WO2015118731A1 - Dispositif de commande pour système de travail à déplacement parallèle - Google Patents

Dispositif de commande pour système de travail à déplacement parallèle Download PDF

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Publication number
WO2015118731A1
WO2015118731A1 PCT/JP2014/077906 JP2014077906W WO2015118731A1 WO 2015118731 A1 WO2015118731 A1 WO 2015118731A1 JP 2014077906 W JP2014077906 W JP 2014077906W WO 2015118731 A1 WO2015118731 A1 WO 2015118731A1
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WO
WIPO (PCT)
Prior art keywords
work
control device
traveling
work vehicle
autonomous
Prior art date
Application number
PCT/JP2014/077906
Other languages
English (en)
Japanese (ja)
Inventor
康平 小倉
晃史 黒田
松本　圭司
青木　英明
Original Assignee
ヤンマー株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to PCT/JP2015/053442 priority Critical patent/WO2015119265A1/fr
Priority to EP15746411.6A priority patent/EP3104244B1/fr
Priority to PCT/JP2015/053444 priority patent/WO2015119266A1/fr
Priority to KR1020227041929A priority patent/KR20220164087A/ko
Priority to US15/115,853 priority patent/US10191492B2/en
Priority to CN201911196165.XA priority patent/CN110703785A/zh
Priority to KR1020217039475A priority patent/KR102475681B1/ko
Priority to KR1020207012364A priority patent/KR102252318B1/ko
Priority to KR1020167024514A priority patent/KR102107556B1/ko
Priority to JP2015561072A priority patent/JP6253678B2/ja
Priority to KR1020217013732A priority patent/KR102340161B1/ko
Priority to CN201580007599.4A priority patent/CN105980949B/zh
Priority to JP2015561071A priority patent/JPWO2015119265A1/ja
Publication of WO2015118731A1 publication Critical patent/WO2015118731A1/fr
Priority to JP2017228469A priority patent/JP6485716B2/ja
Priority to JP2019020169A priority patent/JP6999221B2/ja
Priority to JP2021205761A priority patent/JP7354217B2/ja
Priority to JP2023151983A priority patent/JP2023168382A/ja

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Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet

Definitions

  • the present invention relates to a control device for a parallel running work system, and relates to a control technique for an unmanned work vehicle when work is performed by an unmanned work vehicle that travels autonomously and a manned work vehicle that travels along with the unmanned work vehicle.
  • a work vehicle that receives a satellite signal from a GPS satellite is provided on a work vehicle that travels within a work area within a predetermined range to detect the current position of the work vehicle, and the GPS satellite is located near the outside of the work place.
  • a monitoring receiving station that receives the satellite signal of the vehicle is provided to detect the current position of the monitoring device, and communication between the work vehicle and the monitoring device is performed to detect the relative distance between the two, so that the work vehicle is out of the monitoring range.
  • a technique for issuing a warning and stopping traveling is known (for example, see Patent Document 1).
  • the unmanned work vehicle receives a satellite signal from the GPS satellite, travels on the set travel route, and the accompanying work vehicle travels while performing another work accompanying the unmanned work vehicle, If the travel route of the unmanned work vehicle deviates from the set travel route, the accompanying work vehicle that travels with the unmanned work vehicle also deviates from the predetermined route. Therefore, it is desirable to travel so as not to deviate from the set route.
  • the present invention has been made in view of the situation as described above, and an unmanned work vehicle that travels autonomously travels without departing from the set travel route from the work start position, and stops autonomous travel when it deviates more than a predetermined amount. To do.
  • the present invention relates to a position calculating means for positioning the position of the aircraft using a satellite positioning system, a steering actuator for operating a steering device, an engine rotation control means, a speed change means, and a control device for controlling these.
  • a remote control device mounted on an accompanying traveling work vehicle that performs an operation while traveling along with the autonomous traveling work vehicle while autonomously traveling along the set traveling route stored in the control device.
  • the control device controls the autonomous running work vehicle so as not to permit the work start at a position that is more than the set range from the work start position. .
  • the control device performs control so that the start of autonomous traveling is not permitted when the maximum occupation area occupied by the autonomous traveling work vehicle and the work implement during traveling overlaps with the outside of the field where the work is performed at the work start position. Is. In the present invention, the control device performs control so that the start of autonomous traveling is not permitted at the work start position when the traveling direction is out of the set range. In the present invention, the control device performs control so as not to allow the start of autonomous traveling when an abnormality occurs in the autonomous traveling work vehicle. In the present invention, when the control device is not connected to the remote operation device of the accompanying traveling work vehicle, control is performed so that autonomous traveling is not permitted. In the present invention, when the operation is interrupted, the control device stores the interruption position, and when the operation is started again, the interruption position is set as the operation restart position, and the position is displayed on the display device.
  • the control device controls to stop the autonomous traveling.
  • the control device controls to stop traveling when the actual position deviates beyond a set range with respect to the target travel route.
  • the control device controls to stop traveling when the detected value from the steering sensor that detects the rudder angle direction becomes an abnormal value.
  • the control device controls to stop traveling when the difference between the detected value of the posture / orientation sensor and the target value exceeds a set value.
