WO2016076319A1 - Terminal de commande - Google Patents

Terminal de commande Download PDF

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Publication number
WO2016076319A1
WO2016076319A1 PCT/JP2015/081628 JP2015081628W WO2016076319A1 WO 2016076319 A1 WO2016076319 A1 WO 2016076319A1 JP 2015081628 W JP2015081628 W JP 2015081628W WO 2016076319 A1 WO2016076319 A1 WO 2016076319A1
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WO
WIPO (PCT)
Prior art keywords
work
work vehicle
screen
displayed
vehicle
Prior art date
Application number
PCT/JP2015/081628
Other languages
English (en)
Japanese (ja)
Inventor
康平 小倉
横山　和寿
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
Priority claimed from JP2014231123A external-priority patent/JP6267626B2/ja
Priority claimed from JP2014231124A external-priority patent/JP6267627B2/ja
Priority claimed from JP2014231122A external-priority patent/JP6253565B2/ja
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to KR1020207035706A priority Critical patent/KR102329018B1/ko
Priority to AU2015347784A priority patent/AU2015347784A1/en
Priority to KR1020177015037A priority patent/KR102192966B1/ko
Priority to KR1020217036888A priority patent/KR102529352B1/ko
Publication of WO2016076319A1 publication Critical patent/WO2016076319A1/fr

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Classifications

    • 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
    • G05D1/0044—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 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures

Definitions

  • the present invention relates to an operation terminal for an unmanned autonomous traveling work vehicle that autonomously travels, and relates to the dimensions of the body of the autonomous traveling work vehicle, the dimensions of a working machine mounted on the autonomous traveling work vehicle, and the work traveling routes of a plurality of working vehicles.
  • the present invention relates to a technology that makes it possible to easily set the on the setting screen of the operation terminal.
  • Patent Document 1 a technique for setting a work path by combining a reciprocating work and a turning work so that work can be performed while automatically running in a field is known (for example, see Patent Document 1).
  • Patent Document 2 a technique for displaying a menu screen on a display device having a touch panel type display unit and inputting and teaching position data, work contents, work width, display grid line interval and the like by touch keys has become publicly known. (For example, refer to Patent Document 2).
  • the length of the work vehicle, the work width, and the work overlap width must be set in advance.
  • an operation terminal is usually connected to a controller of a work vehicle via a cable, and numbers of each length are input using a keyboard or a numeric keypad of the operation terminal. Therefore, since the numbers are entered while operating the keyboard or numeric keypad of the operation terminal while looking at the setting screen, it is easy to make an input error.
  • a driving / working route having a high work efficiency is set and displayed only by pressing a route display key in consideration of the field section, the current position of the vehicle, the field and work contents, and the like.
  • the present invention has been made in view of the above situation, and the dimensions (full length x full width x height, etc.) necessary for setting the travel route for autonomous running are touched on the screen of the display device. To provide an operation terminal that can be set easily.
  • the present invention is an operation terminal that enables operation of an autonomous traveling work vehicle that can automatically travel and work along a set traveling route by using a satellite positioning system.
  • the body size can be set, and the operation terminal can communicate with a control device of an autonomous traveling work vehicle via a communication device, and the operation terminal includes a control device and a display device.
  • the model selection screen for selecting the model of the work vehicle is displayed on the setting screen of the machine dimension of the autonomous traveling work vehicle that can be operated, and the model size is set by touching and selecting the model on the model selection screen. Is.
  • a body size setting screen is displayed, and the number of total length, vehicle width, axial distance, and wheel distance can be increased or decreased.
  • an aircraft dimension setting screen is displayed, and on the aircraft dimension setting screen, dimension lines are displayed in a schematic diagram of the aircraft, and the total length, vehicle width, axial distance, wheel An operation of touching and moving the distance dimension line display screen with a fingertip changes the size of the displayed schematic image at the same time as changing the dimension.
  • the present invention is an operation terminal capable of setting the dimensions of a working machine mounted on an autonomous traveling work vehicle that can automatically travel and work along a set traveling route using a satellite positioning system.
  • the operation terminal can communicate with the control device of the autonomous traveling work vehicle via a communication device, the operation terminal includes a control device and a display device, the display device is touch-operable, and the dimensions of the work machine
  • a schematic diagram of the work vehicle and the work implement is displayed, and at the same time the number representing the length required for setting the size of the work implement is changed by touching and moving the display screen with the fingertip on the setting screen
  • the size of the displayed schematic image is changed.
  • a work machine selection screen for selecting a type of work machine is displayed in advance on the setting screen for the size of the work machine of the display device.
