WO2016076320A1 - 圃場状態検知システム - Google Patents

圃場状態検知システム Download PDF

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Publication number
WO2016076320A1
WO2016076320A1 PCT/JP2015/081630 JP2015081630W WO2016076320A1 WO 2016076320 A1 WO2016076320 A1 WO 2016076320A1 JP 2015081630 W JP2015081630 W JP 2015081630W WO 2016076320 A1 WO2016076320 A1 WO 2016076320A1
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WO
WIPO (PCT)
Prior art keywords
work
field
control device
work vehicle
camera
Prior art date
Application number
PCT/JP2015/081630
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
敏史 平松
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 JP2014231129A external-priority patent/JP2016095661A/ja
Priority claimed from JP2014231128A external-priority patent/JP2016095660A/ja
Priority claimed from JP2014231130A external-priority patent/JP6364677B2/ja
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Priority to AU2015347785A priority Critical patent/AU2015347785B9/en
Priority to KR1020177015637A priority patent/KR102121646B1/ko
Publication of WO2016076320A1 publication Critical patent/WO2016076320A1/ja

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • 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

Definitions

  • the present invention relates to a system for detecting field hardness and work finish as a field state, and in particular, a camera is mounted on a work vehicle, the work vehicle and a field scene are photographed by the camera, and the field hardness is determined from the amount of settlement.
  • the present invention relates to a technique for measuring and simultaneously detecting an abnormality of a work machine from a change in a farm scene.
  • a cone-shaped sensing part whose penetration depth changes according to the hardness of the soil surface, a shaft fixed to the upper part of the sensing part and extending upward, and this shaft is fixed at all times during measurement. It is equipped with a holding part that opens and a display part that displays the amount of movement of the shaft, and the shaft is fixed by the holding part so as to be in contact with the soil surface to be measured, and then the fixing of the shaft is released.
  • a technique is known in which the sensing unit is allowed to fall naturally and penetrate into the soil, and the hardness of the soil surface is measured by the penetration depth at this time (see, for example, Patent Document 1).
  • the hardness can be roughly determined by measuring only a few locations in a narrow field.
  • the fields where rice, wheat, potatoes, etc. are cultivated are large, and when it is desired to know the distribution of the overall hardness, it is necessary to measure several tens or more points in order.
  • the sensing part had to penetrate the soil once, and the labor and time required for the measurement were considerably increased.
  • the present invention has been made in view of the above situation, and is intended to continuously detect the state of the field and to easily obtain the hardness and working state of the entire field.
  • the present invention is provided with a camera that is attached to a work vehicle and photographs a predetermined position of the work vehicle and a farm scene below the work vehicle, calculates the height of the work vehicle at a predetermined position relative to the farm scene, and returns to the farm field.
  • the hardness of the field is measured from the amount of settlement.
  • the present invention includes a camera that is attached to an accompanying traveling work vehicle that performs work in parallel with an autonomous traveling work vehicle, and that captures a predetermined position of the autonomous traveling work vehicle and a farm scene below the work vehicle.
  • the height of the predetermined position is calculated, and the hardness of the field is measured from the amount of settlement to the field.
  • the measured hardness is continuously written in a field map and stored in a storage device as hardness distribution data.
  • a camera for photographing a state after work is mounted on the work vehicle and connected to a control device, and the control device performs image processing on a video photographed by the camera during work, This is a comparison with the stored normal work image.
  • the control device is connected to a stopping means for stopping running and work, and when different image data is obtained for a post-work video and a normal work video shot by the camera, it is determined as abnormal, Stops running and work.
  • the control device can communicate with a management server via a communication line, and stores the hardness distribution data, the normal work video, and the abnormal work video in a database of the management server.
  • the control device is capable of communicating with a remote control device via a communication device. When the control device determines that the abnormality has occurred, the control device notifies the remote control device.
  • the hardness can be continuously measured while the work vehicle is traveling, and the labor and time required for the hardness measurement can be significantly reduced. Also, there is almost no operation for measurement, and handling becomes easy.
  • Control block diagram The figure which shows the state at the time of the work by an autonomous running work vehicle. The figure which shows the reference
  • the control block diagram The figure which shows the normal working image of a working state. The figure which shows the work image in which abnormality occurred in the work state.