  • the control device is connected to a level sensor provided in a fuel tank, and stops traveling when the remaining amount of fuel falls below a set amount.
  • the control device transmits the cause to the remote operation device provided in the accompanying traveling work vehicle, and displays the cause on the display of the remote operation device.
  • the traveling is stopped by setting the speed change means of the hydraulic continuously variable transmission as neutral.
  • the stop of the traveling is performed by using a main clutch disposed between the output shaft of the engine and the input shaft of the transmission case of the gear sliding transmission, power clutch transmission or belt continuously variable transmission. When it is off, the running is stopped and the brake is activated.
  • the autonomous traveling work vehicle can be started only in an appropriate position and in an appropriate state, and the work can be reliably performed on a set route. And if an abnormality occurs in the detection value from the sensor provided in the autonomous traveling work vehicle, the traveling stops, and accurate work can be performed without deviating from the target traveling route, and damage and accidents can be prevented. Can be prevented.
  • the autonomous traveling work vehicle 1 capable of unmanned automatic traveling and the manned traveling traveling vehicle 100 operated by the operator accompanying the autonomous traveling working vehicle 1 as a tractor are used as the tractor.
  • An embodiment will be described in which a rotary tiller is mounted as a work machine on the vehicle 100.
  • the work vehicle is not limited to a tractor, and may be a combine.
  • the work machine is not limited to a rotary tiller.
  • the steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device.
  • the steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20.
  • the steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9.
  • the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected.
  • the detection value obtained by the steering sensor 20 is input to the control device 30.
  • a driver's seat 5 is disposed behind the steering handle 4 and a mission case 6 is disposed below the driver's seat 5.
  • Rear axle cases 8 and 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles.
  • the power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the rear wheels 10 and 10 can be driven.
  • the transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed.
  • the speed change means 44 is connected to the control device 30.
  • the rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 as the traveling speed.
  • the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.
  • the transmission case 6 houses a PTO clutch and a PTO transmission.
  • the PTO clutch is turned on and off by a PTO on / off means 45.
  • the PTO on / off means 45 is connected to the control device 30 to connect and disconnect the power to the PTO shaft. It can be controlled.
  • a front axle case 7 is supported on a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is configured.
  • the front wheels 9, 9 are steered wheels, and can be turned by turning the steering handle 4, and the front wheels 9, 9 can be turned left and right by a steering actuator 40 comprising a power steering cylinder as a steering drive means. It is possible.
  • the steering actuator 40 is connected to the control device 30 and is driven by automatic traveling control.
  • the controller 30 is connected to an engine controller 60 serving as an engine rotation control means, and the engine controller 60 is connected to an engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like so that the state of the engine can be detected.
  • the engine controller 60 detects the load from the set rotational speed and the actual rotational speed and controls it so as not to be overloaded, and transmits the state of the engine 3 to the remote operation device 112 described later so that it can be displayed on the display 113. Yes.
  • the fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the control device 30.
  • the display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply.
  • a fuel gauge for displaying the remaining amount is provided and connected to the control device 30. Then, information regarding the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining fuel amount and workable time are displayed on the display 113 of the remote operation device 112.
  • display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., a monitor indicating an abnormality, a set value, and the like are arranged.
  • a rotary tiller 24 is installed as a work implement on the rear side of the tractor body via the work implement mounting device 23 so as to be able to move up and down to perform the tilling work.
  • An elevating cylinder 26 is provided on the transmission case 6, and the elevating arm 26 constituting the work implement mounting device 23 is rotated by moving the elevating cylinder 26 to extend and lower the rotary tiller 24.
  • the lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the control device 30.
  • the mobile receiver 33 that constitutes the satellite positioning system is connected to the control device 30.
  • a mobile GPS antenna 34 and a data reception antenna 38 are connected to the mobile receiver 33, and the mobile GPS antenna 34 and the data reception antenna 38 are provided on the cabin 11.
  • the mobile receiver 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped.
  • GPS United States
  • high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.
  • the autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30.
  • the traveling direction can be calculated from the GPS position measurement, the direction sensor 32 can be omitted.
  • the gyro sensor 31 detects an angular velocity of a tilt (pitch) in the longitudinal direction of the autonomous traveling work vehicle 1, an angular velocity of a tilt (roll) in the lateral direction of the aircraft, and an angular velocity of turning (yaw).
  • the gyro sensor 31 By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle in the front-rear direction and the left-right direction and the turning angle of the body of the autonomous traveling work vehicle 1.
  • Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor.
  • the gyro sensor 31 is connected to the control device 30 and inputs information relating to the three angular velocities to the control device 30.
  • the direction sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1.
  • a specific example of the direction sensor 32 includes a magnetic direction sensor.
  • the direction sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.
  • control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude / azimuth calculation means, and the attitude of the autonomous traveling work vehicle 1 (orientation, forward / backward direction of the body, left / right direction of the body, turning direction) )
  • GPS global positioning system
  • GPS was originally developed as a navigation support system for aircraft, ships, etc., and is composed of 24 GPS satellites (four on six orbital planes) orbiting about 20,000 kilometers above the sky. It consists of a control station that performs tracking and control, and a user receiver that performs positioning.
  • As a positioning method using GPS there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used.
