The steering amount sensor 91 detects an operation amount of the steering wheel 35 which is a steering device, that is, a steering amount (rudder angle) of the front wheel 10 . The steering amount sensor 91 is provided on a shaft connected to a Pitman arm, for example. In addition, the steering amount is detected in each left-right direction with the value when the steering wheel 35 becomes a preset straight-ahead position as a reference value. The inclination sensor 92 detects an inclination angle that is the inclination of the traveling body 2 .

Moreover, to the controller 100, the shift operation lever 36, the auxiliary shift operation lever 37, the autonomous driving changeover switch 46, the planting part raising/lowering switch 47, the automatic turning changeover switch 48, and drawing as an operation signal are an operation signal. A signal is input from the marker automatic raising/lowering switch 49 or the like.

The autonomous driving changeover switch 46 is a switch for switching whether or not to execute autonomous driving. Specifically, the autonomous driving changeover switch 46 is a switch for switching the driving mode to the autonomous driving mode or the manual driving mode.

The planting part raising/lowering switch 47 is a switch which switches whether the seedling planting part 4 is raised and lowered. The planting part raising/lowering switch 47 is changed to a "rising" and a "falling" position.

When the planting part raising/lowering switch 47 exists in a "rising" position, the seedling planting part 4 rises to a predetermined non-work position, and it will be in the non-work state which the seedling planting apparatus 55 stops. When the planting part raising/lowering switch 47 exists in a "falling" position, the seedling planting part 4 descends to a predetermined working position, and it will be in the working state in which the seedling planting apparatus 55 operates. That is, the planting part raising/lowering switch 47 is a switch which detects the working state of the seedling planting part 4. Moreover, the switch which detects the working state of the seedling planting part 4 may be provided separately.

The scribing marker automatic raising/lowering switch 49 is a switch for switching whether or not to automatically raise/lower the scribing marker 65 in association with the operation amount of the handle 35 , that is, the steering amount of the front wheel 10 . When the scribing marker automatic raising/lowering switch 49 is "ON", control for automatically raising/lowering the scribing marker 65 in association with the steering amount is executed. On the other hand, when the automatic scribing marker automatic raising/lowering switch 49 is "OFF", control for automatically raising/lowering the scribing marker 65 in association with the steering amount is not executed.

The automatic turning changeover switch 48 is a switch for switching whether or not to enable execution of automatic turning. When the automatic turning changeover switch 48 is "ON", automatic turning becomes executable. When the automatic turning changeover switch 48 is "OFF", automatic turning becomes impossible. When the automatic turning changeover switch 48 is "OFF", even if the condition for executing automatic turning is satisfied, automatic turning is not executed.

Here, the functional configuration of the controller 100 will be described with reference to FIG. 4 . 4 is a block diagram showing a functional configuration of the controller 100 .

As shown in FIG. 4 , the controller 100 includes a detection unit 101 , an idle detection unit 102 , a drive control unit 103 , and a travel control unit 104 .

The detection unit 101 detects the rotation speed of the front wheel 10 and the rear wheel 11 at the time of turning based on the detection result of the rotation speed sensor 90 . Specifically, the detection unit 101 detects when the steering angle of the front wheel 10 is equal to or greater than a predetermined angle, the left front wheel 10 , the right front wheel 10 , the left rear wheel 11 , and the right rear wheel 11 . ) to detect each number of rotations. In other words, the detection unit 101 detects the rotation speed of each of the front wheels 10 and the rear wheels 10 when the differential control is started.

The idle detection part 102 detects the idle state of the front wheel 10 based on the left-right difference which is the difference of the rotation speed in the front wheel 10 on either side. Specifically, the idle detection unit 102 calculates the ratio of the rotation speed of the right front wheel 10 to the rotation speed of the left front wheel 10 as the left-right difference. Alternatively, the idle detection unit 102 calculates a ratio of the rotation speed of the left front wheel 10 to the rotation speed of the right front wheel 10 as a left-right difference. In addition, the idle detection part 102 may calculate the difference of the rotation speed of the left front wheel 10 and the rotation speed of the right front wheel 10 as a left-right difference.

