WO2021044971A1 - 農業機械 - Google Patents
農業機械 Download PDFInfo
- Publication number
- WO2021044971A1 WO2021044971A1 PCT/JP2020/032627 JP2020032627W WO2021044971A1 WO 2021044971 A1 WO2021044971 A1 WO 2021044971A1 JP 2020032627 W JP2020032627 W JP 2020032627W WO 2021044971 A1 WO2021044971 A1 WO 2021044971A1
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- WIPO (PCT)
- Prior art keywords
- work
- change
- unit
- replenishment
- area
- Prior art date
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- 239000000463 material Substances 0.000 claims abstract description 108
- 230000008859 change Effects 0.000 claims abstract description 100
- 238000004364 calculation method Methods 0.000 claims abstract description 18
- 238000005507 spraying Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 description 12
- 239000003337 fertilizer Substances 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 4
- 238000009331 sowing Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- 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
- A01B79/00—Methods for working soil
- A01B79/005—Precision agriculture
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Forestry; Mining
Definitions
- the present invention relates to, for example, an agricultural machine such as a tractor.
- Patent Document 1 is known as a technique for creating a running path (working running line) for automatically driving a work vehicle such as a tractor.
- the work vehicle of Patent Document 1 includes an acquisition unit that acquires position data of the outer peripheral portion of the field, and a work setting unit that sets a work travel line on which the traveling machine travels in the field based on the position data.
- the work vehicle has a material remaining amount detection unit that detects the remaining amount of the material to be loaded, and when the remaining amount of the material becomes low, the work vehicle replenishes the material after the traveling machine finishes traveling along the work traveling line. It is equipped with a material notification unit that notifies the driver that it should be done.
- Patent Document 1 although a work travel line can be created, at the time of creating the work travel line, it is not possible to specify a place where the material is exhausted, and the material is reduced when the work vehicle is actually traveled. It is necessary to end the automatic operation at any position and replenish. That is, in Patent Document 1, the material may run out in the middle of the work running line. In addition, if the amount of material actually mounted on the work device and the amount of material grasped by the work vehicle are different, the material may run out in a place other than expected.
- an object of the present invention is to provide an agricultural machine capable of easily and efficiently replenishing materials.
- Agricultural machinery includes a traveling vehicle body that can travel, a route creation unit that creates a planned traveling route of the traveling vehicle body in a work area where work is performed using materials with a work device provided on the traveling vehicle body, and a work area.
- An area setting unit that sets a replenishment area for replenishing materials on the outside, an input amount acquisition unit that acquires the input amount of materials to be mounted on the work device, and an input amount and work acquired by the input amount acquisition unit.
- the replenishment position of the material is set in the remaining amount calculation unit that calculates the remaining amount of the material based on the amount of material consumed and the replenishment area set by the area setting unit based on the remaining amount of the remaining amount calculation unit.
- the position setting unit to be set the change reception switch that accepts the change of the replenishment position, the position change unit that changes the replenishment position when the change reception switch accepts the change, and the changed replenishment position. It is equipped with a display device that displays a certain change position.
- the route creating unit creates a turning route from the working area through the replenishment area and returns to the working area again, and the position setting unit replenishes the portion corresponding to the turning route in the replenishment area. Set the position.
- the position setting unit sets the replenishment position on a turning route on which the traveling vehicle body has the same turning direction among the plurality of turning routes.
- the position change portion is a portion of the replenishment area corresponding to the turning route, and the change position is set at a position before the replenishment position in the traveling direction of the planned travel route.
- the agricultural machine includes an automatic driving control unit that automatically drives the traveling vehicle body based on the planned travel route and performs work by the working device, and the automatic driving control unit receives the change by the change acceptance switch. In this case, when there is a remaining amount of the material, the traveling vehicle body is driven to a position where the material is exhausted, the work is completed, and then the vehicle returns to the changed position.
- the agricultural machine includes an automatic driving control unit that automatically drives the traveling vehicle body based on the planned travel route and performs work by the working device, and the automatic driving control unit receives the change by the change acceptance switch. In this case, after stopping the work by the work apparatus and finishing the work, the process returns to the changed position.
- the change acceptance switch accepts the change, the automatic operation control unit stops the spraying operation of the spraying device if the working device is a spraying device.
- the agricultural machine includes a PTO shaft that transmits power to the work device and a PTO clutch that switches the power transmission of the PTO shaft between a connected state and a disconnected state. Accepts the change, the PTO clutch is switched from the connected state to the disconnected state.
- the agricultural machine includes a lifting device that changes the working posture and the retracting posture by raising and lowering the working device, and the automatic operation control unit operates the lifting device when the change acceptance switch accepts the change. Change from posture to retracted posture.
- the automatic driving control unit moves the traveling vehicle body to a point where the work is completed, and restarts the work.