  • DGPS Differential GPS
  • RTK-GPS real-time kinematics-GPS
  • RTK-GPS real-time kinematics-GPS positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.
  • a mobile receiver 33, a mobile GPS antenna 34, and a data receiving antenna 38 that are mobile stations are arranged in the autonomous traveling work vehicle 1, and a fixed receiver 35, a fixed GPS antenna 36, and a data transmitting antenna that are reference stations. 39 is disposed at a predetermined position that does not interfere with the work in the field.
  • the phase is measured (relative positioning) at both the reference station and the mobile station, and the data measured by the fixed receiver 35 of the reference station is transmitted from the data transmission antenna 39. Transmit to the data receiving antenna 38.
  • the mobile GPS antenna 34 disposed in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37. This signal is transmitted to the mobile receiver 33 for positioning. At the same time, signals from the GPS satellites 37, 37... Are received by the fixed GPS antenna 36 serving as a reference station, measured by the fixed receiver 35 and transmitted to the mobile receiver 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.
  • the control device 30 in the autonomous traveling work vehicle 1 receives radio waves transmitted from the GPS satellites 37, 37,..., Obtains the position information of the aircraft at set time intervals in the mobile receiver 33, and the gyro sensor 31. Further, the displacement information and the direction information of the airframe are obtained from the direction sensor 32, and the steering actuator 40, the speed change means 44, etc. so that the airframe travels along a preset route based on the position information, the displacement information, and the direction information. To control.
  • the obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and connected to the control device 30 so as not to come into contact with the obstacle.
  • the obstacle sensor 41 is composed of an ultrasonic sensor, arranged at the front, side, and rear of the aircraft and connected to the control device 30 to determine whether there are obstacles at the front, side, or rear of the aircraft. Detect and control to stop traveling when an obstacle approaches within a set distance.
  • the autonomous traveling work vehicle 1 is mounted with a camera 42 that photographs the front and the work implement and is connected to the control device 30.
  • the video imaged by the camera 42 is displayed on the display 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100.
  • the display screen of the display 113 is small, it is displayed on another large display, the camera image is always or selectively displayed on another dedicated display, or the display means 49 provided in the autonomous traveling work vehicle 1 is used. It is also possible to display it.
  • the remote control device 112 sets the travel route R of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement, It stores work data.
  • the accompanying traveling work vehicle 100 which is a manned traveling vehicle, is operated and operated by an operator, and the associated traveling working vehicle 100 is equipped with a remote control device 112 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the accompanying autonomous traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted.
  • the accompanying traveling work vehicle 100 may be configured to include a GPS mobile receiver 33 and a mobile GPS antenna 34.
  • the remote operation device 112 can be attached to and detached from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1.
  • the remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 to be carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1.
  • the remote operation device 112 can be configured by, for example, a notebook or tablet personal computer. In this embodiment, a tablet computer is used.
  • the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with transceivers 110 and 111 for communication, respectively. ing.
  • the transceiver 111 is configured integrally with the remote operation device 112.
  • the communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi.
  • the remote operation device 112 is provided with a display 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a transceiver 111, a CPU, a storage device, a battery, and the like are housed in the housing.
  • the display 113 can display surrounding images taken by the camera 42, the state of the autonomous traveling work vehicle 1, the state of work, information on GPS, an operation screen, and the like so that the operator can monitor.
  • the state of the autonomous traveling work vehicle 1 includes a traveling state, an engine state, a working machine state, and the like.
  • the traveling state includes a shift position, a vehicle speed, a fuel remaining amount, a battery voltage, and the like. Is the engine speed, load factor, etc., and the state of the work machine is the type of work machine, PTO rotation speed, work machine height, etc., which are displayed on the display 113 with numbers, level meters, etc.
  • the work status includes: work route (target route or set route), work process, current position, distance from the process to the headland, remaining route, number of processes, current work time, remaining work Time etc.
  • the remaining paths can be easily recognized by filling the existing work paths from the entire work paths.
  • the information regarding GPS is the longitude and latitude at which the autonomous traveling work vehicle 1 is actually located, the number of satellites supplemented, the radio wave reception intensity, and the like.
  • the display 113 of the remote control device 112 displays not only the surrounding images taken by the camera 42 but also the state of the autonomous traveling work vehicle 1 and the traveling route R, a large amount of information cannot be displayed at a time. Therefore, the screen can be enlarged and divided, or a separate display for the camera can be provided, and can be switched or scrolled as necessary. Thus, it is possible to easily see the screen that the operator wants to see.
  • the autonomous traveling work vehicle 1 can be remotely operated by the remote operation device 112.
  • the autonomous traveling work vehicle 1 can be operated for emergency stop, temporary stop, re-start, change of vehicle speed, change of engine speed, raising / lowering of the work machine, turning on / off of the PTO clutch, and the like. That is, an operator can easily remotely operate the autonomous traveling work vehicle 1 by controlling the accelerator actuator, the speed change means 44, the PTO on / off means 45, and the like from the remote operation device 112 via the transceiver 111, the transceiver 110, and the control device 30. It can be done.
  • the mobile receiver 33 including the position calculating means for measuring the position of the autonomous traveling work vehicle 1 serving as the airframe using the satellite positioning system, the steering actuator 40 for operating the steering device, and the engine rotation control means.