And, the idle detection unit 102 detects the idle state when the ratio of the rotation speed, which is the difference between the left and right, deviates from the reference value by a predetermined value or more. The reference value is set according to the steering angle of the front wheel 10 . That is, the idle detection unit 102 detects that the vehicle is turning normally by the differential control when the ratio of the rotation speed is less than a predetermined value from the reference value, and when the rotation speed ratio deviates from the reference value by a predetermined value or more, the left and right front wheels (10) It is detected that any one is idle. In addition, when the rear wheel 11 is differentially controlled, the idle detection unit 102 detects the idle state of the rear wheel 11 .

In this way, according to the controller 100 according to the embodiment, the position information of the position acquisition device 150 is not acquired by detecting the idle state according to the rotation speed of the left and right wheels (the front wheel 10 or the rear wheel 11). It is possible to detect the idle state without That is, according to the controller 100 according to the embodiment, the idle state can be detected at low cost.

Further, when the left and right front wheels 10 are both in the idle state, the idle detection unit 102 detects that the left and right front wheels 10 are both in the idle state because the position detected by the position detection device 150 does not change. do.

When the idle state is detected by the idle detection unit 102 , the drive control unit 103 drives the differential lock changeover motor 96 to operate the differential lock mechanism 97 to turn it on.

And, when the differential lock mechanism 97 of the front wheel 10 is operated by the drive control unit 103, the idle detection unit 102 is a driven wheel (a state in which the clutch is deviating from the drive shaft) at the time of turning. It is detected whether or not the idle state of the front wheel 10 is resolved based on the rotation speed of . Specifically, the idle detection unit 102 detects that the idle state has been resolved when it is detected that the driven rear wheel 11 is rotating, and when it is detected that the rear wheel 11 is stationary, the idle state Detects continuing.

In this way, when the front wheel 10 is in an idle state, by actuating the differential lock mechanism 97, since the left and right front wheels 10 rotate at the same rotation speed, the idle state can be canceled with high precision.

In addition, when the idle state of the front wheel 10 is not resolved after the differential lock mechanism 97 of the front wheel 10 is operated by the drive control unit 103, the idle detection unit 102 controls the rear wheel 11 as the driven wheel. to the drive wheels. Specifically, the idle detection unit 102 switches to the driving wheel by connecting the clutch to the drive shaft of the rear wheel 11 . That is, when the idle state of the front wheels 10 is not eliminated despite the operation of the differential lock mechanism 97, the idle state can be canceled with high precision by forcibly four-wheel drive.

Moreover, you may be comprised so that ON and OFF of the functions of the detection part 101, the idle detection part 102, and the drive control part 103 mentioned above can be switched by the changeover switch (not shown). Such a changeover switch is provided in the vicinity of the cockpit 41 of the traveling body 2 , for example.

Further, the changeover switch may be configured to be switchable by a remote control that remotely operates the seedling transplanter 1 (remote operation of various adjustments of the working machine) while the seedling transplanter 1 is automatically running. In addition, such a remote control is used, when performing switching control of the hair bristle quantity in the planting part 4, planting depth, and a seedling rail.

In addition, the control in which the (4) wheel drive is always performed regardless of the presence or absence of an idle state by such a remote control may be performed. In addition, when four-wheel drive is forcibly performed at idle or the like, such four-wheel drive control may be canceled (the rear wheels 11 are switched from the driving wheels to the driven wheels).

In addition, the controller 100 may determine based on the positional information detected by the position acquisition device 150 whether the seedling transplanter 1 is moving, including whether it is an idle state.

The traveling control unit 104 executes an autonomous driving mode in which the traveling vehicle body 2 performs work while automatically driving (autonomous driving) based on the current position information of the traveling vehicle body 2 obtained from the position acquisition device 150, etc. .

(Autonomous driving mode)

Here, with reference to FIG. 5, the autonomous running (automatic running) including the automatic turning in the field|packing by the seedling transplanter 1 is demonstrated. 5 : is explanatory drawing of the autonomous driving in the packaging of the seedling transplantation machine 1 . The driving control unit 104 controls the steering motor 95 (see FIG. 3 ) while feeding back the steering amount of the front wheels 10 (see FIG. 1 ) to operate the steering wheel 35 (see FIG. 3 ) in an autonomous driving mode. have The autonomous driving mode includes an automatic straight-forward mode and an automatic turning mode.