- the display device displays a setting screen for setting the input amount of the material, and the input amount acquisition unit acquires the input amount set on the setting screen of the display device.
- the display device displays the planned travel route created by the route creation unit, the replenishment area set by the area setting unit, and the replenishment position set in the replenishment area, and is displayed by the change reception switch. When the change of the supply position is accepted, the change of the supply position set in the supply area is accepted.
- the position change unit selects the replenishment position before the change and then selects the replenishment position to be changed in the replenishment area, the selected replenishment position is set as the replenishment position after the change, and the replenishment position before the change is set. To delete. After the replenishment position is selected, the position change unit sets the selected replenishment position as the replenishment position after the change.
- replenishment of materials can be performed easily and efficiently.
- FIG. 14 shows a tractor 1 which is an example of an agricultural machine.
- the agricultural machine will be described by taking the tractor 1 as an example, but the work vehicle is not limited to the tractor, and may be a rice transplanter or a combine harvester.
- the tractor 1 includes a traveling vehicle body 3 having a traveling device 7, a prime mover 4, and a transmission device 5.
- the traveling device 7 is a device having a front wheel 7F and a rear wheel 7R.
- the front wheel 7F may be a tire type or a crawler type.
- the rear wheel 7R may also be a tire type or a crawler type.
- the prime mover 4 is a diesel engine, an electric motor, or the like.
- the transmission 5 can switch the propulsive force of the traveling device 7 by shifting, and can also switch the traveling device 7 forward and backward.
- a cabin 9 is provided in the traveling vehicle body 3, and a driver's seat 10 is provided in the cabin 9.
- an elevating device 8 composed of a three-point link mechanism or the like is provided at the rear portion of the traveling vehicle body 3.
- a working device 2 is attached to and detached from the elevating device 8. By connecting the work device 2 to the elevating device 8, the work device 2 can be towed by the traveling vehicle body 3.
- the work device 2 is a device that performs work using materials, for example, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a seedling transplanting device for transplanting seedlings, a seeding device for spraying seeds, and the like. Is. That is, the work device 2 is a device that supplies materials such as fertilizers, pesticides, seedlings, and seeds to the field.
- the work device 2 includes a container (hopper) 2a capable of storing (accommodating) materials, and a supply mechanism 2b provided in the container 2a and supplying the materials in the container 2a.
- the supply mechanism 2b is, for example, an open / close type shutter for supplying or stopping the supply of the material dropped from the container 2a to the field, a nozzle for spraying the material, a pump for feeding the material, and the like.
- the structure of the working device 2 is not limited to the above-mentioned example.
- the working device 2 includes a control device 2c that controls the supply mechanism 2b and a display device 2d that is connected to the control device 2c.
- the display device 2d has a predetermined area (supply amount per unit area [for example, 10 kg / 10a (1000 m 2 )], supply width of materials (unit: m), and input amount of materials charged into the container 2a (unit: unit:). kg) and the like can be input.
- the control device 2c controls the opening / closing amount (opening), opening / closing timing, etc. of the supply mechanism 2b based on the supply amount, supply width (working width), and the like.
- the supply of materials by the device 2 is preferably linked to the vehicle speed, which changes the supply amount per unit time in conjunction with the moving speed (vehicle speed).
- the control device 2c is a switch or the like provided on the display device 2d. Is operated and the supply of materials is started, a signal (start signal) indicating that the supply is started is output to the in-vehicle network N1 described later. Further, the control device 2c is operated when a switch or the like is operated and the supply is completed. , A signal (end signal) indicating that the supply has been terminated is output to the vehicle-mounted network N1.
- the lifting device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e.
- the front end portion of the lift arm 8a is swingably supported upward or downward above the rear upper portion of a case (transmission case) accommodating the transmission 5.
- the lift arm 8a swings (elevates) by being driven by the lift cylinder 8e.
- the lift cylinder 8e is composed of a hydraulic cylinder.
- the lift cylinder 8e is connected to the hydraulic pump via a control valve 36.
- the control valve 36 is a solenoid valve or the like, and expands and contracts the lift cylinder 8e.
- the front end of the lower link 8b is swingably supported above or below the rear lower part of the transmission 5.
- the front end portion of the top link 8c is swingably supported above or below the rear portion of the transmission 5 above the lower link 8b.
- the lift rod 8d connects the lift arm 8a and the lower link 8b.
- the working device 2 is connected to the rear part of the lower link 8b and the rear part of the top link 8c.
- the lift cylinder 8e is driven (expanded / contracted)
- the lift arm 8a moves up and down
- the lower link 8b connected to the lift arm 8a moves up and down via the lift rod 8d.
- the working device 2 swings (up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.
- the tractor 1 includes a steering device 29.