  • the autonomous traveling work vehicle 1 including the engine controller 60, the speed change means 44, and the control device 30 that controls these is autonomously traveled along the set travel route R stored in the control device 30, and A parallel operation system that allows the autonomous traveling work vehicle 1 to be operated by a remote operation device 112 mounted on the accompanying traveling work vehicle 100 that performs work while traveling along the autonomous traveling work vehicle 1, wherein the remote operation device 112 includes: Since it is portable and is detachably attached to the accompanying traveling work vehicle 100, a remote control device is used during parallel traveling work.
  • the remote control device 112 has a display 113.
  • the display 113 displays the traveling state of the autonomous traveling work vehicle 1, the state of the engine 3, and the state of the work implement.
  • the state of the traveling work vehicle 1 can be grasped, and even if an abnormality occurs in the autonomous traveling work vehicle 1, it is possible to respond quickly.
  • the display 113 displays a target travel route R, a current position, a distance to the headland, a work time, and a work time until completion of the autonomous travel work vehicle 1 to be described later. Etc. can be easily recognized and a work plan can be easily made. Further, since the GPS information is displayed on the display, the reception state from the satellite can be grasped, and it is possible to easily cope with the case where the signal from the GPS satellite is interrupted.
  • the autonomous traveling work vehicle 1 is provided with a camera 42 that captures the surroundings of the airframe, and an image captured by the camera 42 can be displayed on the display 113. The surrounding situation can be easily recognized, and can be easily dealt with when there is an obstacle.
  • the travel route R is generated according to the work mode.
  • generation of a traveling route of the parallel traveling work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 will be described.
  • the parallel running work there are a horizontal parallel cooperative work shown in FIG. 3, a vertical parallel overlapping work and a vertical parallel cooperative work shown in FIG.
  • the working time can be shortened, and can be realized by adding the autonomous traveling working vehicle 1 to the accompanying traveling work vehicle 100 that has been conventionally owned. Therefore, it is not necessary to purchase two new autonomously-working working vehicles 1 and the cost can be reduced.
  • the accompanying traveling work vehicle 100 travels diagonally behind the autonomous traveling working vehicle 1 to partially overlap the work area (the working equipment of the accompanying traveling working vehicle 100 is duplicated in a trencher or the like). However, it is possible to shorten the time by working alone about twice as wide as the work equipment at once.
  • the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 travel in a line in the front and rear, are equipped with the same work equipment, the first unit is plowed, the second unit Breaks up one piece of work.
  • the autonomous running work vehicle 1 and the accompanying running work vehicle 100 run side by side in a row, the first one is plowed (ground), and the second one is another work such as fertilization and sowing.
  • the machine it is possible to divide two or more tasks before and after.
  • the travel route generation of the automatic work system that performs work while autonomously traveling by the autonomous traveling work vehicle 1 in the side-by-side cooperative work will be described.
  • the setting operation is performed by the remote operation device 112, but can also be performed by the display means 49 of the autonomous traveling work vehicle 1.
  • a reference length for tilling work is input in advance to the storage device 30 a of the control device 30.
  • the reference length includes the working width W1 of the work implement mounted on the tractor, the distance L1 from the GPS antenna 34 mounted on the fuselage to the work implement end, the total length L2 of the fuselage (or the minimum turning radius) L3)
  • the work machine is arranged eccentrically, as shown in FIG.
  • the eccentric amount S1 from the center of the left and right is obtained from the specifications of the machine body and stored in the storage device 30a of the control device 30.
  • the side drive type or the center drive type is selected.
  • the position of the chain case 24a and the value of the width W2 are also stored in the storage device 30a.
  • an area (L2 ⁇ (W1 + W2)) occupied by the total length L2 of the machine body and the work machine width (W1 + W2) is defined as a maximum occupied area Q occupied by the autonomous mobile work vehicle 1 and the work machine (rotary tillage device 24). And stored in the storage device 30a.
  • the distance from the front end of the front work machine to the rear end of the machine body is L2.
  • W1 + W2 is W1 when the mid work machine is larger than the width of the machine body (the outer width of the left and right rear wheels).
  • the maximum occupied area Q is not limited to a quadrangle, and can be a circumscribed circle Q1 of this quadrangle. By using the circumscribed circle Q1, it becomes easy to recognize interference with a hook or the like when turning.
  • the autonomous traveling work vehicle 1 is positioned at the four corners (A, B, C, D, or inflection points) of the field, Do a geodetic journey. That is, as shown in FIG. 7, the latitude and the longitude are stored in the storage device 30 a of the control device 30 as the position information at the entrance / exit E of the farm field H. By setting the entrance / exit E, the work start position and work end position can be easily set.
  • the autonomous traveling work vehicle 1 enters the field from the doorway E and advances to move to one corner (corner) A closest to the gate so as to be parallel to the short side or the long side (hereinafter referred to as ⁇ ) of the field. And geodetic, and store as first corner data (latitude and longitude).
  • first corner data latitude and longitude
  • the unmanned tractor is moved to the next corner B, turned around 90 degrees so as to be parallel to the kite, and is measured and stored as second corner data.