As shown in FIG. 5, in the autonomous driving mode, the seedling transplanter 1 automatically performs the planting operation of a seedling, repeating going straight and turning along a planned travel route in a pavement. In addition, as described above, the traveling control unit 104 acquires the current position information of the seedling transplanter 1 and information regarding the turning position by the position acquisition device 150 disposed above the traveling vehicle body 2 . do.

The seedling transplanter 1 plants a seedling, reciprocating in the inside of the predetermined|prescribed work area in a field|pavement. In this case, with respect to the straight travel, the travel control unit 104 automatically travels along the straight travel route L1 set by executing the automatic straight line mode. In addition, with respect to the turning travel, automatic turning along the turning travel path L2 is executed by the travel control unit 104 executing the automatic turning mode.

The straight travel path L1 is parallel to the reference line L0 serving as the travel reference. The reference line L0 is set in a field according to the planting direction of a seedling. The travel control unit 104 acquires the start position and the end position of the straight travel as a reference start point (point A) and a reference end point (point B), respectively, and stores the line segment connecting the points A and B as the reference line L0. .

The traveling control unit 104 controls the steering motor 95 so that the steering amount of the handle 35 becomes a predetermined steering amount while the seedling transplanter 1 is turning. In this case, the travel control unit 104 executes the processing regardless of the position information acquired by the position acquisition device 150 . The predetermined steering amount is a preset value. The predetermined steering amount is set according to the type of the seedling transplanter 1 or the like. The predetermined steering amount is set so that transmission from the automatic turning to the automatic straight line is performed smoothly.

If the position of the seedling transplanter 1 after automatic turning is out of the straight travel path L1 of the automatic straight line of the next step, adjustment is made to match the straight travel route L1 of the automatic straight line of the next step after the automatic turning. The vibration of the traveling vehicle body 2 becomes large. Moreover, for example, an operator must operate the handle 35 to adjust so that it may match the straight travel path|route L1 of the automatic straight advance of a next process, and an operator's load becomes large. Moreover, there exists a possibility that the running posture of the seedling transplanter 1 may not become disturbed. In view of this point, the predetermined steering amount is set so that transmission from the automatic turning to the automatic straight line is smoothly performed.

In addition, the traveling control unit 104 is configured to move the seedling transplanter 1 to a desired position on the set turning travel path L2 based on the position information acquired by the position acquisition device 150 while the seedling transplanter 1 is turning. The steering motor 95 may be controlled so that In addition, the controller 100 may perform automatic turning by combining the above-described two automatic turning modes.

After turning by automatic turning, the traveling control part 104 controls the steering motor 95 so that the seedling transplanter 1 may reach the planting start position by the automatic straight-forward of a next process.

The travel control unit 104 controls the steering motor 95 based on the steering amount of the steering wheel 35 detected by the steering amount sensor 91 in the case of executing autonomous driving. Specifically, the traveling control unit 104 autonomously travels so that the traveling direction based on the steering amount of the steering wheel 35 detected by the steering amount sensor 91 follows the reference direction that is the direction of the reference line L0 .

Here, the case of transitioning to the autonomous driving mode in the state where the seedling transplanter 1 is located on the straight traveling path L1 will be described. When the traveling control unit 104 is positioned on the straight traveling path L1, the seedling transplanter 1 transitions to the autonomous driving mode (automatic straight forward mode) by satisfying a predetermined condition.

Specifically, the driving control unit 104 transitions from the manual driving mode to the autonomous driving mode when the following conditions (i) to (iv) are satisfied.

(i) The position information is normally detected by the position acquisition device 150

(ii) the aircraft attitude is less than a predetermined angle (eg, 8°C)

(iii) Sub-shift is not in high-speed mode

(iv) the forward direction is not the trailing direction

In addition, when the traveling control unit 104 transitions to the autonomous driving mode in a state in which the traveling direction of the seedling transplanter 1 deviates from the reference direction, the autonomous driving mode is released after a predetermined first time elapses to release the manual driving mode. transfer to This point will be described with reference to FIG. 6 .