- the steering device 29 includes a steering wheel (steering wheel) 30, a rotating shaft (steering shaft) 31 that rotates with the rotation of the steering wheel 30, and an auxiliary mechanism (power steering mechanism) 32 that assists the steering of the steering wheel 30.
- the auxiliary mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 operated by the control valve 34.
- the control valve 34 is a solenoid valve that operates based on a control signal.
- the control valve 34 is, for example, a three-position switching valve that can be switched by moving the spool or the like.
- the control valve 34 can also be switched by steering the steering shaft 31.
- the steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.
- the steering device 29 described above is an example, and is not limited to the configuration described above.
- the tractor 1 includes a positioning device 40.
- the positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki.
- a satellite positioning system positioning satellite
- the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the tractor 1 (for example, latitude, longitude). That is, the vehicle body position is detected.
- the positioning device 40 includes a receiving device 41 and an inertial measurement unit (IMU) 42.
- the receiving device 41 is a device having an antenna or the like and receiving a satellite signal transmitted from the positioning satellite, and is attached to the traveling vehicle body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to the traveling vehicle body 3, that is, the cabin 9.
- the mounting location of the receiving device 41 is not limited to the embodiment.
- the inertial measurement unit 42 includes an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like.
- the traveling vehicle body 3, for example, provided below the driver's seat 10, can detect the roll angle, pitch angle, yaw angle, etc. of the traveling vehicle body 3 by the inertial measurement unit 42.
- the tractor 1 includes a display device 50.
- the display device 50 includes a control unit 51, a display unit 52, and a storage unit 53.
- the control unit 51 is composed of a CPU, an electric / electronic circuit, and the like, and performs various controls related to the display device 50.
- the display unit 52 is composed of a liquid crystal panel, a touch panel, other panels, and the like, and displays various information.
- the storage unit 53 is composed of a non-volatile memory or the like.
- an application program that supports the work of the tractor 1 is stored in the storage unit 53, and when the application program is started, the display device 50 operates as a work support device that supports the work. Even when the display device 50 operates as a work support device, the control unit 51, which is hardware, executes the process as the work support device.
- the display device (work support device) 50 includes a map registration unit 51A.
- the map registration unit 51A registers the contour of a predetermined field, for example, the position corresponding to the contour of the predetermined field.
- the map registration unit 51A displays the map registration screen M1 on the display unit 52.
- field identification information such as the map MP1 including the field, the vehicle body position VP1 of the tractor 1, the field name, and the field management number is displayed.
- the map MP1 is associated with position information such as latitude and longitude.
- the map registration screen M1 displays the current vehicle body position VP1 detected by the positioning device 40 when the tractor 1 orbits.
- the map registration unit 51A has a plurality of tractors 1 when the tractor 1 laps.
- the traveling locus K1 obtained by the vehicle body position is used as the field contour (outer shape) H1, and the field map MP2 represented by the contour H1 is registered together with the field identification information.
- the map registration unit 51A calculates the inflection point from the traveling locus indicated by the vehicle body position VP1 and registers the contour K2 connecting the inflection points as the field contour H1 (field map MP2).
- the driver or the like designates the end of the field by a switch or the like provided on the tractor 1, and the contour K3 connecting the designated ends. May be registered as contour H1 (field map MP2).
- the above-mentioned field registration method is an example and is not limited.
- the outline of the field may be the data indicated by the position (latitude, longitude) or the data indicated by the coordinate (X-axis, Y-axis) system, or may be expressed in other expressions. It may be the data shown.
- the storage unit 53 stores the field map MP2 showing the contour (outer shape) registered by the map registration unit 51A. That is, the storage unit 53 stores the field map MP2 and data indicating the contour of the field (data for representing a predetermined field).
- the display device (work support device) 50 includes an area setting unit 51D.
- the area setting unit 51D sets the work area A2 and the supply area A5. If the work area A2 has already been set in the field map MP2, the area setting unit 51D may set only the supply area A5. In this embodiment, an example in which both the work area A2 and the supply area A5 are set will be described.
- the area setting unit 51D displays the work setting screen M2 on the display unit 52.
- the work setting screen M2 has a field input unit 80 and a field display unit 81.
- the field input unit 80 can input field identification information such as a field name and a field management number.
- the field display unit 81 displays a field map MP2 indicating a predetermined field corresponding to the field identification information input to the field input unit 80. That is, the area setting unit 51D requests the storage unit 53 for the field map MP2 corresponding to the field identification information input to the field input unit 80, and the field map MP2 transmitted from the storage unit 53 is the field display unit 81. To display.
- the area setting unit 51D displays the turning area A1 on the field map MP2 displayed on the field display unit 81.
- the area setting unit 51D sets the area surrounded by the contour H2 formed by offsetting the contour H1 of the field map MP2 inward by the turning width W1 as the work area A2.
