TWI762563B - Work vehicle - Google Patents
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- TWI762563B TWI762563B TW107102921A TW107102921A TWI762563B TW I762563 B TWI762563 B TW I762563B TW 107102921 A TW107102921 A TW 107102921A TW 107102921 A TW107102921 A TW 107102921A TW I762563 B TWI762563 B TW I762563B
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- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 9
- 238000009331 sowing Methods 0.000 description 5
- 238000002360 preparation method Methods 0.000 description 3
- 238000009333 weeding Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
本發明係有關於一種作業車輛。 The present invention relates to a work vehicle.
以往,在一邊以行駛車體在農田內行駛一邊以裝配於行駛車體的作業裝置進行對地作業的作業車輛中係具有如下功能:在作業裝置開啟或關閉時取得作業開始和作業結束的位置資訊,根據取得的作業開始位置以及作業結束位置製作基準線,轉向部件沿已製作的基準線自動轉向(參照專利文獻1)。 Conventionally, a work vehicle that performs ground work with a working device mounted on the traveling vehicle body while traveling in the farmland with the traveling vehicle body has a function of acquiring the position of the work start and the end of the work when the work device is turned on or off. Based on the obtained work start position and work end position, a reference line is created, and the steering member is automatically steered along the created reference line (see Patent Document 1).
在上述的作業車輛中,由於取得作業開始位置以及作業結束位置作為作業裝置開啟或關閉的位置,所以不需要取得作業開始位置以及作業結束位置的操作。 In the above-described work vehicle, since the work start position and the work end position are acquired as the positions at which the work implement is turned on or off, the operation of acquiring the work start position and the work end position is not required.
[現有技術文獻] [Prior Art Literature]
[專利文獻] [Patent Literature]
專利文獻1:日本特開2016-21890號公報。 Patent Document 1: Japanese Patent Laid-Open No. 2016-21890.
然而,上述的作業車輛並沒有考慮在農田的作業結束後向其他的農田移動並作業的情況,所以在其他的農田的作業開始時殘留有在之前的農田的作業中使用過的基準線(行駛基準資訊)。若在該狀態下使自動轉向功能開啟,則可能在作業中向不適於農田的方向行駛,存在作業性降低的問題。另外,機體行駛的方向為作業者未打算的方向,所以需要修正行進方向,存在作業者不得不進行額外的操作的問題。 However, the above-mentioned work vehicle does not consider the case where the work vehicle moves to another farmland and works after the work on the farmland is completed, so when the work on the other farmland starts, the reference line (travel) used in the previous work on the farmland remains. benchmark information). If the automatic steering function is turned on in this state, there is a possibility that the vehicle may travel in a direction that is not suitable for the farmland during work, and there is a problem that workability is lowered. In addition, since the direction in which the machine body travels is not intended by the operator, it is necessary to correct the travel direction, and there is a problem that the operator has to perform additional operations.
本發明的目的在於提供一種作業車輛,藉由防止將基準線沿用到其他的農田,從而能夠實現作業性的提高、省力化。 An object of the present invention is to provide a work vehicle capable of improving workability and saving labor by preventing the reference line from being applied to another farmland.
方案1的發明為一種作業車輛,具備:行駛車體(2);作業裝置;轉向部件(35),對行駛車體(2)進行轉向操作;位置資訊取得裝置(200),取得行駛車體(2)的位置座標;自動直行裝置(205),使轉向部件(35)動作而使行駛車體(2)直行行駛;位置座標取得部件,取得製作基準線(R)的位置座標,該基準線(R)成為行駛車體(2)的直行行駛的基準;以及控制裝置(100),進行各部的控制;設置檢測行駛車體(2)行進的方位的檢測部件,設置檢測作業裝置的作業狀態的 作業檢測部件(209),控制裝置(100)係根據基準線(R)與當前的行駛車體(2)的方位所成的角度來判斷行駛車體(2)從直行方向的偏離量,並且檢測作業裝置的作業狀態,藉由在預定範圍內行駛車體(2)從直行方向的偏離量在預定值以上並且持續檢測到作業狀態,設為無法進行以基準線(R)為基準的直行行駛的狀態,無法進行以基準線(R)為基準的直行行駛的狀態係持續到取得下一位置座標為止。 The invention of claim 1 is a work vehicle comprising: a traveling vehicle body (2); a working device; a steering member (35) for performing a steering operation on the traveling vehicle body (2); and a position information acquisition device (200) for acquiring the traveling vehicle body The position coordinates of (2); the automatic straight-forward device (205) operates the steering member (35) to make the traveling vehicle body (2) travel straight; the position-coordinate acquisition means obtains the position coordinates of the reference line (R), the reference The line (R) serves as a reference for straight running of the traveling vehicle body (2); and a control device (100) controls each part; a detection means for detecting the direction in which the traveling vehicle body (2) travels is provided, and a work device for detecting a working device is provided state The operation detection part (209), the control device (100) judges the deviation amount of the traveling vehicle body (2) from the straight direction according to the angle formed by the reference line (R) and the current orientation of the traveling vehicle body (2), and The working state of the working device is detected, and the deviation of the vehicle body (2) from the straight-traveling direction is greater than or equal to a predetermined value within a predetermined range, and the working state is continuously detected, so that straight running based on the reference line (R) cannot be performed. In the traveling state, the state in which the straight traveling based on the reference line (R) cannot be performed is continued until the next position coordinates are acquired.