6 is a diagram showing the processing of the travel control unit 104 . 6 shows a case where the advancing direction (solid arrow) of the seedling transplanter 1 is separated by a predetermined deviation angle α with respect to the reference direction (direction of the reference line L0).

As shown in FIG. 6 , the travel control unit 104 determines that when transitioning to the autonomous driving mode in a state where the deviation angle α in the traveling direction of the seedling transplanter 1 with respect to the reference direction is equal to or greater than a predetermined angle, the predetermined first time After the elapsed time, the autonomous driving mode is canceled. Also, the first time is set for the deviation angle α. Specifically, the first time is set shorter as the deviation angle α is larger, and longer as the deviation angle α is smaller.

That is, the travel control unit 104 considers that the advancing direction of the seedling transplanter 1 is in the middle of returning to the reference direction, and waits for only the first time to wait for the deviation angle α to return to less than a predetermined angle. More specifically, the smaller the deviation angle α, the higher the probability of returning to less than the predetermined angle, the longer the first time, and the larger the deviation angle α, the lower the probability of returning to less than the predetermined angle. make short

In this way, for example, when the traveling direction returns to the reference direction immediately after the automatic turning, even if the autonomous driving mode is accidentally switched to the autonomous driving mode early, mode transition with a margin secured for the first time is possible.

In addition, although the mode transition which gave the example of the deviation angle (alpha) was demonstrated in FIG. 6, the same process can be performed also in the planting part 4 which is a work machine. Specifically, the traveling control unit 104 releases the autonomous driving mode after a second predetermined time has elapsed, when the height position of the planting part 4 with respect to the pavement is transitioned to the autonomous driving mode in a state of a predetermined height or more. . Also, the second time is set according to the height position. Specifically, the second time period is set shorter as the height position is higher (the farther from the predetermined height position), and longer as the height position is lower (closer to the predetermined height position). In addition, a predetermined height position corresponds to the height of the operation position of the planting part 4 .

That is, the travel control part 104 considered that the height position of the planting part 4 is returning to less than predetermined height, and it decided to wait for a height position to return to less than predetermined height by waiting only for 2nd time. More specifically, the lower the height position, the longer the second time because there is a higher probability of returning to below the predetermined height, and the shorter the second time because the higher the height position, the lower the probability of returning to below the predetermined height. do.

Thereby, for example, when the height position of the planting part 4 returns to less than predetermined height, even when it switches to an autonomous running mode early by mistake, the mode transition which ensured a margin only for 2nd time is attained.

Next, the processing executed by the controller 100 according to the embodiment will be described using the flowcharts of Figs. 7 is a flowchart for explaining a process performed during idle. 8 and 9 are flowcharts for explaining processing by mode transition.

As shown in FIG. 7, the controller 100 detects the rotation speed of each of the left and right front wheels 10 (step S101).

Then, the controller 100 determines whether or not the front wheel 10 is in an idle state based on the left-right difference in rotation speed (step S102).

When in the idle state (step S102: Yes), the controller 100 operates the differential lock mechanism 97 of the front wheel 10 (step S103). In addition, when the controller 100 is not in an idle state (step S102: No), the controller 100 shifts to step S101.

Then, the controller 100 detects the rotation of the rear wheel 11 which is a driven wheel (step S104).

The controller 100 determines whether or not the idle state has been resolved based on the result of the rotation detection of the rear wheel 11 (step S105).

When the idle state is eliminated (step S105: Yes), the controller 100 ends the process, and when the idle state is not eliminated (step S105: No), the controller 100 returns to step S104.

Next, as shown in FIG. 8, the controller 100 acquires the reference direction to which the seedling transplanter 1 automatically goes straight (step S201).

Then, it is assumed that the controller 100 has transitioned to the autonomous driving mode when a predetermined condition is satisfied (step S202).

Then, the controller 100 calculates the deviation angle α of the advancing direction with respect to the reference direction (step S203).

Then, the controller 100 determines whether the deviation angle α is equal to or greater than a predetermined angle (step S204).

When the deviation angle α is equal to or greater than a predetermined angle (step S204: Yes), the controller 100 determines whether the deviation is resolved within the first time (step S205).

When the discrepancy is resolved within the first time period (step S205: Yes), the controller 100 continues the autonomous driving mode (step S206) and ends the process.