- the work area A2 is set on the field map MP2 by designating the contour position of the work area A2 on the field map MP2 displayed on the field display unit 81 using a pointer or the like. You may.
- the area setting unit 51D shifts to the processing of the supply area A5.
- the area setting unit 51D is performed by, for example, the pointer unit 95 displayed on the work setting screen M2.
- the selected turning area A1 is set as the supply area A5.
- the area Ji selected by the pointer unit 95 is set in the supply area A5.
- the area setting unit 51D sets the area J3 as the supply area A5 and sets the work.
- the replenishment area A5 set outside the work area A2 is displayed on the screen M2.
- the replenishment area A5 can be set in the area Ji outside the work area A2, for example, in contact with the farm road, corresponding to the shape of the field, that is, the shape of the work area A2.
- the storage unit 53 stores data of the field map MP2 in which the work area A2 and the replenishment area A5 are set) (data indicating the position of the work area A2 and data indicating the replenishment area A5).
- the display device (work support device) 50 includes a route creation unit 51B.
- the route creation unit 51B creates a travel route (planned travel route) L1 of the traveling vehicle body 3 on the field map MP2 with reference to the field map MP2 registered in the storage unit 53.
- the route creation unit 51B displays the route setting screen M3 on the display unit 52.
- the route setting screen M3 includes a route display unit 85 for displaying the planned travel route L1 and a width input unit 86.
- the work width W2 of the work device 2 is a width (work execution width) at which the work device 2 works on the ground such as a field, and in the case of the work device 2 for spraying the material on the field, the material is supplied. The spray width.
- the fertilizer application width is the work width W2
- the chemical spray width is the work width W2
- the seedlings are seeded in one operation.
- the planting width that can be planted in the field is the working width, and in the case of a sowing device, the sowing width is the working width W2.
- the ground work is a farming work performed on a field and crops cultivated in the field. For example, planting seedlings, irrigation, spraying chemicals, spraying fertilizer (fertilizer application), spraying seeds (sowing), etc. Suppression, soil cover, ridge formation, tillage, groove shape, etc.
- the route creation unit 51B When the route creation unit 51B acquires the work width W2, as shown in FIG. 8A, the route creation unit 51B divides the work area A2 in the vertical direction or the horizontal direction by the work width W2, thereby performing work on the work device 2. Create A3 in the work area A2. That is, the route creation unit 51B creates a plurality of unit work sections A3 having the same width as the work width W2 in the work area A2. As shown in FIG. 8B, the route creation unit 51B may create a plurality of unit work sections A3 having a width W4 obtained by subtracting the overlap width W3 from the work width W2 in the work area A2. The overlap width W3 can be input on the route setting screen M3. That is, when the traveling vehicle body 3 to which the work device 2 is connected is driven, the route creation unit 51B sets the minimum unit area in which the work is performed on the field by the work device 2 as the unit work section A3. ..
- the route creation unit 51B creates a straight-ahead portion (straight-ahead route) L1a in which the traveling vehicle body 3 goes straight for each unit work section A3 of the field map MP2. That is, the route creation unit 51B creates, for example, a linear straight route L1a connecting both ends in the longitudinal direction of the unit work section A3 in the central portion in the width direction of the unit work section A3.
- the route creation unit 51B creates a route that passes through the supply area A5, that is, a route that can connect the adjacent straight route L1a within the supply area A5.
- the route creating unit 51B creates the turning route L1b so that the turning portion (turning route) L1b on which the traveling vehicle body 3 turns is located in the supply area A5. That is, the route creation unit 51B creates a part of the planned travel route L1 for automatic driving in the supply area A5 set outside the work area A2.
- the route creation unit 51B can associate the planned travel route L1 with the vehicle speed (moving speed) of the tractor 1 (traveling vehicle body 3). For example, it is assumed that a vehicle speed input unit for inputting a vehicle speed is provided on the route setting screen M3, and the vehicle speed is input to the vehicle speed input unit. The route creation unit 51B associates the straight route L1a with the vehicle speed input to the vehicle speed input unit.
- the planned travel route L1 (straight route L1a and turning route L1b) created by the route creation unit 51B is stored in the storage unit 53.
- the supply input unit 96 for inputting the supply amount Q1 for supplying the material to the field and the input input unit 97 for inputting the input amount Q2 of the material input to the work device 2 are displayed.
- the display device (work support device) 50 may obtain the remaining amount (theoretical remaining amount) Q3 of the material at a predetermined position in the field based on the supply amount Q1 and the input amount Q2 input to the supply input unit 96. it can.
- the display device (work support device) 50 acquires the input amount acquisition unit 51E, the remaining amount calculation unit 51F, and the input amount acquisition unit 51E acquires the input amount of the material to be mounted on the work device 2.