  • it moves to the next corner C to acquire and store the third corner data, and moves to the next corner D to acquire and store the fourth corner data.
  • the shape of the field is determined by connecting the corners (B, C, D) in a straight line like one stroke in order from one corner A, and acquired as field data.
  • the shape of the farm field is a deformed farm field
  • data of corner positions other than the four corners and inflection point positions are acquired to determine the farm field data. For example, position data of three corners is acquired and stored for a triangle, and position of five corners is acquired for a pentagon.
  • the corner data are connected by a straight line, if the straight lines intersect, they are not recognized as field data. This is because there is a high possibility that corners or inflection points are missing as a farm field.
  • the creation of field data prohibits the acquisition of field data from map data published by the Internet, map makers, etc., and adopts and permits only the above-mentioned data measured at the site. In this way, it is prevented from going out of the field due to an error when the vehicle is run in actual work.
  • the reference route As the reference path, a traveling direction from the work start position to the work end position and a path from the work end position to the exit are selected. Specifically, as shown in FIG. 8, the reference route sets whether to start or end work clockwise or to start or end work counterclockwise. This setting can be easily selected by displaying an arrow or a mark on the display 113 and touching it.
  • the work range HA obtained from the farm field data is substantially rectangular, and this work range HA is displayed on the display 113 of the remote operation device 112.
  • the headland HB is further set on both sides.
  • the width Wb of the headland HB is obtained from the tillage width W1 when the working machine is the rotary tiller 24. For example, it is possible to input a tilling width and select an integral multiple thereof.
  • the headland width Wb needs to be larger than the minimum turning radius because it is necessary to turn without turning back the handle and to turn with a margin in consideration of slipping and the like. Therefore, by storing the minimum turning radius in advance, a value smaller than the minimum turning radius cannot be input at the time of setting.
  • the turning radius to be set may be the turning radius when there is no accelerated turning or auto steering function.
  • the total length of the work implements, the width of the strips, and the like are taken into consideration, so that the headland width Wb can be input as an arbitrary length.
  • the turning direction in the headland HB can also be set.
  • the width (distance from the shore) Wc of the end HC on the work start side can be set to an arbitrary length. I am doing so.
  • the overlap amount Wr (FIG. 3) is a width that overlaps in the forward path and the return path when reciprocating with a work machine (for example, a rotary tiller), and a work width that overlaps the left and right rotary tillers in the parallel running work.
  • the overlap amount Wr is set to an arbitrary length so as not to leave tillage even if there is an inclination or unevenness.
  • the overlap amount Wr is provided, there is a possibility that the working machines may come into contact with each other when they pass each other by turning in the headland in the case of overlapping work in parallel running.
  • the autonomous traveling work vehicle 1 stops traveling due to the detection of the obstacle sensor 41.
  • the accompanying traveling work vehicle 100 performs work while skipping one or more rows to avoid contact. Or when approaching a headland, "passing control" which avoids contact
  • the “passing control” is, for example, a control in which one working machine is raised and the other working machine is lowered when passing each other.
  • a work machine that does not need to be overlapped such as a transplanter, seeder, or trencher in the center, it is not necessary to set the interval between the lines and skip it or perform “passing control” so that it can be selected. ing.
  • the work end position can be set or selected in the field data. For example, when the work end position becomes a position opposite to the entrance E after the travel route R is set, or when the remaining farm field HD in the rectangular work range HA of the farm field H is at a position away from the entrance E. Is set so that the work end position is given priority, so that the overlapping work is avoided as much as possible and the field scene can be finished without being roughened.
  • the work start position is set by tracing the work travel route R in the reverse direction from the work end position. Therefore, the work start position may be a position away from the entrance E.
  • the work start position and work end position can be set at the operator's preferred position, it is also possible to change the work start direction and work end direction by setting an idle running process that does not perform work. Become.
  • the travel route R is automatically generated so that the control device 30 sequentially performs a reciprocating straight-ahead operation in the work range HA and performs a reversing turn in the headland HB.
  • the work conditions are, for example, a vehicle speed (shift position) at the time of work, an engine speed, a PTO speed (PTO shift position), a vehicle speed at the time of turning, an engine speed, and the like.
  • a work process along the travel route R is generated.
  • the setting values on the display 113 can be input and selected in order by sequentially displaying setting screens on the display 113 so that mistakes and settings are not forgotten. I have to.
  • the operator drives the autonomous traveling work vehicle 1 to move to the work start position in order to start work.
  • the traveling work vehicle 100 is positioned in the vicinity thereof. Then, the operator operates the remote operation device 112 to start work.
  • the work start condition is stored in the control device 30 of the autonomous traveling work vehicle 1, and when the work starting means of the remote operation device 112 provided in the accompanying traveling work vehicle 100 is turned on, the control device 30 satisfies the predetermined work start condition. Judgment is made.
  • the work start condition will be described later.
  • the accompanying traveling work vehicle 100 that performs work while traveling along with the autonomous traveling working vehicle 1 will be described.
  • the accompanying autonomous traveling work vehicle 100 is operated manually by an operator.