方案2的發明係在方案1的基礎上之作業車輛,設置用以檢測行駛車體(2)的行駛距離的距離檢測部件,控制裝置(100)係在距離檢測部件對行駛車體(2)行駛預定距離的情況進行檢測的期間,若從直行方向的偏離量在預定值以上並且持續檢測到作業狀態,則設為無法進行以基準線(R)為基準的直行行駛的狀態。
The invention of
根據本發明,能夠防止在其他的農田的作業中使用之前農田的行駛基準資訊,所以能夠防止作業中機體向不適於農田的方向、作業者未打算的方向移動機體。由此,提高作業性並且防止產生額外的操作,實現作業的省力化。 According to the present invention, it is possible to prevent the driving reference information of the previous farmland from being used in work on another farmland, so that the machine body can be prevented from moving in a direction not suitable for the farmland or in a direction not intended by the operator during the work. Thereby, workability is improved, additional operation is prevented, and labor saving of work is achieved.
1:苗移植機 1: Seedling transplanting machine
2:行駛車體 2: Driving body
3:連桿機構 3: Linkage mechanism
4:作業裝置 4: Working device
10:前輪 10: Front Wheel
10a:前輪傳動箱 10a: Front wheel gearbox
11:後輪 11: rear wheel
11a:後輪傳動箱 11a: Rear wheel gearbox
13:變速箱 13: Gearbox
14:無級變速裝置 14: CVT
15:主框架 15: Main Frame
25:升降汽缸 25: Lifting cylinder
30:發動機 30: Engine
33:底板踏板 33: Bottom Pedals
35:轉向部件 35: Steering parts
35a:轉向角度檢測部件 35a: Steering angle detection part
36:變速操作桿 36: Shift lever
37:副變速操作桿 37: Auxiliary gear lever
38:操縱面板 38: Control Panel
39:發動機蓋 39: Engine cover
40:前罩 40: Front cover
41:操縱席 41: Control Seat
62C:中央浮體 62C: Central float
62L、62R:側浮體 62L, 62R: side float
63:整地裝置 63: Ground preparation device
64:轉動電位計 64: Turn the potentiometer
65:整地傳動軸 65: Ground preparation drive shaft
100:控制裝置 100: Controls
200:位置資訊取得裝置 200: Location information acquisition device
201:天線框架 201: Antenna Frame
202:天線固定柱 202: Antenna Fixing Post
203:IMU 203:IMU
204:方位感測器 204: Orientation Sensor
205:自動直行裝置 205: Automatic straight travel device
206:轉向致動器 206: Steering Actuator
207:自動直行設定部件 207: Automatic straight travel setting part
208:通知裝置 208: Notification Device
209:作業檢測部件 209: Job detection parts
210:後輪旋轉感測器 210: Rear wheel rotation sensor
212:傾斜感測器 212: Tilt sensor
W1:第一方向 W1: first direction
W2:第二方向 W2: Second direction
圖1係作業車輛的左視圖。 FIG. 1 is a left side view of the work vehicle.
圖2係作業車輛的俯視圖。 FIG. 2 is a plan view of the work vehicle.
圖3係表示包含轉向部件的操縱部的結構的主要部位後視圖。 FIG. 3 is a rear view of the main part showing the structure of the manipulation part including the steering member.
圖4係表示與各種控制相關的部件的功能方塊圖。 Figure 4 is a functional block diagram showing components associated with various controls.
圖5係表示對已取得的位置座標進行修正的控制的流程圖。 FIG. 5 is a flowchart showing the control for correcting the acquired position coordinates.
圖6係表示自動直行裝置所進行的自動直行控制的流程圖。 FIG. 6 is a flowchart showing the automatic going straight control performed by the automatic going straight device.
圖7係表示基於自動直行設定部件的操作取得的第一基準位置以及第二基準位置以及自動直行控制的開啟或關閉的流程圖。 7 is a flowchart showing the first reference position and the second reference position obtained by the operation of the automatic straight-forward setting means, and the on or off of the automatic straight-forward control.
圖8係表示將基準線自動刪除的控制的流程圖。 FIG. 8 is a flowchart showing the control for automatically deleting the reference line.