  • 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, 9 are steered wheels, which can be turned by turning the steering handle 4, and the front wheels 9, 9 are driven by a steering actuator 40 comprising a power steering cylinder as drive means for the steering device. Left and right steering rotation is possible.
  • 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 so as not to overload.
  • the fuel tank 15 disposed in the vicinity of the step 81 is provided with a level sensor 29 for detecting the liquid level of the fuel and is connected to the control device 30.
  • the display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 includes fuel.
  • a fuel gauge for displaying the remaining amount is provided and connected to the control device 30.
  • display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., an abnormal monitor, 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 that captures the front, a work implement behind the camera 42R, and a camera 42R that captures the state of the field 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 travel route R and work process of the autonomous traveling work vehicle 1 can be set by the remote operation device 112.
  • the remote control device 112 can remotely control the autonomous traveling work vehicle 1, monitor the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement, and store work data.
  • the remote control device 112 is configured to be detachable from an operation unit such as a dashboard of the autonomous traveling work vehicle 1.
  • the remote control device 112 can be taken out of the autonomous traveling work vehicle 1 and carried and operated.
  • 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 communication devices 110 and 111 for communication, respectively. ing.
  • the communication device 111 is integrated with the remote control 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 follows the set travel route R in the automatic travel start control mode. Can be run.
  • map data information
  • map data is referred to in order to determine the position of the field H, to travel using a satellite positioning system, and to set a travel route R.
  • Public map data, map data distributed by map makers, etc., car navigation map data, and the like are used.
  • the work in this embodiment is a plowing work by the rotary plowing device 24, the set travel route R is a reciprocating plowing, and a parallel running work with the accompanying traveling work vehicle 100 is performed.
  • the work is performed by moving to the strip, but in the independent work by the autonomous traveling work vehicle 1, the headland is turned and then the work is performed by moving to the adjacent strip. Note that the headland is twice as long as the left-right width W1 of the work implement in the case of a tilling work by the rotary tiller 24.
  • the mounting position and the reference length of the GPS antenna 34 are input in advance in the storage device 30a of the control device 30.
  • the mounting position of the GPS antenna 34 can be mounted above the center of gravity of the tractor or above the center of the rear axle, and is not limited. In this embodiment, it arrange
  • the size (reference length) of the autonomous traveling work vehicle (tractor) 1 and the work implement (rotary tilling device 24) is set so as to protrude from the field H or avoid obstacles when automatically traveling. Necessary and stored in the storage device 30a before the work. As shown in FIG.
  • the reference length is the total length L0 and the total width W0 of the tractor, the distance L1 from the GPS antenna 34 to the front end of the aircraft, with the work implement (rotary tiller 24) mounted on the tractor, GPS The distance L2 from the antenna 34 to the rear end of the work implement, the distance L3 from the GPS antenna 34 to the working position of the work implement, the left and right width W1 of the work implement (when the work implement is wider than the width of the tractor), work overlap The amount (overlapping width) W2, the amount of eccentricity S1 (not shown) from the center of the left and right when the work implement is arranged eccentrically, etc., which are obtained from the specifications of the tractor and work implement, respectively, and stored in the control device 30 Save in device 30a.
  • the distance L1 from the GPS antenna 34 to the front end of the machine body is used when calculating the distance from the field edge such as a front fence or an obstacle appearing in front, and the distance from the GPS antenna 34 to the rear end of the work machine.
  • the distance L2 is used, for example, when calculating the distance to the straw or the field when moving backward, and the distance L3 from the GPS antenna 34 to the working position of the work implement recognizes the work start position and work end position on the headland. It is necessary for.
  • the distance from the front edge or rear edge of the machine body to the field edge or obstacle can be displayed by the display means 49 or the display device 113.
  • the operating position of the working machine is determined by the working machine, and in the case of the rotary tiller 24, it is below the tilling claw shaft and slightly deviates from the center of the rotary tiller 24 in plan view. Further, the working position of the boom sprayer is below the spray tub, and is different from the center of the boom sprayer (the entire spraying device) in the plan view. As described above, the working position of the work implement is not limited to the center in the plan view, and is different for each work implement, and thus needs to be set for each work implement.
  • the method of inputting the reference length to the storage device 30a is input from the remote operation device 112, but may be input from the display means 49 configured with a touch panel.