  • the work machine selection screen displays the name of the work machine or a model of the work machine. An image is displayed, and the work machine can be selected.
  • a screen for selecting a manufacturer and model of a work machine is displayed on the work machine selection screen of the display device.
  • the present invention enables communication with the operation terminal, the autonomous traveling work vehicle, and / or the accompanying traveling work vehicle control device that travels along the autonomous traveling work vehicle via a communication device,
  • On the work setting screen after specifying the farm field, when the work placement position of the accompanying traveling work vehicle with respect to the autonomous traveling working vehicle is set, a traveling route for performing the work of the autonomous traveling working vehicle and the accompanying traveling working vehicle is set and displayed. It is what is done.
  • the arrangement position of the accompanying traveling work vehicle with respect to the autonomous traveling work vehicle is configured such that possible combinations are displayed side by side, and can be arbitrarily selected.
  • the work setting screen is provided with a screen for selecting whether the autonomous traveling work vehicle and the accompanying traveling working vehicle are manned or unmanned.
  • the work setting screen is provided with a screen for selecting a work implement to be mounted on each of the autonomous traveling work vehicle and the accompanying traveling working vehicle.
  • an operator can display a setting screen from an operation terminal (remote control device), and can easily operate a machine or work machine according to the model or model by touching the screen with a finger. It becomes possible to change the set value of the dimension.
  • Control block diagram The figure which shows the state at the time of the parallel work by an autonomous running work vehicle and an accompanying running work vehicle.
  • works behind the 1st work vehicle and a working machine differs.
  • the first work vehicle and the second work vehicle that perform work while running in parallel are unmanned or manned tractors.
  • the first work vehicle which is a typical combination, is an autonomous traveling work vehicle 1 that can automatically run unattended, and the second work vehicle is accompanied by the first work vehicle and the operator boarded and steered.
  • An embodiment in which the accompanying traveling work vehicle 100 is used will be described.
  • Rotary tillage devices 24 and 224 are mounted as work machines on the autonomous traveling work vehicle 1 serving as the first work vehicle and the accompanying traveling work vehicle 100 serving as the second work vehicle.
  • the first work vehicle and the second work vehicle are not limited to tractors, and may be a combine.
  • the work machine is not limited to the rotary tiller 24, and a fertilizer seeding machine, a mowing machine, and a chemical sprayer. It may be a machine, a disinfector, a harvester, or the like.
  • 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.
  • the control device 30 includes a CPU (central processing unit), a storage device 30m such as a RAM and a ROM, an interface, and the like, and the storage device 30m stores a program, data, and the like for operating the autonomous traveling work vehicle 1.
  • 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 and 9 are steered wheels, which can be turned by turning the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 comprising a power steering cylinder as a driving means of the steering device. It can be turned.
  • the steering actuator 40 is connected to the control device 30 and is controlled and driven by automatic traveling means.
  • 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 overload, and transmits the state of the engine 3 to the remote operation device 112 serving as an operation terminal to be described later. It can be displayed.
  • 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 can be displayed on the display device 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 on the rear side of the tractor body as a work machine via a work machine mounting device 23 so as to be movable up and down.
  • 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.
  • a mobile communication device 33 constituting a satellite positioning system is connected to the control device 30.
  • a mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11.
  • the mobile communicator 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 communication device that performs positioning.
  • Various positioning methods using GPS include 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 communication device 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna. 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 communication device 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 communication device 33 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by a fixed GPS antenna 36 serving as a reference station, measured by a fixed communication device 35, transmitted to the mobile communication device 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 includes automatic traveling means for automatically traveling.
  • the automatic traveling means receives radio waves transmitted from the GPS satellites 37, 37.
  • the position information of the aircraft is obtained at time intervals, the displacement information and the orientation information of the aircraft are obtained from the gyro sensor 31 and the orientation sensor 32, and along the set route R preset by the aircraft based on the position information, the displacement information, and the orientation information.
  • the steering actuator 40, the speed change means 44, the lifting / lowering actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled so as to automatically run and work automatically.
  • the positional information on the outer periphery of the field H which becomes a work range is also set in advance by a known method and stored in the storage device 30m.
  • 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 a laser sensor or an ultrasonic sensor, and is arranged at the front, side, or rear of the aircraft and connected to the control device 30, and there are obstacles at the front, side, or rear of the aircraft. Whether or not an obstacle approaches within a set distance is controlled to stop traveling.
  • the autonomous traveling work vehicle 1 is mounted with a camera 42F for photographing the front, a working machine behind the camera 42R, and a camera 42R for photographing the state after work, and is connected to the control device 30.