In addition, when the deviation angle α is less than a predetermined angle (step S204: No), the controller 100 ends the process.

In addition, when the discrepancy is not resolved within the first time period (step S205: No), the controller 100 cancels the autonomous driving mode (step S207), and ends the process.

Next, as shown in FIG. 9, the controller 100 acquires the reference direction to which the seedling transplanter 1 automatically goes straight (step S301).

Subsequently, it is assumed that the controller 100 has transitioned to the autonomous driving mode when a predetermined condition is satisfied (step S302).

Then, the controller 100 detects the height position of the planting part 4 which is a work machine (step S303).

Subsequently, the controller 100 determines whether the height position is equal to or greater than a predetermined height (step S304).

When the height position is equal to or greater than the predetermined height (step S304: Yes), the controller 100 determines whether the height position has become less than the predetermined height within the second time period (step S305).

When the controller 100 becomes less than the predetermined height within the second time period (step S305: Yes), the controller 100 continues the autonomous driving mode (step S306) and ends the process.

In addition, when the height position is less than the predetermined height (step S304: No), the controller 100 ends the process.

Further, when the controller 100 has not become less than the predetermined height within the second time period (step S305: No), the controller 100 cancels the autonomous driving mode (step S307), and ends the process.

As described above, the controller 100 according to the embodiment includes the detection unit 101 and the idle detection unit 102 . The detection unit 101 is a wheel installed in the left and right direction of the work vehicle working on the pavement, and detects the rotation speed of each wheel capable of differential control that rotates the left and right sides at different rotation speeds when turning. The idle detection part 102 detects the idle state of a wheel based on the left-right difference in rotation speed in the left and right wheels. Thereby, an idle state can be detected at low cost.

Further effects or modifications can be easily derived by those skilled in the art. For this reason, the more extensive form of this invention is not limited to the specific detail and typical embodiment shown and described as mentioned above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall inventive concept defined by the appended claims and their equivalents.

1: Seedling transplanter (working vehicle) 2: Driving body
4: seedling planting part 10: front wheel
11: Rear wheel 35: Steering wheel (steering device)
38: Control panel 91: Steering amount sensor (rudder angle sensor)
95: steering motor (motor) 100: controller (control unit)
101: detection unit 102: idle detection unit
103: driving control unit 104: driving control unit

Claims (6)

A wheel installed in the left and right direction of the work vehicle 1 working on the pavement, the detection unit 101 detecting the rotation speed of each wheel capable of differential control that rotates each of the left and right sides at a different rotation speed when turning;
and an idle detection unit (102) for detecting an idle state of the wheel based on a left-right difference in the rotation speed of the left and right wheels. The method of claim 1,
The idle detection unit 102,
A control device characterized by calculating a ratio of the rotation speed of the left and right wheels as the left and right difference, and detecting the idle state when the ratio deviates from a reference value by a predetermined value or more. 3. The method according to claim 1 or 2,
The control device further comprising: a drive control unit (103) for operating a differential lock mechanism for locking the differential control when the idle state is detected by the idle detection unit (102). 4. The method of claim 3,
The idle detection unit 102,
When the differential lock mechanism of the front wheel 10 is operated by the drive control unit 103 while detecting the idling state of the wheel as the front wheel 10, the rear wheel 11 which is a driven wheel at the time of turning and detecting whether or not the idle state of the front wheel (10) is resolved based on the rotation speed of 5. The method of claim 4,
The idle detection unit 102,
After the differential lock mechanism of the front wheel 10 is operated by the drive control unit 103 , when the idle state of the front wheel 10 is not resolved, the rear wheel 11 is switched from the driven wheel to the driving wheel Control device, characterized in that. 3. The method according to claim 1 or 2,
Further comprising a driving control unit 104 having an autonomous driving mode for autonomously driving the work vehicle 1 along a set reference direction in the pavement,
The driving control unit 104,
When the autonomous driving mode is transitioned to the autonomous driving mode in a state where the deviation angle of the traveling direction of the work vehicle 1 with respect to the reference direction is equal to or greater than a predetermined angle, the autonomous driving mode is canceled after a first predetermined time has elapsed control device with

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