以下,參照圖式對作業車輛進行詳細說明。此外,以下所示的實施方式並非限定本發明。 Hereinafter, the work vehicle will be described in detail with reference to the drawings. In addition, the embodiment shown below does not limit this invention.
參照圖1以及圖2對實施方式的作業車輛進行說明。以下,以在農田內行駛並栽種苗的苗移植機作為作業車輛為例進行說明。 The work vehicle of the embodiment will be described with reference to FIGS. 1 and 2 . Hereinafter, a seedling transplanting machine that travels in a farmland and planted seedlings will be described as an example of a work vehicle.
另外,在以下的說明中,所謂前後方向係作業車輛(以下稱為苗移植機)直行時的行進方向,係從操縱席41朝向轉向部件35的方向(參照圖1)。
In addition, in the following description, the front-back direction refers to the traveling direction when the work vehicle (hereinafter referred to as the seedling transplanter) goes straight, and refers to the direction from the operator's
如圖1、圖2所示,苗移植機1在行駛車體2的後側經由升降連桿(link)機構3而能夠升降地配備有向農田栽種苗的苗栽種部、供給種子的播種裝置、或是對農田進行整地的整地裝置等的作業裝置4。
As shown in FIGS. 1 and 2 , the seedling transplanting machine 1 is equipped with a seedling planting part for planting seedlings in the farmland and a seeding device for supplying seeds so as to be able to ascend and descend through a
在行駛車體2的主框架15設置有變速箱(transmission case)13、將從發動機(engine)30供給的驅動力向變速箱13輸出的無級變速裝置14。
The
如圖1、圖2所示,在行駛車體2的前側設置發動機蓋(bonnet)39,該發動機蓋39於上部具備將機體轉向的轉向部件35、對無級變速裝置14及作業裝置4進行操作的變速操作桿36、操作對行駛車體2的行駛傳動進行切換的副變速切換裝置(省略圖示)的副變速操作桿37以及在上部具備進行機體各部的操作的操縱面板38。在發動機蓋39的前側設置能夠開閉的前罩(front cover)40,在前罩40的內部係內裝有燃料水箱、電池、以及連動機構(省略圖示),該連動機構使左右的前輪10以及左右的前輪傳動箱10a的下部側向轉向部件35的轉向轉動。
As shown in FIGS. 1 and 2 , a
另外,如圖1、圖2所示,在作業裝置4的下方係設置與農田面接觸地面並滑行的中央浮體62C和左右的側浮體62L、62R,並且在比中央浮體62C和左右的側浮體62L、62R靠機體前側設置作為對農田面進行整地的對地作業裝
置的整地裝置63。對整地裝置63的驅動力係由設置在左右一側的後輪傳動箱11a的整地傳動軸(shaft)65傳動。另外,在左右一側的後輪傳動箱11a設置有將對整地裝置63的傳動開啟或關閉的整地離合器(clutch)。
In addition, as shown in FIG. 1 and FIG. 2 , a central floating
在中央浮體62C設置檢測中央浮體62C的轉動角度的轉動電位計(rotary potentiometer)64(參照圖4),若轉動電位計64的轉動角度變化預定角度以上,則判斷為農田的深度已變化,控制裝置100使升降汽缸(lifting cylinder)25伸縮而將升降連桿機構3上下轉動,使作業裝置4的上下高度(即作業位置)與農田的深度對應。
The central floating
在農田內使用作業裝置4進行苗的栽種、種子的播種作業、或是苗的發育後的追肥、除草等的作業時,一般使行駛車體2從農田的一側朝向另一側直行行駛。然而,存在若因農田的耕作區域的凹凸、表層土的黏性而使車輪朝向從直行方向偏離的方向則行駛車體2逐漸向偏離的方向移動之情形。另外,存在若因作業者的操縱技術導致行駛車體2與直行方向不一致則將從直行向偏離的方向移動之情形。
When planting seedlings, sowing seeds, topdressing after growing seedlings, weeding, etc. using the working
由此,存在苗的栽種、播種、除草、追肥等的作業軌跡變成斜的方向,本來能夠進行苗的栽種、播種的部位成為空地,之後需要作業者手動進行栽種、播種,導致作業
者產生額外的勞動、苗的栽種行間及播種行間比作業裝置4的行間還窄,從而導致通風不暢而產生病蟲害的情形。或者存在於進行除草作業、追肥作業等的栽種、播種的後續程序的作業時將苗踩壞導致收穫量降低,或是產生以不會踩壞苗的方式進行操縱而使作業效率降低的問題之情形。
As a result, the trajectories of operations such as planting, sowing, weeding, and topdressing of seedlings are inclined in an oblique direction, and the site where planting and sowing of seedlings can be performed in the first place becomes an open space. After that, an operator is required to manually perform planting and sowing, resulting in work.