  • the cameras 42F and 42R are arranged on the front part and the rear part of the roof of the cabin 11.
  • the arrangement positions are not limited, and one camera is arranged on the front part and the rear part in the cabin 11.
  • the camera 42 may be arranged at the center of the aircraft and rotated around the vertical axis to photograph the surroundings, or the camera 42 may be arranged at the four corners of the aircraft to photograph the surroundings of the aircraft. Images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote operation device 112 provided in the accompanying traveling work vehicle 100.
  • 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, Work data is stored, and includes a control device (CPU and memory) 119, a communication device 111, a display device 113, and the like.
  • a control device CPU and memory
  • 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 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 (or the remote control device 112) may include a GPS mobile communication device 233, a mobile GPS antenna 234, and a data receiving antenna 238.
  • the steering sensor 120, the angle sensor 121, the shift position detecting means 122, the engine speed detecting means 123, the PTO on / off detecting means 124, the elevating actuator 125, the vehicle speed sensor 127, the travel stopping means 143, the speed changing means 144, and the PTO entering It is also possible to configure the vehicle to automatically run with the cutting means 245 and the like.
  • 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 is configured to be able to communicate with the control device 30 of the autonomous traveling work vehicle 1 wirelessly, and the communication devices 110 and 111 for communicating with the autonomous traveling work vehicle 1 and the remote operation device 112. Are provided. Further, the remote control device 112 can communicate with the control device 130 of the accompanying traveling work vehicle 100 via the communication devices 133 and 111.
  • the communication device 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 device 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a communication device 111, a CPU, a storage device, a battery, and the like are housed in the housing.
  • the set travel route R is preset in the field H as shown in FIG. 3 and stored in the storage device 30m, and the autonomous traveling work vehicle 1 can travel along the set travel route R.
  • map data information
  • map data is referred to determine the position of the field H, travel using a satellite positioning system, and set a travel route R.
  • This map data is disclosed on the Internet. Map data, map data distributed by a map maker, etc., car navigation map data, etc. are used.
  • the map data is stored in the storage device 30m of the control device 30 of the autonomous traveling work vehicle 1 or the storage device of the remote control device 112.
  • the video taken by the cameras 42F and 42R, the state of the autonomous traveling work vehicle 1, the state of work, and information on GPS are transmitted to the control device 119 via the communication devices 110 and 111.
  • the video, information, operation screen, and the like can be displayed, and the operator can operate the remote operation device 112 while monitoring the autonomous traveling work vehicle 1.
  • a setting screen can be displayed.
  • various lengths of the bodies and work machines of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be set.
  • This set length is necessary for setting the travel route R for work.
  • the dimensions of the machine and the work equipment related to the setting of the set travel route R depend on the work width, turning radius, work length, etc. during work. Therefore, it is also necessary to set the work start position in the field where the work is to be performed, to set the start position after turning the headland during the reciprocating work, and to leave no work left during the final reciprocating work.
  • the length from the mobile GPS antenna 34 to the front and rear ends of the fuselage is necessary to set the work start position, the position where the head reaches the headland, the work is stopped, the minimum turning radius when turning, etc. It becomes.
  • a part of the working widths of the rotary tillers of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are partially overlapped so that the accompanying traveling work vehicle 100 travels obliquely behind the autonomous traveling work vehicle 1 and runs in parallel. A case where the work is performed will be described.
  • a screen for setting each dimension of the aircraft will be described.
  • the setting screen can be configured not only with the operation terminal but also with the display means 49 of the autonomous traveling work vehicle 1 or the display means 149 provided in the control section of the accompanying traveling work vehicle 100.
  • a model selection screen 320 as shown in FIG. 4 is displayed.
  • a tractor (work vehicle) series model 320a, a displacement (engine) model 320b, a grade model 320c, and the like are displayed in a tree shape, and each model can be selected.
  • the type of this type is not limited to the above type, and it is also possible to select a 4WD specification, a cabin / canopy specification, a transmission specification, or the like, as long as the type can be specified.
  • the display is not limited to the tree display, but may be arranged in alphabetical order or eye-weight order.
  • the model selection screen 320 is further provided with a confirmation button 321 and a manual setting button 322.
  • the dimensions of the model are automatically set and reflected in the setting of the travel route R.
  • the overall length, vehicle width, axial distance, and wheel distance dimensions corresponding to the model are stored in advance in the storage device.
  • each dimension of a body is memorize
  • the screen changes to a body dimension setting screen 330 as shown in FIG. 5, and a dimension input screen 330a and a body model screen 330b are displayed on the body dimension setting screen 330.