- the input amount Q2 input to the input amount acquisition unit 51E is acquired before the start of work, after replenishing the materials, and the like.
- the remaining amount calculation unit 51F is the remaining amount Q3 (unit: kg) of the material at a predetermined position based on the input amount Q2 (unit: kg) acquired by the input amount acquisition unit 51E and the material consumption amount Q4 (unit: kg) consumed by the work. Unit: kg) is calculated.
- the remaining amount calculation unit 51F multiplies the mileage when the work device 2 travels on the straight route L1a by the work width (supply width) W2 to obtain the work area (work area), and obtains the work area. And the supply amount per unit area are used to obtain the material consumption amount Q4 (the amount of the material charged into the work device 2 and the work is started by the work device 2 and then supplied to the field) at a predetermined position.
- the remaining amount calculation unit 51F subtracts the material consumption amount Q4 (unit: kg) from the material input amount Q2 (unit: kg) to be charged into the container 2a, so that the remaining amount of material Q3 at a predetermined position on the straight route L1a. (Unit: kg) is calculated.
- the above-mentioned calculation method of the remaining amount Q3 is an example and is not limited.
- the remaining amount calculation unit 51F obtains the material consumption amount Q4 by multiplying the supply amount Q1 per unit time to be supplied to the field by the time when the tractor 1 goes straight on the straight route L1a, and obtains the material consumption amount Q4 from the input amount Q2. By subtracting, the remaining amount Q3 of the material at a predetermined position on the straight route L1a may be obtained, or the remaining amount Q3 of the material may be obtained by another method.
- the display device (work support device) 50 includes a position setting unit 51G.
- the position setting unit 51G sets the material replenishment position PH in the replenishment area A5 based on the remaining amount Q3 of the material.
- the remaining amount of the material is reduced before the work device 2 reaches the supply area A5.
- the replenishment position PH is set in the replenishment area A5 so that it does not become zero.
- the position setting unit 51G sets the supply position PH at least on the turning route L1b following the end position Z5.
- the replenishment position PH is set on the turning route L1b following the end position Z5, but the position setting unit 51G sets the replenishment position PH on the turning route L1b following the end position Z3.
- the position setting unit 51G sets the replenishment position PH on the turning routes L1b arranged on the same side among the plurality of turning routes L1b. In this way, by arranging the replenishment positions PH on the same side of the turning route L1b, it is possible to facilitate the replenishment work.
- the replenishment position PH is set by the position setting unit 51G
- the replenishment position PH set by the position setting unit 51G is stored in the storage unit 53.
- the operation screen M5 is displayed on the display unit 52 of the display device (work support device) 50.
- the work area A2 the replenishment area A5, the planned travel route L1 (straight route L1a, the turning route L1b), and the current position (vehicle body position) VP1 of the tractor 1 (working device 2) are displayed.
- the operation screens M5 of FIGS. 10A and 10B display the work area A2, the replenishment area A5, the planned travel route L1, and the vehicle body position VP1, but the contents are not limited.
- the tractor 1 includes a control device 60.
- the control device 60 is a device that controls the traveling system, the working system, and the like in the tractor 1.
- An operation changeover switch 65 and a change reception switch 67 are connected to the control device 60.
- the operation changeover switch 65 is a switch that can be switched ON / OFF, and when it is ON, the control device 60 can be set to the automatic operation mode, and when it is OFF, the control device 60 is set to the manual operation mode. Can be set.
- the change reception switch 67 is a switch that can be switched ON / OFF, and receives a change in the replenishment position PH (position change) when it is ON, and changes the replenishment position PH (position change) when it is OFF. No reception will be held.
- the control device 60 includes an automatic operation control unit 63 and a position change unit 64.
- the automatic operation control unit 63 and the position change unit 64 are composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like.
- the automatic driving control unit 63 controls the automatic driving of the traveling vehicle body 3.
- the automatic operation control unit 63 starts automatic operation when the automatic operation mode is set. As shown in FIG. 10C, when the deviation between the vehicle body position and the planned travel route L1 is less than the threshold value under the condition that the tractor 1 is performing automatic driving, the automatic driving control unit 63 sets the steering shaft (rotation shaft). The rotation angle of 31 is maintained.
- the automatic driving control unit 63 controls the steering direction of the tractor 1 to the right.
- the steering shaft 31 is rotated so as to be in the direction.
- the automatic driving control unit 63 sets the steering direction of the tractor 1 to the left.
- the steering shaft 31 is rotated so as to be in the direction.
- the steering angle of the steering device 29 is changed based on the deviation between the vehicle body position and the planned travel route L1, but the direction of the planned travel route L1 and the progress of the tractor 1 (traveling vehicle body 3).