  • a value corresponding to the type and model of the work machine is stored in the storage device 30m in advance, so that the work machine is called and selected every time the work machine is replaced. It is also possible to set the length.
  • a storage unit 271 that previously reads the reference length is provided in the work machine, and when the work machine is attached to the autonomous traveling work vehicle 1, the reference length is set by the reading device 64 provided in the autonomous traveling work vehicle 1. It is also possible to set the reference length to the control device 30 by reading it, or by connecting the storage means 271 and the control device 30 via a cable to read the reference length.
  • the storage means 271 may be an IC chip, a magnetic storage medium, a barcode, a two-dimensional code, or the like, and is not limited.
  • the autonomous traveling work vehicle 1 when working with the autonomous traveling work vehicle 1, the autonomous traveling work vehicle 1 is positioned at the headland work start position, and the start switch is operated to start the work.
  • the control device 30 of the autonomous traveling work vehicle 1 controls the steering actuator 40 serving as a steering device along the set traveling route R, reaches the farm field end, and the working position of the work machine is the work start / end position E (FIG. 3).
  • the PTO on / off means 45 is turned off to stop the rotation of the rotary and stop the work implement.
  • the elevating actuator 25 is operated to extend the elevating cylinder 26 and raise the rotary tiller 24.
  • the PTO on / off means 45 is turned on to rotate the rotary and simultaneously drive the work implement.
  • the elevating actuator 25 is actuated to reduce the elevating cylinder 26 and the rotary tiller 24 is lowered to start the work.
  • the autonomous traveling work vehicle including the position calculating means for positioning the position of the aircraft using the satellite positioning system and the control device 30 that automatically travels and works along the set traveling route R.
  • the control device 30 controls the steering device so that the center of the machine body is along the set travel route, and drives the work machine when the work center of the work machine is located at the work start position E, so that the work center of the work machine is operated. Since the work implement is controlled to stop when it is located at the work end position E, the headland is neatly aligned and the work of the headland can be cleaned. In addition, there is less duplication in the spraying work, and there is no need for correction in the planting work.
  • the working position of the work implement is configured to be settable by the remote operation device 112, it can be easily set even at a position away from the autonomous traveling work vehicle 1.
  • the working machine is provided with working position storage means of the working machine, and the working position storage means is configured to be connectable to a working machine information reading device provided in the machine.
  • the reference length can be easily set in the control device 30 only by connecting the action position storage means and the work implement information reading device when the vehicle 1 is mounted on the main unit.
  • the autonomous traveling work vehicle 1 includes a camera 42 that captures a predetermined position of the farm scene G and the autonomous traveling work vehicle 1.
  • the camera 32 is installed so as to photograph the center of the rear wheel 10 as the farm scene G and a predetermined position.
  • the center of the rear wheel 10 and the farm scene G are simultaneously photographed and input to the control device 30 to perform image processing.
  • the control device 30 calculates the distance between the center of the rear wheel 10 of the work vehicle and the farm scene G.
  • the height L1 is obtained.
  • the height of the center of the rear wheel 10 is measured in advance in a state where the airframe is not sunk, and is set as the standard height L0. Then, the difference L2 between the standard height L0 and the measured height L1 is calculated to determine the amount of subsidence L2 on the field, and the hardness of the field is measured. However, since the relationship between the amount of settlement and the hardness of the field has a relationship that sinks deeper as it is softer, the relationship is stored in advance in the storage device 30m as a map or the like.
  • the predetermined position is the center of the rear wheel 10 in the present embodiment, but is not limited, and may be the lower end of the step 81 that is positioned approximately in the center of the front and rear as shown in FIG. The part which can measure the height with the farm scene G may be sufficient, and the center of the front, back, left and right of the body is most preferable.
  • the camera 42 captures a predetermined position of the farm scene G and the autonomous traveling work vehicle 1, obtains the height, measures the subsidence amount L2, and works according to the subsidence amount L2.
  • the height of the rotary tiller 24 is controlled. That is, when the farm scene is soft and the subsidence amount L2 is large, the elevating actuator 25 is actuated to extend the elevating cylinder 26 and the rotary tiller 24 is raised according to the subsidence amount L2.
  • the rotary tiller 24 is lowered in the reverse manner. Accordingly, the tilling depth can be controlled more accurately, and the tilling depth can be made constant.
  • the sowing depth can be kept constant in the sowing work, the fertilization depth in the fertilization work, and the planting depth in the transplanting work, and the work performance can be improved.