  • the On the dimension input screen 330a an overall length L change button 331, an axial distance HB change button 332, a vehicle width WL change button 333, a wheel distance T change button 334, and a tire change button 335 are provided.
  • a front schematic view and a side schematic view of the tractor are displayed on the airframe schematic screen 330b so that it can be easily recognized which length is changed.
  • the total length L change button 331 is used to increase or decrease the number by touching the up button or the down button when attaching the front weight to the bumper, changing to a different work machine mounting device, or mounting the work machine to the drawbar hitch. To set the length.
  • the axial distance HB change button 332 is configured such that when the axle case is changed, the up button or the down button is touched to increase or decrease the number to set the length.
  • the vehicle width WL change button 333 is configured to set the length by increasing / decreasing the number by touching the up button or the down button when an optional part is mounted on a fender, a cabin, or the like.
  • the wheel distance T change button 334 touches the up button or the down button to increase or decrease the number to set the length.
  • the tire change button 335 is configured to input a necessary value for each of the front and rear wheels when the tire size is changed, when the tire is changed to a steel wheel, or when two tires are mounted on the left and right.
  • the size, width (shape), etc. of the tractor in the schematic diagram are also changed at the same time, together with the diagram of the aircraft schematic screen 330b. Good.
  • the length can be changed by displaying a numeric keypad, and the number changing method is not limited. In this way, when the confirmation button 336 is pressed after setting manually, the length is confirmed and the setting is completed, which is reflected in the setting of the travel route R.
  • the remote operation device 112 serving as an operation terminal that enables the operation of the autonomous traveling work vehicle 1 that can automatically travel and work along the traveling route R set by using the satellite positioning system.
  • the remote operation device 112 serving as the operation terminal can set the dimensions (total length, vehicle width, axial distance, etc.) of the airframe, and the operation terminal 112 is connected to the control device 30 of the autonomous traveling work vehicle 1 and the communication device.
  • the remote control device 112 includes a control device 119 and a display device 113.
  • the display device 113 can be touch-operated, and a setting screen 330 of the body dimensions of the autonomous traveling work vehicle 1 is provided.
  • a model selection screen 320 for selecting the model of the work vehicle is displayed, and the body dimensions are set by touching and selecting the model on the model selection screen 320. Therefore, the body dimensions are individually set. Without necessity to be automatically dimension is entered, it is possible to easily set, even Habukeru trouble of setting again when the travel route for the automatic travel.
  • the body dimension setting screen 330 is displayed, and the numbers of the total length, the vehicle width, the axial distance, and the wheel distance can be increased / decreased. Setting can be easily performed by increasing or decreasing the number.
  • the aircraft dimension setting screen 330 displays the dimension lines in the schematic diagram of the aircraft, and the total length, the vehicle width and the axis. Touching and moving the dimension line display screen of distance and wheel distance with your fingertips changes the size of the displayed schematic image at the same time as changing the dimensions, so you can easily change settings by touching and moving your finger. The change can be easily recognized visually.
  • each set length of the work implement is necessary for setting a travel route R for allowing the autonomous traveling work vehicle 1 to travel autonomously.
  • the dimensions related to the setting of the set travel route R are set, and the left and right width of the work machine and the eccentric length from the left and right center of the machine are the work width. It is also necessary to set the start position after turning the headland at the time, and to ensure that no work remains during the final reciprocal work.
  • the longitudinal length from the mobile GPS antenna 34 to the rear end of the work implement is necessary for setting the work start position, the position where the head reaches the headland, the work is stopped, the minimum turning radius when turning, etc. It becomes.
  • the work machine selection screen 113s displays names of a plurality of work machines that can be mounted on the autonomous traveling work vehicle 1. Or you may display only the working machine which you have. However, since the name of the work machine is difficult to understand or mistaken in katakana, a schematic image representing the work machine may be displayed in addition to the name of the work machine.
  • a rotary tiller button, a boom sprayer button, a trencher button, a hello button, and other buttons are displayed. For example, when a rotary tiller button is touched, as shown in FIG. 7, a schematic diagram in which the rotary tiller is mounted on the tractor is displayed on the length setting screen 113g on the right side. When the trencher button is touched, as shown in FIG.
  • a schematic diagram in which the trencher is attached to the tractor is displayed on the length setting screen 113g.
  • a subsoiler, a seeder, a fertilizer, a work machine such as a cult or a mower that can be mounted on a tractor not displayed on the work machine selection screen 113s is displayed.
  • the work implement displayed on the length setting screen 113g is a rear mount, it may be a mid mount or a front mount, and the schematic diagram also shows a schematic diagram of the mid mount and front mount according to the work implement. indicate.