Therefore, extra labor is generated, and the seedling planting rows and the seedling rows are narrower than the rows of the
為了解決這些問題,考慮搭載所謂的自動直行系統,不藉由作業者的手而使行駛車體2自動轉向,使行駛車體2維持直行行駛姿勢。
In order to solve these problems, it is considered to install a so-called automatic straight-forward system that automatically steers the traveling
首先,如圖1以及圖2所示,在行駛車體2設置有裝配了作為位置資訊取得裝置的位置資訊取得裝置200的天線框架(antenna frame)201。天線框架201左右的基部安裝於設置在主框架15的前側的左右的天線固定柱(antenna stay)202。此外,在門型的天線框架201的空間部的後方係配置發動機蓋39、操縱席41。
First, as shown in FIGS. 1 and 2 , the traveling
另外,天線框架201的上下高度在機體中最高。一邊防止作業者站在底板踏板(floor step)33上的狀態下撞到頭,並且為了提高訊號接收精度一邊將天線框架201的上端部設為距離地表2.5m至3.5m左右的位置。由此,作業者在底板踏板33上容易移動,作業效率提高,並且能夠使位置資訊取得裝置200從地表向上方隔開,所以能夠實現
訊號接收精度的提高。
In addition, the vertical height of the
此外,位置資訊取得裝置200的裝配位置在發動機蓋39與操縱座席41的前後間附近,在行駛車體2的前後方向的中央部附近。
In addition, the mounting position of the position
如上所述,位置資訊取得裝置200的安裝位置在機體的前後以及左右方向的中央部附近,所以取得的機體的座標很難從實際的機體的位置偏離,自動直行系統所進行的直行行駛位置的設定變得適切,作業精度提高。
As described above, since the installation position of the position
另外,操縱席41位於天線框架201的空間部的後方,藉此防止天線框架201遮擋作業者的視野,所以觀察確認性提高,直行行駛前的位置對準變得準確,並且可以儘早發現機體前方的農田的狀態、障礙物,所以能夠由作業者切換為手動操作而安全且能夠抑制作業位置的偏離。
In addition, the
然而,若因機體的傾斜、振動的影響而使位置資訊取得裝置200的地上高度變動,則測定到與實際的機體位置不同的座標位置,訊號接收精度降低並且產生機體朝著從直行偏離的方向行駛的問題。
However, if the height above ground of the position
為了防止這種情況,如圖4所示,除了位置資訊取得裝置200之外,還設置IMU(inertial measurement unit;慣性
測量裝置)203。IMU203基於行駛車體2成為傾斜姿勢時的從地表到位置資訊取得裝置200的高度與未傾斜時從地表到位置資訊取得裝置200的高度之差,由控制裝置100對位置資訊取得裝置200已取得的位置座標進行修正。
In order to prevent this situation, as shown in FIG. 4 , in addition to the position
此外,從地表到位置資訊取得裝置200的高度係由內置於IMU203的三軸的加速度感測器和角速度感測器對行駛車體2的傾斜等行為進行測量並計算而得出。
In addition, the height from the ground surface to the position
除此之外,為使控制裝置100更確實地判斷自動直行系統所進行的機體的行駛方向是否正確,設置方位感測器204。此外,對於此時的位置座標的修正係如圖5的S101至S105所示。由此,能夠根據測量的方位來決定機體的行進路線,所以直行行駛的精度進一步提高。
In addition, in order for the
位置資訊取得裝置200取得的位置資訊由控制裝置100基於IMU203與方位感測器204所檢測出的資訊而修正。而且,控制裝置100對當前的位置資訊和之前取得的位置資訊進行比較,若位置資訊的差異超過允許範圍,則為使機體返回直行行駛位置而使左右的前輪10往左右方向轉向。
The position information obtained by the position
為使上述的左右的前輪10的轉向或是履帶(crawler)等的原地轉向(pivot turn)自動化,設置以轉向致動器
(actuator)206將轉向部件35轉動的自動直行裝置205。如圖6的S201至S204所示,自動直行裝置205基於控制裝置100已算出的當前的位置資訊的X座標與之前取得的成為基準的位置資訊的X座標的差異,使轉向致動器206的動作量變動,藉此為了使機體朝向直行行駛位置而將轉向部件35向左右轉動,並且在到達直行行駛位置時使轉向致動器206停止而使轉向部件35的自動轉向停止。
In order to automate the steering of the left and right
此外,轉向致動器206係以電動或液壓式(hydraulic)的馬達或是汽缸(cylinder)構成。
In addition, the
根據上述結構,轉向部件35與已被計算出的位置資訊的X座標的差異一致地自動轉向,能夠使機體自動地與直行行駛位置一致,所以能夠防止作業裝置4所進行的作業位置向左右方向偏離,難以在農田內產生沒有進行作業的部位。由此,於沒有進行作業的部位無需在之後由人工進行作業,減輕作業者的勞力。
According to the above-described configuration, the steering
另外,能夠防止前程序的作業行與當前的作業行的作業位置重複,所以防止苗、種子、肥料等的作業材料額外地浪費,實現作業成本的降低並且防止作業材料的過剩供給所帶來的發育不良的產生。 In addition, it is possible to prevent overlapping of the work position of the work line of the previous program and the work line of the current work line, so that work materials such as seedlings, seeds, fertilizers, etc. are prevented from being wasted excessively, reducing work costs and preventing excessive supply of work materials. stunted development.