  • the amount of settlement L2 is measured at every predetermined distance while traveling (working), and the measured value or the hardness calculated from the measured value is continuously written in the measurement position on the map of the field H (field map). Create a hardness distribution.
  • This writing may be a number, a dot or a color, and is not limited.
  • control device 30 can communicate with the management server 400 via the communication line 401, and the measurement is made to the management server 400 via the communication line 401 after the work (measurement) is completed (or simultaneously with the work).
  • the hardness distribution obtained by the operation is transmitted and stored as hardness distribution data in the field.
  • the management server 400 stores the hardness distribution data in the database as field data so that it can be used for future work and the like.
  • the field data includes address, tilling date, planting date and harvest date of crop, type and amount of pest control and fertilization, spraying date, and the like.
  • the subsidence amount is photographed by attaching a camera 42 to an accompanying traveling work vehicle 100 that performs work while traveling along with the autonomous traveling work vehicle 1.
  • the step 81 (or the center of the rear wheel 10) as the predetermined position of the work vehicle 1 and the farm scene G are photographed, and the height of the autonomous traveling work vehicle 1 with respect to the farm scene G is measured. It is also possible to do.
  • the predetermined position may be the rear wheel 10, the fuselage frame, or the like as described above.
  • the step 81 of the autonomous traveling work vehicle 1 and the image of the farm scene G are transmitted to the control device 130 of the accompanying traveling work vehicle 100, and in the control device 130, the subsidence amount L2 is the distance between the farm scene G and step 81, The difference in height in step 81 from the road surface that does not sink is calculated to obtain the sinking amount L2, and the hardness is calculated.
  • This subsidence amount L2 is transmitted to the control device 30 of the autonomous traveling work vehicle 1 via the communication devices 133 and 110, and is used for plowing depth control of the rotary tiller 24. Moreover, it transmits also to the remote control apparatus 112, and hardness is written in the agricultural field map according to the traveling position of the autonomous traveling work vehicle 1. Further, as described above, the hardness is transmitted and written to the management server 400 via the communication line 401 and stored as hardness distribution data.
  • the camera 42 that is attached to the autonomous traveling work vehicle 1 and photographs a predetermined position such as the step 81 of the body of the autonomous traveling work vehicle 1 or the center of the rear wheel 10 and the farm scene G below the predetermined position. Equipped with the step 81 of the autonomous traveling work vehicle 1 with respect to the farm scene G or while calculating the height of the rear wheel 10 to measure the hardness of the farm field from the amount of subsidence of the aircraft with respect to the farm scene G at an arbitrary position. Hardness can be continuously measured while the autonomous traveling work vehicle 1 is traveling, and labor and time required for the hardness measurement can be significantly reduced. Also, there is almost no operation for measurement, and handling becomes easy. Moreover, work accuracy can be made high by applying the hardness of the field obtained by the measurement to plowing depth control etc.
  • the accompanying traveling work vehicle 100 which works in parallel with the autonomous traveling working vehicle 1, and the field scene G below the step 81 or the center of the rear wheel 10 as a predetermined position of the autonomous traveling working vehicle 1 and the like. And calculating the height of step 81 of the autonomous traveling work vehicle 1 or the center of the rear wheel 10 with respect to the farm scene G at an arbitrary position, and calculating the hardness of the farm field from the amount of settlement on the farm field. Since it measures, it will measure from the side position away from the autonomous running work vehicle 1, an error becomes small, and the height of a predetermined position can be measured correctly.
  • the measured hardness is continuously written in the field map and stored in the storage device 30m of the control device 30 as hardness distribution data, it becomes possible to follow the height control of the work implement, Accuracy can be improved.
  • the hardness distribution of the field can be easily understood.
  • a field condition detection device a field scene after work is photographed using the camera 42R, and the state is compared with the state of the field scene after normal work. It can also be judged that
  • the work in this embodiment is a flat work forming work by the rotary tiller 24, and the set travel route R is a reciprocating work that moves to an adjacent strip on a headland.
  • the working state is photographed by the camera 42R, and when an abnormality occurs, the running and work are stopped by the stopping means, and an alarm is issued to notify the operator.
  • the camera 42R is attached to the upper rear end of the cabin 11 and connected to the control device 30.
  • the camera 42R takes a picture of a state where the rotary tiller 24 has successfully formed flat culverts, and the control device 30 is in a field state. Enter as.