  • the length setting screen 113g includes a tractor, a work implement mounted on the tractor, a left and right length (width) X of the work implement, and the front and rear from the center of the mobile GPS antenna 34 to the rear end of the work implement.
  • the length Y and the overlap length W are displayed.
  • the eccentric length is also displayed.
  • touching the numeric part representing the left / right length X or the front / rear length Y will display a numeric increase / decrease mark or numeric keypad.
  • the display length can be changed by operating an increase / decrease mark or operating a numeric keypad to input a number.
  • the number representing the length necessary for setting the work implement is changed at the same time as the operation of touching the display screen with the fingertip and moving, and the size of the displayed schematic image is also changed.
  • the setting screen of the display device 113 displays a work machine selection screen 113s for selecting a type of work machine in advance, and the work machine name or a schematic image of the work machine is displayed on the work machine selection screen 113s. Since it is possible to select, it is not necessary to input the name of the work machine, and it can be easily selected. Further, it can be easily selected by visual judgment with reference to the schematic diagram.
  • the screen for selecting the manufacturer and model of the work machine is displayed on the work machine selection screen 113s of the display device, it can be easily selected by touching the left and right length X of the selected work machine and the front and rear. Since the length Y is stored in advance, it is not necessary to input a number again, and the setting operation can be easily performed.
  • the travel route setting device includes the remote control device 112, the display means 49 of the autonomous traveling work vehicle 1 that becomes the first work vehicle, and / or the display means 149 of the accompanying travel work vehicle 100 that becomes the second work vehicle.
  • the setting screen can be displayed on the display device 113 of the remote operation device 112 or the display means 49 of the autonomous traveling work vehicle 1 and / or the display means 149 of the accompanying traveling work vehicle 100. Since the setting method on the setting screen is the same, a method for setting with the display device 113 of the remote operation device 112 will be described below.
  • the display device 113 of the remote operation device 112 is provided with a setting button or the like so that the setting screen can be easily displayed by a touch operation.
  • a setting button may be provided on the remote operation device 112 itself.
  • the travel route setting screen 315 includes a first / second work vehicle arrangement setting screen 315a, a manned / unmanned setting screen 315b, and a work implement setting screen 315c.
  • the first and second work vehicle arrangement setting screen 315a displays four arrangement patterns of the first work vehicle and the second work vehicle, and can be selected by touching. That is, the first / second work vehicle arrangement setting screen 315a includes the first work vehicle diagonally rearward arrangement 315a1, the first work vehicle diagonal rearward arrangement 315a2, the first / second work vehicle front / rear arrangement 315a3, and the first -The second work vehicle left and right arrangement 315a4 is displayed side by side, and further, each screen is provided with a left and right turn direction setting button 316 at the headland, and when selected by touching, the selection result is indicated by lighting or flashing, etc. I am doing so.
  • the first / second work vehicle arrangement setting screen 315a is not limited to the above-described screen, and may be the screen shown in FIG. That is, on the first and second work vehicle arrangement setting screen 315a of the embodiment shown in FIG. 11, a schematic picture representing the autonomous traveling work vehicle 1 serving as the first work vehicle is arranged in the center, and the eight directions around it are arranged in the eight directions.
  • a schematic picture of the accompanying traveling work vehicle 100 serving as the second working vehicle is displayed, and the position where the accompanying traveling work vehicle 100 performs work on the autonomous traveling work vehicle 1 can be arbitrarily selected.
  • the selection operation can be performed by touching the screen on which the accompanying traveling work vehicle 100 is located, and the setting can be understood by lighting or the like.
  • the travel route setting screen 315 it is possible to select whether the first work vehicle and the second work vehicle are manned (manual running operation) or unmanned (automatic maneuvering). That is, as shown in FIG. 10, in the manned / unmanned setting screen 315b, manned and unmanned can be selected for the first work vehicle, and manned and unmanned can be selected for the second work vehicle. . This selection can be made by touching, and lights up when selected.
  • the travel route setting screen 315 is provided with a screen for selecting work machines to be mounted on the first work vehicle and the second work vehicle, respectively. That is, as shown in FIG. 10, when the button of the first work vehicle is touched on the work machine setting screen 315c, the screen is switched to the screen of FIG. 7, and the work machine selection screen 113s and the length setting screen 113g are displayed. If it has already been set by the operation as described above, this operation is unnecessary. Further, when the button of the second work vehicle on the work machine setting screen 315c is touched, a screen similar to that of the first work vehicle is displayed, and the work machine to be mounted on the second work vehicle can be selected.