  • the operator operates so as to travel along the rear or side of the autonomous traveling work vehicle 1 that is an unmanned working vehicle traveling on the set route (traveling route R). Therefore, the operator monitors and operates the autonomous traveling work vehicle 1 while driving the accompanying autonomous traveling work vehicle 100, and operates the autonomous traveling work vehicle 1 by operating the remote control device 112 as necessary.
  • the control device 30 includes a steering actuator 40, a brake actuator, an accelerator actuator, a speed change means 44, a PTO on / off means 45, a clutch actuator, an elevating actuator 25, and the like. Connected with.
  • the traveling speed of the autonomous traveling working vehicle 1 is detected by the speed sensor 27, the engine speed is detected by the rotational speed sensor 61, and the detected value.
  • an image captured by the camera 42 is transmitted to the remote operation device 112 and displayed on the display 113, so that it is possible to see the state of the front of the machine body, the work machine, and the farm field.
  • work data is stored in the storage device of the remote operation device 112.
  • the work data for example, the position of the field and the work day are stored, the work completed position in the travel route R set in the field is stored, and in the fertilization work, the type of fertilizer and the amount of fertilizer applied per unit area are set. Or remember.
  • the autonomous traveling work vehicle 1 is traveled from one end to the other end of the field H to perform the field scene work, and the position of the autonomous traveling work vehicle 1 is grasped by using the satellite positioning system.
  • the process for setting the work range, the process for setting the entrance / exit E, the process for setting the reference travel start direction, the process for setting the headland HB at both ends of the work range, and the travel route R in the field are set.
  • Specifications of the work vehicle. Enter the easily obtained length than specification), is moved through the field can geodetic, the travel route R can be easily obtained.
  • the width of the headland HB is an integer multiple of the working machine width, the headland can be easily set. Further, since the width of the headland HB is set to be larger than the minimum turning radius L3, the headland can be turned without turning back at the headland and the work efficiency is not lowered.
  • the control device 30 performs the following control. That is, as shown in FIG. 10, the autonomous traveling work vehicle 1 and the accompanying autonomous traveling work vehicle 100 are respectively arranged at the work start positions in the field, the operator gets on the accompanying traveling work vehicle 100, and the remote control device 112 is put on standby. Manipulate state. At this time, it is determined whether the remote control device 112 of the accompanying autonomous traveling work vehicle 100 and the control device 30 of the autonomous traveling work vehicle 1 are connected so as to be communicable (S1). If it is not connected, the power supply is confirmed, the wireless state is checked, and the connection is set (S2). When connected, the operator performs an operation to start work.
  • the control device 30 By operating the work start means, the control device 30 detects the current position of the work vehicle based on a signal from the GPS, and displays position information such as the current position, the work start position, and the work progress direction on the display 113 (S3). ). Note that the current position, the work start position, the work progress direction, the field shape, and the like are always displayed on the display 113 (in other words, when the map is displayed) unless switched. It is determined whether the current position is within the set range from the set work start position (S4). If it is determined that the aircraft is not within the set range from the work start position, the start of autonomous travel is not permitted, and the operator drives the autonomous travel work vehicle 1 and moves to the work start position (S5).
  • the setting range for example, a range that can be easily corrected to the normal position by traveling several meters from the start of the work or a range that does not affect the work performed by the accompanying traveling work vehicle 100, and the remaining work range is made as small as possible.
  • autonomous traveling is not started even when the field is not a work field.
  • the maximum occupation area Q of the autonomous traveling work vehicle 1 overlaps with the outside of the farm field (S6). That is, even if the machine body is located within the set range in the field H, the rear end of the work machine (rotary tiller 24) may be located outside the field H. In this case, autonomous traveling does not start.
  • the traveling direction of the autonomous traveling work vehicle 1 and the set traveling direction are within the set range (S7). If it is not within the range, the start of autonomous traveling is not permitted, and the operator adjusts the traveling direction of the autonomous traveling work vehicle 1 (S5).
  • the traveling direction within the set range is, for example, within 30 degrees to the left and right of the set traveling direction, and a range that can be corrected to the set traveling direction within a few meters from the start of travel.
  • the autonomous running work it is determined whether the work is finished (S14). When the work is finished, the traveling of the autonomous traveling work vehicle 1 is stopped and finished (S15). If it is not finished, it is determined whether the work is interrupted (S16). The interruption condition will be described later. When the interruption condition does not occur, the autonomous traveling work is continued, and when the work is interrupted, the interrupted position is stored in the storage device 30a (S17). At the time of interruption, it is determined whether the work can be resumed (S18). When the work is resumed, the position at the time of interruption is displayed as the restart position (S19), and the process returns to Step 1.
  • the control device 30 determines that the autonomous traveling work vehicle 1 is located at a position away from the operation start position by a set range or more or out of the field. Since the control is performed so that the work start is not permitted when the vehicle is located in the position, it is prevented that the unworked area at the work start position becomes large. Can be quickly restored.
  • control device 30 since the control device 30 performs control so that the start of autonomous driving is not permitted when the traveling direction is out of the set range at the work start position, the control device 30 may travel in an unintended direction, There will be no contact marks or work marks that are greatly bent.