- the direction (traveling direction) is different from the orientation (vehicle body orientation), that is, when the angle of the vehicle body orientation with respect to the planned traveling route L1 is equal to or greater than the threshold value, the automatic operation control unit 63 has zero angle (vehicle body orientation F1 travels).
- the steering angle may be set so as to match the direction of the planned route L1).
- the automatic driving control unit 63 sets the final steering angle in the automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the direction (direction deviation). You may.
- the setting of the steering angle in the automatic steering in the above-described embodiment is an example and is not limited.
- the automatic driving control unit 63 sets the transmission stage of the transmission so that the vehicle speed of the current tractor 1 matches the vehicle speed corresponding to the planned travel route L1. Automatically change the number of revolutions of the prime mover. Further, the automatic operation control unit 63 performs the ground work by the work device 2 on the straight route L1a, and temporarily stops the ground work by the work device 2 on the turning route L1b, turns, and enters the straight route L1a. Resume ground work.
- the control device 60 can automatically drive the tractor 1 (traveling vehicle body 3).
- the replenishment position PH set on the route setting screen M3 or the like can be changed.
- the position change unit 64 displays the pointer unit 95 on the operation screen M5.
- the position change unit 64 moves to the selected position as shown in FIG. 10B.
- the PA sets the replenishment position PH (PH2) after the change, and deletes the replenishment position PH (PH1) before the change.
- the position changing unit 64 sets the n-1th turning route L1bn.
- the replenishment position PH (PH2) after the change is set at the position corresponding to -1, and the replenishment position PH (PH1) before the change is deleted.
- the replenishment position PH (PH1) before the change corresponding to the fourth turning route L1b4 is changed to the replenishment position PH (PH2) after the change corresponding to the third turning route L1b3. ..
- the position changing unit 64 sets the changed replenishment position PH (PH2) at a portion located before the traveling direction of the planned traveling route L1 with respect to the replenishment position PH (PH1) before the change.
- the changed supply position PH (PH2) is stored in the storage unit 53.
- the pointer unit 95 selects the replenishment position PH (PH1) before the change and then selects the replenishment position PH (PH2) after the change.
- the unit 95 may receive the position PA of only the replenishment position PH (PH2) after the change, and set the received position PA as the replenishment position PH (PH2) after the change.
- the selection by the pointer unit 95 may be performed by a finger operation, and the operation related to the change of the replenishment position is not limited to the above-mentioned method.
- FIG. 11 shows the operation of the tractor 1 (traveling vehicle body 3) by the automatic driving control unit 63 after receiving the position change.
- the automatic operation control unit 63 receives the position change at the point P10 and moves to the replenishment position PH (PH2) at a position on the front side (rear side in the traveling direction) of the point P10.
- the change is made, that is, when the supply position PH (PH2) is set on the turning route L1b3 after the tractor 1 (traveling vehicle 3) has passed the turning route L1b3, as shown in S11 of FIG.
- the work of the work device 2 is stopped and the work is temporarily completed.
- the automatic operation control unit 63 outputs a work stop signal to the control device 2c of the work device 2 to stop the spraying operation of the spraying device.
- the automatic operation control unit 63 outputs a work stop signal to the PTO clutch provided in the transmission 5 to disconnect the PTO clutch from the connected state (the state of transmitting the power of the PTO shaft to the spreading device) to the disconnected state (PTO).
- the spraying operation of the spraying device is stopped.
- the lifting device 8 is in a working posture, that is, a rising signal is output to the control valve 36 of the lifting device 8 to the control valve 36, and the lift arm 8a is retracted (a posture in which ground work cannot be performed). ). That is, the automatic operation control unit 63 stops the ground work of the work device 2 at the point P10 by outputting a work stop signal to the work device 2 or raising the elevating device 8.
- the automatic operation control unit 63 keeps the ground work stopped and follows the straight route L1a along the tractor 1 (traveling vehicle body). 3) is moved backward and moved toward the changed position which is the changed supply position PH (PH2). That is, the automatic operation control unit 63 passes over the work trace WE1 on which the work device 2 has performed ground work and moves it toward the changed position.
- the automatic operation control unit 63 stops the tractor 1 (traveling vehicle body 3) when it reaches the turning route L1b3 corresponding to the changed replenishment position PH (PH2).
- the automatic operation control unit 63 goes straight from the turning route L1b3 while maintaining the state in which the ground work is stopped.
- the tractor 1 (traveling vehicle body 3) is advanced along L1a. That is, the automatic driving control unit 63 moves the tractor 1 (traveling vehicle body 3) toward the point (work end point) P10 while passing over the work trace WE1 with the work device 3 stopped.