  • the screen configuration of the work implement setting screen 315c is not limited, and when the button of the first work vehicle is touched, a scroll unit in which the types of work implements are displayed side by side may be displayed and selected by touching. .
  • the enter button 318 is pressed on the work implement setting screen 315c to complete the work implement setting, the screen returns to the screen of FIG.
  • the screen displayed thereafter is displayed as a schematic diagram simulating the shape of the selected work implement so that the set work implement can be visually confirmed.
  • the arrangement of the first work vehicle and the second work vehicle, the manned and unmanned of the first work vehicle and the second work vehicle, and the type of work implement are selected and set, and when the decision button 318 is pressed, A work travel route that enables efficient work is automatically calculated and displayed.
  • the traveling route is inevitably required for the field where the work is performed. Therefore, a travel route pattern that can be worked from a plurality of travel patterns stored in the storage device 30m in advance is displayed. The travel route that matches the actual work is touched and determined.
  • the work travel routes of the autonomous travel work vehicle 1 and the accompanying travel work vehicle 100 are displayed. If the displayed route is acceptable, the travel route is confirmed by touching the decision button 318. When a different travel route is desired, the reset button 317 is pressed to manually set the travel route.
  • This manual setting can be selected and set from a plurality of travel routes capable of automatic travel. A travel route can be easily set by such a simple operation.
  • a setting screen 315 is displayed on the display device 113 of the remote operation device 112.
  • the setting screen 315 demonstrates embodiment which sets manned / unmanned, a work machine, and a travel route, other fields, a work speed, work rotation speed, etc. can also be set and the setting is other than that. It can be set on the screen, and a detailed description is omitted.
  • the arrangement (positional relationship) at the time of work of the first work vehicle and the second work vehicle is selected by a touch operation.
  • the first work vehicle touches the diagonally forward placement 315a1 button.
  • a left / right turning direction setting button 316 is used to select which direction the work should proceed in the left / right direction.
  • the screen is turned on by the touch operation (or blinks or others disappear) so that the selection result can be easily understood.
  • the first work vehicle and the second work vehicle are manned (manual operation) or unmanned (automatic operation) from the manned / unmanned setting screen 315b.
  • unattended or manned is selected by touching, it lights up.
  • the first work vehicle is set to be unmanned and the second work vehicle is set to be manned.
  • the type of work machine mounted on the first work vehicle and the second work vehicle is selected.
  • the working machine of the first work vehicle is a rotary tiller
  • the working machine of the second work vehicle is also a rotary tiller.
  • necessary lengths are input on the work machine selection screen 113s and the length setting screen 113g shown in FIG. It should be noted that once input is made on the manned / unmanned setting screen 315b and work implement setting screen 315c, it is assumed that the previous setting is stored, and if it is the same, the setting can be omitted.
  • the arrangement of the first work vehicle and the second work vehicle is when the first work vehicle selects the diagonally forward arrangement 315a1 and advances the work in the left direction on the headland.
  • the first work vehicle is an unmanned autonomous traveling work vehicle 1
  • the second work vehicle is a manned accompanying traveling work vehicle 100
  • both work machines are set as rotary tillers, and the decision button 318 is pressed
  • FIG. The set travel route R of the first work vehicle and the second work vehicle is displayed. If the route is acceptable, the confirm button 319 is pressed. If a different travel route is desired, the reset button 317 is pressed. In the case of FIG.
  • the work machine of the first work vehicle and the work machine of the second work vehicle perform the same reciprocation work, so that the work can be performed with approximately twice the efficiency.
  • the same traveling route is set when the working machine is a sowing machine, a fertilizer machine, a mower or a control machine other than the rotary tiller.
  • the first work vehicle is obliquely arranged 315a1
  • the first work vehicle 1 is equipped with a grass collecting device
  • a baler is attached to the two work vehicle 100
  • the work machine is set on the work machine setting screen 315c
  • a travel route R as shown in FIG. 13 is displayed.
  • the confirmation button 319 is pressed, and if a different travel route is desired, the reset button 317 is pressed, and a desired travel route is selected from a plurality of patterns.
  • the first work vehicle (the accompanying traveling work vehicle 100) is selected. Is manned, the second work vehicle (autonomous traveling work vehicle 1) is unmanned, and when both work machines are set as rotary tillers and the determination button 318 is pressed, a traveling route R as shown in FIG. 14 is displayed. Is done. After the first work vehicle 1 reciprocates, the travel route R performs work by being positioned on a line where the first work vehicle skips one diagonally behind the second work vehicle. Therefore, the work machine has the same travel route regardless of whether the first work vehicle and the second work vehicle are the same or different.