  • the shooting of the field state may be performed by the camera 42R attached to the accompanying traveling work vehicle 100 that performs work while traveling along the autonomous traveling work vehicle 1.
  • the image data obtained by the photographing is subjected to image processing and stored in advance in the storage device 30m as a normal work image (normal work video).
  • This normal work image is stored as a normal work image when the image taken when the work is first performed in the field where the work is performed, and is compared with the image at the time of the work on the basis of the normal work image. To determine if it is abnormal. However, the previous normal work image may be stored as the normal work image.
  • the image data photographed by the camera 42R is compared with the normal work image, and when the tilling claw is broken or dropped, as shown in FIG. A different part J results.
  • the stopping means may stop the engine by the engine controller 60.
  • an alarm is generated by sounding a buzzer or a horn, blinking a direction indicator, etc., and it is recognized by the surroundings that an abnormality has occurred. Report what happened and report it. An alarm may be issued from the speaker of the remote operation device 112.
  • control device 30 can communicate with the management server 400 via the communication line 401, transmits that an abnormality has occurred in the management server 400 via the communication line 401, and stores it as abnormality data.
  • the management server 400 it is stored in a database as a maintenance record so that it can be used for future occurrence of abnormality.
  • the captured video can be displayed on the display means 49 on the dashboard 14 or the display device 113 of the remote operation device 112.
  • the remote operation device 112 is provided with a restart button 118 as a work restart operation means, and the determination of the abnormality is canceled by operating the restart button 118 so that traveling and work can be restarted.
  • a malfunction may occur in which grass and cocoons and the like are mixed and are judged to be different from the surrounding normal parts and stop. In this way, when there is no abnormality, it stops and the operator can easily determine that it is normal, and canceling the abnormality determination by operating the restart button 118 without checking the entire work machine or system So that work can be resumed promptly.
  • the form of work is not limited to flat work forming work by the rotary tiller 24 but can be applied to other work.
  • seedlings are planted on the ridges at a predetermined interval. Therefore, seedlings are planted at a predetermined interval on a predetermined strip, and green seedlings appear in a row in a photographed normal image.
  • the rows are interrupted, and it can be easily determined by image processing that a stock loss has occurred.
  • the traveling is stopped in the same manner as described above, and the work is stopped. At the same time, an alarm is issued and a notification is made. It is also possible to use a rice transplanter as the transplanter.
  • the autonomous traveling work vehicle including the position calculating means for positioning the position of the aircraft using the satellite positioning system and the control device 30 that automatically travels and works along the set traveling route R.
  • the autonomous traveling work vehicle 1 is equipped with a camera 42 ⁇ / b> R that captures a working state and is connected to the control device 30, and is connected to a stop unit that stops traveling and work, and is connected to the control device 30.
  • the video taken by the camera 42R is subjected to image processing and compared with the normal work video stored in advance, and when different image data is obtained, it is determined as abnormal and the running and work are stopped.
  • the autonomous traveling work vehicle 1 when the autonomous traveling work vehicle 1 is automatically driven, when an abnormality occurs in the work state, the work is immediately stopped and the work machine may be damaged. The prevented, and minimize the state of the working poor, it is possible prevent rework. Also, the cause of the abnormality can be easily investigated by viewing the video.
  • control device 30 can communicate with the remote operation device 112 via the communication device 110, and if it is determined that the abnormality has occurred, the control device 30 notifies the remote operation device 112, so that the operator can recognize that an abnormality has occurred. Can respond promptly.
  • the remote operation device 112 is provided with a restart button 118 serving as a work restart operation means, and the operation of the restart button 118 cancels the determination of the abnormality and restarts running and work.
  • the operation can be easily resumed only by the operation of the resume button 118, such as when the operation stops without any trouble, or when the abnormality is resolved by simple operation or simple repair.
  • control device 30 can communicate with the management server 400 via the communication line 401 and stores it in the database of the management server 400 when it is determined as abnormal, the data when the abnormality occurs is It will be stored in the database as a maintenance record, which can be used for dealing with future abnormalities.
  • the present invention can be used for a construction machine, an agricultural work vehicle, or the like in which a plurality of work vehicles perform work on a predetermined field or the like using a satellite positioning system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2015/081630 2014-11-13 2015-11-10 圃場状態検知システム WO2016076320A1 (ja)