  • control device 30 performs control so that the start of autonomous traveling is not permitted when an abnormality occurs in the autonomous traveling work vehicle, the operation is started with the abnormality, and the machine body, the engine, the work machine, or the like is damaged. There is no. Further, since the control device 30 performs control so that autonomous traveling is not permitted when not connected to the remote operation device 112 of the accompanying traveling work vehicle 100, the operation by the remote operation device 112 can be performed reliably, and the autonomous traveling work vehicle 1 Can be easily recognized. Further, when the operation is interrupted, the control device 30 stores the interruption position, and when starting the operation again, the interruption position is set as the operation restart position, and the position is displayed on the display means 49 and the display 113. Positioning at the start of work after interruption can be performed easily, and work can be prevented from being interrupted.
  • the control device 30 determines whether a GPS signal is received (S20).
  • the control device 30 receives GPS signals from a plurality of GPS satellites 37, 37,... To detect the current position of the autonomous traveling work vehicle 1, but if the GPS signal cannot be received, the current position is determined. It becomes impossible to grasp and it becomes impossible to travel on the set route. Therefore, when the GPS signal is interrupted, the autonomous traveling is stopped (S21), and the suspended state is entered.
  • the cause of the stop of the traveling is displayed on the display 113 of the remote operation device 112 which becomes a display device at the time of stop and the display means 49 of the accompanying traveling work vehicle 100, and an alarm is issued (S22).
  • the actual position detected by the GPS is compared with the set travel route R (S23), and when the actual position deviates from the travel route R by more than the set distance, the autonomous traveling is stopped (S21). Further, it is determined whether the output value of the steering sensor 20 for detecting the steering direction of the steering handle 4 during the work is within a normal range (S24). For example, if an abnormal value is detected due to a cause such as a disconnection or a short circuit, the vehicle turns sharply. Therefore, it is detected whether the value is an abnormal value, and if it is an abnormal value, traveling is stopped (S21).
  • the traveling is stopped (S21).
  • the set value can be set arbitrarily. Thus, it is not necessary to refuel in the middle of the work, preventing the vehicle from moving due to the lack of fuel during the work, and not damaging the engine. If the interruption does not occur, the autonomous running is continued (S27).
  • traveling stopped (S21)
  • the cause of the interruption is displayed and an alarm is issued (S22)
  • the operator stops the operation of the accompanying traveling work vehicle 100 and performs the work to eliminate the cause of the interruption
  • the autonomous running is resumed (S27).
  • the means for stopping the traveling stops traveling with the transmission means 44 being neutral. That is, in the case of a transmission using a hydraulic continuously variable transmission (HST), a transmission means constituted by a solenoid or a motor is operated to move the movable swash plate of the variable displacement hydraulic pump to a neutral position. Thus, even when the traveling is stopped in the work on the slope, it is prevented from descending along the slope.
  • HST hydraulic continuously variable transmission
  • the means for stopping the traveling is between the output shaft of the engine 3 and the input shaft of the transmission case.
  • the main clutch placed in the position is turned off to stop traveling and activate the brake. In this way, even when traveling is stopped on an inclined ground, it is prevented from descending along the slope.
  • the PTO on / off means 45 When the traveling is stopped, the PTO on / off means 45 is operated to turn off the PTO clutch to stop the operation of the work machine, and the engine 3 is rotated to the idle speed. In this way, it is possible to prevent the work surface from being roughened without suddenly moving.
  • the engine speed when the vehicle is stopped can be set arbitrarily.
  • the operator stops the work and gets on the autonomous traveling work vehicle 1. Then, the engine is restarted, and an operation for avoiding the cause of the load increase is performed. For example, the work implement is raised or the shift position is lowered to run at a low speed. Then, normal work is resumed when the high load region is avoided.
  • the control device 30 performs control so as to stop the autonomous traveling, so that the control device 30 stops before greatly deviating from the target traveling route R, and the work accuracy deteriorates. Can be prevented.
  • control device 30 performs control so as to stop traveling when the actual position deviates from the set travel range with respect to the target travel route R, the control device 30 stops before greatly deviating from the target travel route R, thereby deteriorating work accuracy. It is possible to prevent people from getting stuck due to getting stuck deeply or getting on obstacles.
  • control device 30 since the control device 30 performs control so as to stop traveling when the detected value from the steering sensor 20 becomes an abnormal value, the steering actuator 40 is operated while the detected value of the steering sensor 20 is abnormal. It is possible to prevent traveling in an undirected direction. Further, since the control device 30 controls to stop traveling when the difference between the detected value and the target value of the gyro sensor 31 and the azimuth sensor 32 that detect the posture / azimuth exceeds a set value, the control device 30 proceeds in an unintended direction. Can be prevented.
  • control device 30 transmits the cause to the remote operation device 112 provided in the accompanying traveling work vehicle 100 and displays the cause on the display 113 of the remote operation device 112, so that the operator indicates the cause of the travel stop. It can be easily recognized and can quickly respond to eliminate the cause of the stoppage. Further, in the case of failure, the maintenance work vehicle can be quickly and easily handled.