  • the first work vehicle travels with the marker protruding from the second work vehicle as a target, but may travel along a travel route using a satellite positioning system.
  • the first / second work vehicle front / rear arrangement 315a3 is selected, and the work is set to proceed to the left on the headland.
  • the determination button 318 is pressed and the second work vehicle 100 travels behind the first work vehicle 1 as shown in FIG.
  • the first work vehicle 1 is used for rough plowing, and then the second work vehicle 100 is used for plowing again to perform the vertical setting.
  • the reciprocating work is performed by turning to adjacent strips, the working widths are partially overlapped, so that the working machines interfere with each other.
  • the first / second work vehicle front / rear arrangement 315a3 is selected and set to advance the work in the left direction.
  • the determination button 318 is pressed.
  • the travel route R reciprocates between adjacent strips as shown in FIG. In this case, even if the first work vehicle turns to the adjacent strip and travels from the opposite direction to perform the work, the work machine of the second work vehicle is narrow so that the work can be performed without interference.
  • the first / second work vehicle left / right arrangement 315a4 is selected, the work is set to proceed leftward on the headland, and the work implement setting screen 315c
  • a work machine narrower than the width for example, a sowing machine, a fertilizer machine, a subsoiler, or the like is selected and the determination button 318 is pressed
  • a reciprocating work path R for skipping a single line is set as shown in FIG.
  • the work implement setting screen 315c if both the work implements of the first work vehicle and the second work vehicle are set as the rotary tiller and the determination button 318 is pressed, the rotary tillers overlap each other. Is displayed as impossible and prompts you to change the settings. In this case, if the overlap length is negative on the length setting screen 113g, the travel route is displayed.
  • the first / second work vehicle arrangement setting screen 315a the first / second work vehicle left / right arrangement 315a4 is selected, and on the work machine setting screen 315c, the work machine of the first work vehicle is the harvester.
  • the work implement of the vehicle is a baler and the determination button 318 is pressed, a reciprocating travel route as shown in FIG. 18 is displayed. Alternatively, the traveling route of the turning work as shown in FIG. 13 is displayed.
  • the own vehicle is utilized using the satellite positioning system.
  • the position is measured, and the work is performed while traveling along the travel route R.
  • the manned work vehicle performs work while traveling along with the unmanned work vehicle.
  • the manned work vehicle can also travel by using the satellite positioning system, positioning the own vehicle, displaying the set travel route R on the display device 149, and viewing the guide. Or you may make it drive
  • both the first work vehicle and the second work vehicle are unmanned, the same traveling route R can be used to perform work.
  • the travel route setting device for performing work while traveling in parallel with the first work vehicle and the second work vehicle and the travel route setting device is provided by the touch panel type display device 113 provided in the remote operation device 112. Configured, the first work vehicle and / or the second work vehicle and the remote control device 112 can communicate with each other via the communication device, and after specifying the farm field on the setting screen 315 of the travel route setting device, When the work placement position of the second work vehicle with respect to one work vehicle is set, the travel route R for performing the work of the first work vehicle and the second work vehicle is set and displayed. Therefore, the operator displays a predetermined screen. By simply selecting by touching, the positional relationship between the first work vehicle and the second work vehicle can be easily grasped, the travel route R is automatically set, and the setting work can be easily performed.
  • the setting screen 315 is provided with a screen for selecting whether the first work vehicle and the second work vehicle are manned or unmanned. Manned and unmanned work vehicles can be set easily.
  • the setting screen 315 is provided with a screen for selecting work machines to be mounted on the first work vehicle and the second work vehicle, respectively.
  • an optimum travel route R is set, and a work route that causes interference between the work machines of the first work vehicle and the second work vehicle is not set.

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

Abstract

L'invention concerne un dispositif de commande distant (112) servant de terminal de commande qui peut définir les dimensions d'un châssis et d'une machine de travail d'un véhicule de travail (1) à déplacement autonome qui est susceptible de se déplacer et de travailler automatiquement le long d'un itinéraire de déplacement (R) défini, afin de pouvoir définir facilement, par une opération tactile sur un écran d'un dispositif d'affichage, les dimensions et une position, qui sont des informations nécessaires pour définir l'itinéraire de déplacement à parcourir de manière autonome. Le dispositif de commande distant (112) peut communiquer, par l'intermédiaire de dispositifs de communication (110, 111), avec un dispositif de contrôle (30) du véhicule de travail (1) à déplacement autonome. Le dispositif de commande distant (112) est pourvu d'un dispositif de contrôle (119) et d'un dispositif d'affichage (113). Le dispositif d'affichage (113) est conçu de façon à être actionné par effleurement et de sorte que : sur un écran de configuration de châssis et de véhicule de travail, un diagramme schématique d'un véhicule de travail et d'une machine de travail soit affiché ; sur un tel écran de configuration, en réponse à une opération d'effleurement et de déplacement d'un bout de doigt sur l'écran d'affichage, un nombre représentant la longueur nécessaire pour la définition de la machine de travail soit changé et, en même temps, la taille d'une image schématique affichée soit changée.