此外,裝配了耕耘機的曳引機(tractor)、苗移植機、播
種機係行駛到作業行的農田端,迴轉大約180度而移動到下一作業行。若在迴轉行駛中自動直行系統動作,則判斷為機體從應該直行行駛的位置偏離而使轉向致動器206動作,存在打亂迴轉軌跡之虞。因此,自動直行系統需要在使機體迴轉時關閉。雖然也考慮若對轉向部件35進行迴轉操作則使自動直行系統關閉的結構,但因為在根據農田的狀態等而機體的行進方向大幅偏離、作業者為了回避障礙物而對轉向部件35進行與迴轉操作同等或以上的較大操作時自動直行系統成為關閉,所以作業者不得不在直行途中使自動轉向系統再次開啟,增加作業者的操作量並且容易產生沒有注意到自動直行系統處於關閉而導致機體保持從作業位置偏離的狀態行駛而作業精度降低的問題。
In addition, a tractor equipped with a cultivator, a seedling transplanter,
The seed machine travels to the field end of the work row, turns about 180 degrees, and moves to the next work row. If the automatic straight travel system is activated during turning travel, it is determined that the body is deviated from the position where the straight travel is to be carried out, and the
另外,雖然也考慮在將轉向部件35從迴轉回到直行的操作中使自動直行系統開啟,但在從迴轉回到直行時為使機體與下一作業行中的直行位置一致,需要精細地進行轉向部件35的轉向操作。若在該操作中自動轉向系統開啟,一旦控制裝置100判斷為機體從直行行駛位置偏離則轉向致動器206會動作,存在機體的位置變得不能與本來應直行行駛的位置一致的問題。
In addition, it is also considered that the automatic straight travel system is turned on during the operation of returning the steering
使用圖4、圖6以及圖7對能夠防止產生這樣的問題而使機體向適切的方向直行行駛並且在適切的區間內動作的自動直行系統進行說明。此外,將行駛車體2的前進後
退方向的位置座標記為Y座標,並且將與行駛車體2的前進後退方向正交的方向(即左右方向)的位置座標記為X座標。
4 , 6 , and 7 , an automatic straight-forward system capable of preventing such a problem from occurring, allowing the machine body to travel straight in an appropriate direction and operating in an appropriate section will be described. In addition, the traveling
首先,在行駛車體2設置自動直行設定部件207,該自動直行設定部件207取得作為自動直行的開始點的農田的一側的座標與作為自動直行的結束點的農田的另一側的座標,並且使自動直行系統開啟或關閉。自動直行設定部件207至少裝配有一個能夠向上下方向、左右方向、按下狀態與返回狀態等至少能夠向兩個方向操作的部件,或是裝配有兩個以上的操作部件。
First, an automatic going straight setting
在本實施方式中係如圖3所示,雖然裝配能夠沿上下方向操作的指推桿(finger up lever)作為自動直行設定部件207,但也可以使用撥動開關(toggle switch)、按鈕開關(push switch)、控制桿(joystick)等。由此,能夠實現配件數量的減少並且可以由同一側的單手操作自動直行設定部件207來進行基準位置(第一基準位置A、第二基準位置B)的取得操作和自動直行裝置205的開啟或關閉操作,所以操作性提高。
In this embodiment, as shown in FIG. 3 , a finger up lever that can be operated in the up-down direction is provided as the automatic straight-
如圖3所示,若將自動直行設定部件207向第一方向W1操作,在本實施方式中為朝向機體上方操作,則在被操作的位置由位置資訊取得裝置200所取得而由控制裝置
100使用IMU203和方位感測器204的檢測結果所計算出的位置座標被記錄。此外,自動直行設定部件207的向第一方向W1的操作相當於基準位置取得部件的操作。
As shown in FIG. 3 , when the automatic straight-
在操作自動直行設定部件207時,如圖7的S301至S302所示,在沒有其他的位置座標的記錄時,將已計算出的位置座標作為第一基準點A(以下亦稱為第一基準位置A)記錄,在記錄有第一基準點A時,將已計算出的位置座標作為第二基準點B(以下亦稱為第二基準位置B)記錄。在記錄有第一基準點A和第二基準點B時自動直行設定部件207被操作時,不記錄位置座標。
When the automatic straight-
成為自動直行系統的直行行駛的基準位置的第一基準點A以及第二基準點B係距離越近X座標的偏離越小,但若二點間的距離短則不使用自動直行也能夠大致直行行駛。另外,考慮在二點間的距離變短時作業者無意地觸碰自動直行設定部件207而導致取得第二基準點B的狀況。
The closer the distance between the first reference point A and the second reference point B, which are the reference positions for straight travel of the automatic straight travel system, the smaller the deviation of the X coordinate. However, if the distance between the two points is short, it is possible to go straight without using automatic straight travel. drive. In addition, when the distance between the two points is shortened, a situation in which the operator accidentally touches the automatic straight