- the automatic operation control unit 63 When the tractor 1 (traveling vehicle body 3) reaches the work end point P10, the automatic operation control unit 63 outputs a work start number to the control device 2c of the work device 2 and restarts the spraying operation. Alternatively, the automatic operation control unit 63 outputs a lowering signal to the control valve 36 to lower the lift arm 8a to a working posture (a posture capable of performing ground work) so that the working device 2 can perform the work. That is, after replenishing the materials, the automatic operation control unit 63 moves the tractor 1 (running vehicle body 3) to the work end point P10 and restarts the ground work. After the work is resumed at the work end point P10, the automatic operation control unit 63 continues the ground work while moving the tractor 1 (running vehicle body 3) along the planned travel route L1.
- a working posture a posture capable of performing ground work
- FIG. 12 shows an operation different from that of FIG. 11 regarding the operation of the tractor 1 (traveling vehicle body 3) by the automatic driving control unit 63 after receiving the position change.
- S20 of FIG. 12 for example, when the automatic operation control unit 63 accepts the position change at the point P11 on the work start side of the turning route L1b3 and there is the remaining amount Q3 of the material, as shown in S20.
- the tractor 1 (traveling vehicle body 3) is advanced along the straight route L1a and the turning route L1b (turning route L1b3) without stopping the ground work of the work device 2, and the tractor 1 (traveling vehicle body 3) is advanced. Continue ground work.
- the automatic operation control unit 63 stops the tractor 1 (traveling vehicle body 3) when it reaches the turning route L1b3 corresponding to the changed replenishment position PH (PH2), and S14 in FIG. Similarly, when the supply of materials is completed, the tractor 1 (traveling vehicle body 3) is advanced from the turning route L1b3 along the straight route L1a while maintaining the state in which the ground work is stopped. Similar to S14 in FIG. 11, when the tractor 1 (running vehicle body 3) reaches the position (work end point) P12, the ground work is restarted.
- the input amount acquisition unit 51E acquires the input amount Q2 and the like input to the input input unit 97, and the remaining amount calculation unit 51F uses the input amount Q2, the supply amount Q1, the working width W2, and the like to obtain the material at a predetermined position.
- the remaining amount Q3 is obtained, and the position setting unit 51G resets the replenishment position PH after the current replenishment position PH.
- the position setting unit 51G does not have to reset the replenishment position PH after changing the replenishment position PH.
- the remaining amount calculation unit 51F is when the remaining amount Q3 of the material at the replenishment position PH is not zero, that is, the actual amount of material (actual material remaining amount). ) And the theoretical remaining amount Q3 may be different. Therefore, by selecting the clear button 99 displayed on the replenishment screen M4, the remaining amount Q3 of the material at the current replenishment position PH and the input amount Q2 input to the input input unit 97 are set to the same value, that is, the theoretical remaining amount. It can be reset.
- the replenishment screen M4 it has been explained that when the material is replenished at the material replenishment position PH, the replenishment screen M4 is displayed. However, it may be integrated with the operation screen M5, and the items displayed on the replenishment screen M4 may be displayed. It may be displayed on the screen of, and is not limited.
- the agricultural machine 1 includes a traveling vehicle body 3 that can travel, and a route creation unit 51B that creates a planned traveling route of the traveling vehicle body 3 in a work area A2 where work is performed using materials by a work device 2 provided on the traveling vehicle body 3.
- It includes a position changing unit 64 to be changed and a display unit 52 for displaying the changed position which is the changed supply position PH. According to this, after setting the replenishment position PH in the replenishment area A5, when the work is actually performed by the work device 2, the replenishment position PH is changed when the remaining amount of the material is smaller than expected. Therefore, it is possible to easily and efficiently replenish the materials.
- the route creation unit 51B creates a turning route L1b that passes from the work area A2 through the supply area A5 and returns to the work area A2 again, and the position setting unit 51G supplies the portion corresponding to the turning route L1b in the supply area A5. Set the position PH. According to this, since the replenishment can be performed near the turning route L1b outside the work area A2, the replenishment work can be easily performed and the influence of the replenishment work on the work area A2 can be reduced.
- the position setting unit 51G sets the replenishment position PH on the turning route L1b on which the traveling vehicle body 3 has the same turning direction among the plurality of turning routes L1b. According to this, since the replenishment position PH is on the same side of the turning route L1b, the replenishment work can be efficiently performed.
- the position change unit 64 is a part corresponding to the turning route L1b of the replenishment area A5, and sets the change position at a position before the replenishment position PH in the traveling direction of the planned traveling route L1. According to this, the replenishment work can be performed at a position as close as possible to the current position of the tractor 1 (running vehicle body 3), and the work efficiency can be improved.
- the agricultural machine 1 includes an automatic operation control unit 63 that automatically operates the traveling vehicle body 3 based on the planned travel route L1 and performs work by the work device 2.