PCT/JP2015/081628 2014-11-13 2015-11-10 Terminal de commande WO2016076319A1 (fr)

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KR1020207035706A KR102329018B1 (ko) 2014-11-13 2015-11-10 조작 단말
AU2015347784A AU2015347784A1 (en) 2014-11-13 2015-11-10 Operation terminal
KR1020177015037A KR102192966B1 (ko) 2014-11-13 2015-11-10 조작 단말
KR1020217036888A KR102529352B1 (ko) 2014-11-13 2015-11-10 조작 단말

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JP2014-231122 2014-11-13
JP2014231123A JP6267626B2 (ja) 2014-11-13 2014-11-13 走行経路設定装置
JP2014-231123 2014-11-13
JP2014-231124 2014-11-13
JP2014231124A JP6267627B2 (ja) 2014-11-13 2014-11-13 操作端末
JP2014231122A JP6253565B2 (ja) 2014-11-13 2014-11-13 操作端末

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JP2017211733A (ja) * 2016-05-24 2017-11-30 ヤンマー株式会社 自律走行経路生成システム
CN107422740A (zh) * 2017-07-06 2017-12-01 北京小米移动软件有限公司 平衡调节方法及装置
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
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
JP2018099112A (ja) * 2016-12-19 2018-06-28 株式会社クボタ 走行経路管理システム
JP2018206094A (ja) * 2017-06-06 2018-12-27 三菱電機株式会社 観測装置および車両制御システム
JP2019097454A (ja) * 2017-11-30 2019-06-24 井関農機株式会社 作業車両
CN109936975A (zh) * 2016-12-02 2019-06-25 株式会社久保田 行进路线管理系统及行进路线决定装置
JP2019175254A (ja) * 2018-03-29 2019-10-10 ヤンマー株式会社 運転支援システム
JP2019170228A (ja) * 2018-03-28 2019-10-10 ヤンマー株式会社 作業車両の自動走行装置
JP2020119595A (ja) * 2016-05-24 2020-08-06 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
JP2020130130A (ja) * 2019-02-25 2020-08-31 井関農機株式会社 移植機の並走作業システム
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JP2017211733A (ja) * 2016-05-24 2017-11-30 ヤンマー株式会社 自律走行経路生成システム
JP2020119595A (ja) * 2016-05-24 2020-08-06 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
CN109936975A (zh) * 2016-12-02 2019-06-25 株式会社久保田 行进路线管理系统及行进路线决定装置
EP3549419A4 (fr) * 2016-12-02 2020-08-05 Kubota Corporation 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
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
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
JP2018099112A (ja) * 2016-12-19 2018-06-28 株式会社クボタ 走行経路管理システム
JP2018206094A (ja) * 2017-06-06 2018-12-27 三菱電機株式会社 観測装置および車両制御システム
CN107422740A (zh) * 2017-07-06 2017-12-01 北京小米移动软件有限公司 平衡调节方法及装置
JP2019097454A (ja) * 2017-11-30 2019-06-24 井関農機株式会社 作業車両
US11567498B2 (en) 2018-01-22 2023-01-31 Kubota Corporation Agriculture support device and agriculture support system
JP2019170228A (ja) * 2018-03-28 2019-10-10 ヤンマー株式会社 作業車両の自動走行装置
JP7122845B2 (ja) 2018-03-28 2022-08-22 ヤンマーパワーテクノロジー株式会社 作業車両の自動走行装置
JP2019175254A (ja) * 2018-03-29 2019-10-10 ヤンマー株式会社 運転支援システム
JP7016751B2 (ja) 2018-03-29 2022-02-07 ヤンマーパワーテクノロジー株式会社 運転支援システム
JP2020130130A (ja) * 2019-02-25 2020-08-31 井関農機株式会社 移植機の並走作業システム

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KR102329018B1 (ko) 2021-11-18
KR20170083069A (ko) 2017-07-17
KR20200141543A (ko) 2020-12-18
AU2015347784A1 (en) 2017-06-22
KR102192966B1 (ko) 2020-12-18
KR102529352B1 (ko) 2023-05-04
KR20210138161A (ko) 2021-11-18

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