  • the present invention can be used for a remote operation device for remotely operating a construction machine or an agricultural work vehicle that can be remotely operated.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'objectif de la présente invention est de permettre un travail de haute précision sans s'écarter d'un trajet défini et de permettre le démarrage du travail seulement lorsqu'un véhicule de travail à déplacement autonome est dans une position appropriée et dans un état approprié. Un véhicule de travail à déplacement autonome (1), qui est pourvu d'un moyen de calcul de position qui mesure la position d'un corps de dispositif, d'un actionneur de direction (40), d'un moyen de commande de rotation de moteur, d'un moyen de transmission (44), et d'un dispositif de commande (30) qui commande chacun d'eux, est fait travailler, tout en se déplaçant de manière autonome le long d'un trajet de déplacement défini stocké dans le dispositif de commande (30), par un véhicule de travail à déplacement concomitant (100) qui travaille tout en accompagnant le déplacement du véhicule de travail à déplacement autonome (1) au moyen d'une opération surveillée et qui est équipé d'un dispositif d'actionnement à distance (112) qui actionne le véhicule de travail à déplacement autonome. La commande assurée par le dispositif de commande (30) est telle que le démarrage du travail n'est pas autorisé à des positions auxquelles le véhicule de travail à déplacement autonome est séparé de la position de démarrage de travail par au moins une distance définie.
PCT/JP2014/077906 2014-02-06 2014-10-21 Dispositif de commande pour système de travail à déplacement parallèle WO2015118731A1 (fr)

Priority Applications (17)

Application Number Priority Date Filing Date Title
KR1020207012364A KR102252318B1 (ko) 2014-02-06 2015-02-06 병주 작업 시스템
JP2015561072A JP6253678B2 (ja) 2014-02-06 2015-02-06 併走作業システム
EP15746411.6A EP3104244B1 (fr) 2014-02-06 2015-02-06 Système de travail à déplacement parallèle
KR1020217013732A KR102340161B1 (ko) 2014-02-06 2015-02-06 병주 작업 시스템
US15/115,853 US10191492B2 (en) 2014-02-06 2015-02-06 Parallel travel work system
CN201911196165.XA CN110703785A (zh) 2014-02-06 2015-02-06 自主行驶作业系统
KR1020217039475A KR102475681B1 (ko) 2014-02-06 2015-02-06 병주 작업 시스템
PCT/JP2015/053442 WO2015119265A1 (fr) 2014-02-06 2015-02-06 Système de commande de conduite
KR1020167024514A KR102107556B1 (ko) 2014-02-06 2015-02-06 병주 작업 시스템
PCT/JP2015/053444 WO2015119266A1 (fr) 2014-02-06 2015-02-06 Système de travail à déplacement parallèle
KR1020227041929A KR20220164087A (ko) 2014-02-06 2015-02-06 병주 작업 시스템
CN201580007599.4A CN105980949B (zh) 2014-02-06 2015-02-06 并行作业系统
JP2015561071A JPWO2015119265A1 (ja) 2014-02-06 2015-02-06 走行制御システム
JP2017228469A JP6485716B2 (ja) 2014-02-06 2017-11-28 併走作業システム
JP2019020169A JP6999221B2 (ja) 2014-02-06 2019-02-06 自動作業システム
JP2021205761A JP7354217B2 (ja) 2014-02-06 2021-12-20 自動作業システム
JP2023151983A JP2023168382A (ja) 2014-02-06 2023-09-20 作業車両支援システム及び作業車両支援方法

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WO2017159801A1 (fr) * 2016-03-18 2017-09-21 ヤンマー株式会社 Système de déplacement autonome
JP2017173969A (ja) * 2016-03-22 2017-09-28 ヤンマー株式会社 自律走行システム
JP2018041358A (ja) * 2016-09-09 2018-03-15 ヤンマー株式会社 自律走行システム
WO2018101351A1 (fr) * 2016-12-02 2018-06-07 株式会社クボタ Système de gestion d'itinéraire de déplacement et dispositif de détermination d'itinéraire de déplacement
JP2018092620A (ja) * 2016-12-02 2018-06-14 株式会社クボタ 走行経路決定装置
JP2018101410A (ja) * 2016-12-19 2018-06-28 株式会社クボタ 走行経路管理システム
JP2018099041A (ja) * 2016-12-19 2018-06-28 株式会社クボタ 走行経路管理システム
WO2018116769A1 (fr) * 2016-12-19 2018-06-28 株式会社クボタ Système de gestion de trajet de déplacement
JP2018113943A (ja) * 2017-01-20 2018-07-26 株式会社クボタ 走行制御装置
KR20190091262A (ko) * 2016-12-02 2019-08-05 가부시끼 가이샤 구보다 주행 경로 관리 시스템 및 주행 경로 결정 장치
CN110383191A (zh) * 2017-03-09 2019-10-25 洋马株式会社 路径生成系统
JP2020018236A (ja) * 2018-08-01 2020-02-06 株式会社クボタ 収穫機
JP2020035485A (ja) * 2019-11-21 2020-03-05 ヤンマー株式会社 自律走行システム
JP2020156525A (ja) * 2020-07-06 2020-10-01 株式会社クボタ 走行制御装置
KR20210016086A (ko) * 2016-05-10 2021-02-10 얀마 파워 테크놀로지 가부시키가이샤 자율 주행 경로 생성 시스템
JP2022063327A (ja) * 2020-04-03 2022-04-21 ヤンマーパワーテクノロジー株式会社 自律走行システム
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