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AU2015347785A AU2015347785B9 (en) 2014-11-13 2015-11-10 Field state detection system
KR1020177015637A KR102121646B1 (ko) 2014-11-13 2015-11-10 포장 상태 검지 시스템

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JP2014231129A JP2016095661A (ja) 2014-11-13 2014-11-13 無人作業システム
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JP2014231128A JP2016095660A (ja) 2014-11-13 2014-11-13 無人作業システム
JP2014-231129 2014-11-13
JP2014-231128 2014-11-13
JP2014231130A JP6364677B2 (ja) 2014-11-13 2014-11-13 圃場状態測定方法

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WO2018135991A1 (en) 2017-01-19 2018-07-26 Scania Cv Ab Method and control unit for ground bearing capacity analysis
WO2020161035A1 (de) * 2019-02-05 2020-08-13 Zf Friedrichshafen Ag Vorrichtung und verfahren zum sicheren betreiben einer autonom betreibbaren landwirtschaftlichen maschine
CN112071387A (zh) * 2020-09-04 2020-12-11 中山仰视科技有限公司 一种自动化医学影像的电子胶片和检查报告获取方法及系统
US11569569B2 (en) 2017-10-06 2023-01-31 Yanmar Co., Ltd. Antenna unit for work vehicle and work vehicle
US11747817B2 (en) 2017-11-08 2023-09-05 Kubota Corporation Autonomous traveling work vehicle and field management system
WO2023181294A1 (ja) * 2022-03-24 2023-09-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法、プログラム及び記憶媒体

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KR102472094B1 (ko) 2017-01-20 2022-11-30 가부시끼 가이샤 구보다 작업차
JP7013170B2 (ja) * 2017-08-24 2022-01-31 株式会社クボタ 作業機
JP2022089308A (ja) * 2020-12-04 2022-06-16 株式会社豊田自動織機 自律走行システム
DE102022129533A1 (de) 2021-12-01 2023-06-01 Wiedenmann Gmbh Vorrichtung und Verfahren zur Rasenpflege mit Spurerkennung

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US11569569B2 (en) 2017-10-06 2023-01-31 Yanmar Co., Ltd. Antenna unit for work vehicle and work vehicle
US11747817B2 (en) 2017-11-08 2023-09-05 Kubota Corporation Autonomous traveling work vehicle and field management system
WO2020161035A1 (de) * 2019-02-05 2020-08-13 Zf Friedrichshafen Ag Vorrichtung und verfahren zum sicheren betreiben einer autonom betreibbaren landwirtschaftlichen maschine
CN112071387A (zh) * 2020-09-04 2020-12-11 中山仰视科技有限公司 一种自动化医学影像的电子胶片和检查报告获取方法及系统
WO2023181294A1 (ja) * 2022-03-24 2023-09-28 本田技研工業株式会社 自律作業機、自律作業機の制御方法、プログラム及び記憶媒体

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AU2015347785B9 (en) 2019-10-31
AU2015347785A9 (en) 2019-06-27

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