為防止這種問題的產生,在操作自動直行設定部件207取得第二基準點B時,當從已取得第一基準點A的位置起算的距離不足預定距離,例如不足8m至12m時,控制裝置100刪除第二基準點B,不進行記錄。之後,若再次操作自動直行設定部件207,從已取得第一基準點A的位置起算的距離在預定距離以上,則控制裝置100記錄第
二基準點B。
In order to prevent the occurrence of such a problem, when the automatic straight-
此外,在進入農田後最一開始進行作業的作業行中,由於在預定位置將自動直行設定部件207向第一方向W1操作而取得上述的第一基準點A和第二基準點B的作業成為必須,所以不使用自動直行,作業者操作轉向部件35而使機體直行行駛。
In addition, in the work line where the work is first started after entering the farmland, the work of acquiring the first reference point A and the second reference point B described above is obtained by operating the automatic straight
如上所述,若藉由自動直行設定部件207的操作取得第一基準點A和第二基準點B,則連結第一基準點A和第二基準點B的各Y座標的基準線R成為自動直行的標準的線,判定行駛中的機體的位置座標的X座標是否與成為自動直行的標準的線的X座標符合一致,若不符合一致則藉由自動直行裝置205使轉向部件35向符合一致的方向自動轉向,由此能夠實現自動直行行駛。
As described above, when the first reference point A and the second reference point B are acquired by the operation of the automatic straight travel setting means 207, the reference line R connecting the respective Y coordinates of the first reference point A and the second reference point B becomes automatic It is determined whether the X-coordinate of the position coordinate of the moving body is consistent with the X-coordinate of the standard line for automatic straight travel, and if not, the automatic
在記錄有第一基準點A和第二基準點B的狀態下,上述的自動直行行駛藉由將自動直行設定部件207向第二方向W2操作,在本實施方式中為朝向機體下方操作而開始。若將自動直行設定部件207向第二方向W2操作,則控制裝置100對位置資訊取得裝置200所取得之位置座標的Y座標和基準線R的Y座標進行比較,使轉向致動器206動作而使轉向部件35向左右方向旋轉,開始使行駛車體2向應直行行駛位置移動的控制。此外,自動直行設定
部件207的向第二方向W2的操作相當於開啟或關閉部件的操作。
In a state in which the first reference point A and the second reference point B are recorded, the above-described automatic straight travel is started by operating the automatic straight
轉向部件35在預定的時間內操作至使行駛車體2迴轉的角度為止,或自動直行設定部件207被向第二方向W2操作時,該自動轉向控制結束。轉向部件35的轉向角度由轉向角度檢測部件35a檢測。此外,也可以構成為:若行駛車體2到達與第一基準點A的Y座標或第二基準點B的Y座標一致的地方,則自動直行控制結束。
The automatic steering control ends when the steering
在從農田的一端朝向另一端的直行作業行駛以及從農田的另一端向一端直行作業行駛時,需要成為上述自動直行控制的基準的第一基準點A和第二基準點B以及連結第一基準點A和第二基準點B的基準線R。 When traveling straight from one end of the farmland to the other end and when traveling straight from the other end of the farmland to one end, it is necessary to connect the first reference point A and the second reference point B, which are the references of the automatic straight-forward control, and the first reference. Reference line R of point A and second reference point B.
在作業結束後在其他的農田進行作業時,若剩餘有於之前的農田的作業取得的基準線R等的行駛基準資訊,如果機體的行進方向與在之前的農田取得基準線R時的方位不同,則自動直行裝置205使轉向部件35動作的緣故,所以機體向作業者未打算的方向行駛。由此,作業效率降低並且作業者需要進行額外的操作。
When the work is performed on another farmland after the work is completed, if the travel reference information such as the reference line R obtained in the previous farmland operation remains, and the traveling direction of the machine is different from the orientation when the reference line R was obtained in the previous farmland , the automatic
為了防止這種情況,控制裝置100進行以下控制:若滿足預定的條件則自動地刪除基準線R等的行駛基準資
訊。參照圖8,對行駛基準資訊的自動刪除的控制進行說明。
In order to prevent this, the
此外,作為行駛基準信息,在基準線R以外還可以刪除第一基準位置A和第二基準位置B。 In addition, the first reference position A and the second reference position B may be deleted other than the reference line R as the travel reference information.
另外,作為檢測基準線R和行駛車體2的行進方向所構成的角度的檢測部件,考慮根據由位置資訊取得裝置200取得的位置資訊計算出行駛路徑而進行判定的方法、考慮使用方位感測器204、傾斜感測器212(參照圖4)等。
In addition, as detection means for detecting the angle formed by the reference line R and the traveling direction of the traveling
如圖8所示,控制裝置100檢測機體是否在自動直行行駛中(步驟S1001)。控制裝置100檢測在機體為自動直行行駛時(步驟S1001:是)基準線R與行駛車體2的行進方向所構成的角度是否為預定值(步驟S1002),檢測作業裝置是否處於作業狀態(步驟S1003)並且檢測是否已進行了機體的預定值(例:5m)以上的持續行駛(步驟S1004)。若檢測到的角度在預定值以上(步驟S1002:是),作業裝置為作業狀態(步驟S1003:是),並且若檢測到進行了預定值以上的持續行駛(步驟S1004:是),則控制裝置100進行將已取得的基準線R刪除的控制(步驟S1005)。
As shown in FIG. 8 , the
此外,在步驟S1001的處理中,控制裝置100在沒有檢測到機體的自動直行行駛時(步驟S1001:否),重複該處
理直至檢測到自動直行行駛。另外,在步驟S1002的處理中,在檢測到的角度未滿預定值時(步驟S1002:否),重複該處理直至檢測到的角度成為預定值以上。另外,在步驟S1003的處理中,控制裝置100在沒有檢測到作業裝置4的作業狀態時(步驟S1003:否),重複該處理直至檢測到作業狀態。另外,在步驟S1004的處理中,控制裝置100在沒有檢測到機體的預定值以上的行駛時(步驟S1004:否),重複該處理直至檢測到預定值以上的行駛。
In addition, in the process of step S1001, when the
此外,檢測機體的預定值以上的行駛的檢測部件能夠使用後輪旋轉感測器210(參照圖4)等。 In addition, the rear wheel rotation sensor 210 (refer FIG. 4) etc. can be used for the detection means which detects the running of the predetermined value or more of an airframe.
另外,檢測部件係藉由作業檢測部件209(參照圖4)的開啟或關閉來檢測作業裝置4的作業狀態。在這種情況下,作為檢測作業裝置4的作業狀態的檢測部件例如較佳為檢測栽種離合器的開啟或關閉的栽種離合器開關感測器。藉由使栽種離合器的開關感測器成為開啟,能夠辨識到作為上述作業狀態的田壟栽種作業開始的狀態。
In addition, the detection means detects the work state of the
另外,也可以為以下構成:在機體自動直行行駛的情況下,控制裝置100藉由檢測部件來檢測機體的直行行駛以外的行駛狀態之基礎上,若藉由檢測部件檢測到作為作業裝置4的作業中而設定的作業狀態,則刪除取得的基準線R。
In addition, when the machine body is automatically traveling straight, the
根據該結構,藉由檢測作業裝置4的作業狀態且檢測機體的預定值以上的行駛,能夠更確實地辨識到作為農田的栽種作業的最終程序的對農田內的外緣進行栽種的田壟栽種作業。藉由辨識到田壟栽種作業,將知道不再需要作業中的農田的機體的直行行駛,因此藉由刪除基準線R,在向其他的農田移動中、在其他的農田作業中,能夠防止朝向不適於作業中的農田的方向、作業者未打算的方向發動自動轉向,因而能夠提高作業性。另外,由於不需要手動刪除基準線R,因此能夠節省手動刪除基準線R所需的操作。由此,能夠提高操作性。
According to this configuration, by detecting the working state of the working
另外,控制裝置100在檢測到機體從基準線R的偏離角的情況下、在檢測到作業裝置4的作業狀態的情況下、或是在檢測到這兩者的情況下,刪除為了檢測預定值以上的行駛而設定的行駛距離。由此,能夠防止刪除基準線R後的作業中的誤動作。
In addition, the
另外,在刪除基準線R的情況下,控制裝置100也可以進行控制以使通知裝置208(參照圖4)發出例如預定時間(2秒左右)的通知音。由此,能夠使作業者意識到基準線R被刪除。另外,在刪除基準線R的情況下,控制裝置100也可以以例如在螢幕(monitor)顯示文字等進行控制。由此,能夠使作業者意識到基準線R被刪除。
When the reference line R is deleted, the
另外,在行駛車體2設置內建了位置資訊取得裝置200(參照圖1)的GNSS(global navigation satellite system;全球衛星導航系統)單元。藉由以位置資訊取得裝置200在時間上以預定的間隔取得座標,GNSS單元能夠每隔預定間隔取得位置資訊。另外,在GNSS單元中除了位置資訊取得裝置200之外,還內建有利用了陀螺儀(gyroscope)、加速度感測器的慣性導航裝置和控制基板。
In addition, a GNSS (global navigation satellite system) unit in which a position information acquisition device 200 (see FIG. 1 ) is built is installed in the traveling
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JP (1) | JP6805946B2 (en) |
KR (1) | KR102597191B1 (en) |
CN (1) | CN108684243B (en) |
TW (1) | TWI762563B (en) |
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JP7178884B2 (en) * | 2018-11-22 | 2022-11-28 | 井関農機株式会社 | Agricultural work support system |
JP7120907B2 (en) * | 2018-12-20 | 2022-08-17 | 株式会社クボタ | traveling work machine |
WO2020134217A1 (en) * | 2018-12-26 | 2020-07-02 | 丰疆智能科技股份有限公司 | Automatic steering system and automatic steering method for high-speed rice transplanter |
CN109677485A (en) * | 2019-01-04 | 2019-04-26 | 丰疆智慧农业股份有限公司 | Autosteerer and high-speed transplanter |
JP7068612B2 (en) * | 2019-03-28 | 2022-05-17 | 井関農機株式会社 | Seedling transplanter |
JP7358163B2 (en) * | 2019-09-30 | 2023-10-10 | 株式会社小松製作所 | Control system, work vehicle control method, and work vehicle |
CN111002346B (en) * | 2019-12-17 | 2021-05-14 | 小狗电器互联网科技(北京)股份有限公司 | Robot trapped detection method and robot |
JP6988949B2 (en) * | 2020-05-07 | 2022-01-05 | 井関農機株式会社 | Work vehicle |
JP7403432B2 (en) * | 2020-11-27 | 2023-12-22 | 株式会社クボタ | Work equipment and vehicle speed control system |
TWI813061B (en) * | 2021-11-11 | 2023-08-21 | 財團法人工業技術研究院 | Apparatus of agricultural machinery and hybrid electromechanical controlling module of agricultural machinery and method for controlling the same |
EP4261645A1 (en) * | 2022-04-12 | 2023-10-18 | Dürrstein, Ingeborg | Land vehicle with axle steering |
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JP2016021890A (en) * | 2014-07-17 | 2016-02-08 | 株式会社クボタ | Planting and sowing type field work machine and automatic steering system used for the same |
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JPH0759470A (en) * | 1993-08-19 | 1995-03-07 | Honshu Paper Co Ltd | Seedling-raising pot and its production |
JP4126350B2 (en) * | 1999-04-20 | 2008-07-30 | 井関農機株式会社 | Paddy field machine |
JP4295911B2 (en) * | 2000-12-19 | 2009-07-15 | ヤンマー農機株式会社 | Agricultural work vehicle |
JP2004350545A (en) * | 2003-05-28 | 2004-12-16 | Yanmar Co Ltd | Navigation system |
JP4760099B2 (en) * | 2005-04-01 | 2011-08-31 | 井関農機株式会社 | Rice transplanter |
JP4915096B2 (en) * | 2005-12-28 | 2012-04-11 | アイシン・エィ・ダブリュ株式会社 | Vehicle parts deterioration detection device |
JP2008092818A (en) * | 2006-10-06 | 2008-04-24 | Yanmar Co Ltd | Agricultural work vehicle |
JP4996651B2 (en) * | 2009-06-19 | 2012-08-08 | 日立オートモティブシステムズ株式会社 | Pump device |
JP6320212B2 (en) * | 2014-07-17 | 2018-05-09 | 株式会社クボタ | Traveling work machine and automatic steering system used therefor |
JP6467897B2 (en) * | 2014-12-10 | 2019-02-13 | 井関農機株式会社 | Tractor |
WO2017175361A1 (en) * | 2016-04-07 | 2017-10-12 | 株式会社小松製作所 | Traveling vehicle and method for controlling traveling vehicle |
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- 2017-04-12 JP JP2017079315A patent/JP6805946B2/en active Active
- 2017-12-21 CN CN201711397515.XA patent/CN108684243B/en active Active
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JPH0759407A (en) * | 1993-08-25 | 1995-03-07 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Traveling controller of automatic traveling working car |
JP2016021890A (en) * | 2014-07-17 | 2016-02-08 | 株式会社クボタ | Planting and sowing type field work machine and automatic steering system used for the same |
Also Published As
Publication number | Publication date |
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KR102597191B1 (en) | 2023-11-02 |
TW201836466A (en) | 2018-10-16 |
JP6805946B2 (en) | 2020-12-23 |
CN108684243B (en) | 2022-10-18 |
KR20200067232A (en) | 2020-06-12 |
CN108684243A (en) | 2018-10-23 |
JP2018180922A (en) | 2018-11-15 |
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