- the automatic operation control unit 63 accepts changes by the change acceptance switch 67. In that case, if there is a remaining amount of material Q3, the traveling vehicle body 3 is driven to a position where the material is exhausted, the work is completed, and then the vehicle returns to the changed position. According to this, since the replenishment work can be performed after the materials are used up, the number of times of replenishing the materials in the automatic operation can be reduced.
- the automatic operation control unit 63 stops the work by the work device 2 and finishes the work, and then returns to the change position. According to this, when the work is restarted after the replenishment of materials, the work can be restarted accurately from the place where the work is finished, and the wasteful work due to the replenishment can be reduced as much as possible. After replenishing the materials, the automatic operation control unit 63 moves the traveling vehicle body 3 to the point where the work is finished, and restarts the work. According to this, as compared with restarting the work from another place after replenishing the materials, it is easier to manage and control in the automatic operation, and stable work in the automatic operation can be continued.
- the agricultural machine 1 includes a display device 50 for displaying the setting screens M3 and M4 for setting the input amount Q2 of the material, and the input amount acquisition unit 51E has the display device 50 set on the setting screens M3 and M4 for the input amount Q2. To get. According to this, it is easy for the driver (worker) to input the input amount Q2 actually input to the work device 2 using the setting screens M3 and M4, and the input amount Q2 is automatically input without using the setting screens M3 and M4. It is easier to handle various situations than a system that does.
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Abstract
Description
農業機械は、走行可能な走行車体と、前記走行車体に設けられた作業装置で資材を用いて作業を行う作業エリアに前記走行車体の走行予定ルートを作成するルート作成部と、前記作業エリアの外側に資材の補給を行う補給エリアを設定するエリア設定部と、前記作業装置に搭載する資材の投入量を取得する投入量取得部と、前記投入量取得部が取得した投入量と作業によって消費する資材消費量に基づいて前記資材の残量を演算する残量演算部と、前記残量演算部の残量に基づいて前記エリア設定部で設定された補給エリアに、前記資材の補給位置を設定する位置設定部と、前記補給位置の変更を受け付ける変更受付スイッチと、前記変更受付スイッチが前記変更を受け付けた場合に、前記補給位置を変更する位置変更部と、前記変更した前記補給位置である変更位置を表示する表示装置と、を備えている。
前記位置設定部は、複数の前記旋回ルートのうち、前記走行車体の旋回方向が同一側の旋回ルート上に前記補給位置を設定する。
農業機械は、前記走行予定ルートに基づいて前記走行車体を自動運転させながら前記作業装置によって作業を行う自動運転制御部を備え、前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けた場合に、前記資材の残量がある場合は、前記資材が無くなる位置まで前記走行車体を走行させて作業を終了した後、前記変更位置に戻る。
前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けたとき、前記作業装置が散布装置である場合、前記散布装置の散布動作を停止させる。
農業機械は、前記作業装置を昇降することで作業姿勢と退避姿勢とに変更する昇降装置を備え、前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けたとき、前記昇降装置を作業姿勢から退避姿勢にする。
前記表示装置は、資材の投入量を設定する設定画面を表示し、前記投入量取得部は、前記表示装置の設定画面に設定された投入量を取得する。
前記表示装置は、前記ルート作成部によって作成された走行予定ルートと、前記エリア設定部で設定された補給エリアと、前記補給エリアに設定された前記補給位置とを表示し、前記変更受付スイッチによって前記補給位置の変更を受け付けると、前記補給エリアに設定された前記補給位置の変更を受け付ける。
前記位置変更部は、補給位置を選択された後、選択された補給位置を変更後の補給位置として設定する。
図14は、農業機械の一例であるトラクタ1を示している。農業機械について、トラクタ1を例にあげ説明するが、作業車両は、トラクタに限定されず、田植機、コンバインであってもよい。
図14に示すように、トラクタ1は、走行装置7を有する走行車体3と、原動機4と、変速装置5とを備えている。走行装置7は、前輪7F及び後輪7Rを有する装置である。前輪7Fは、タイヤ型であってもクローラ型であってもよい。また、後輪7Rも、タイヤ型であってもクローラ型であってもよい。原動機4は、ディーゼルエンジン、電動モータ等である。変速装置5は、変速によって走行装置7の推進力を切換可能であると共に、走行装置7の前進、後進の切換が可能である。走行車体3にはキャビン9が設けられ、当該キャビン9内には運転席10が設けられている。
トラクタ1は、測位装置40を備えている。測位装置40は、D-GPS、GPS、GLONASS、北斗、ガリレオ、みちびき等の衛星測位システム(測位衛星)により、自己の位置(緯度、経度を含む測位情報)を検出可能である。即ち、測位装置40は、測位衛星から送信された衛星信号(測位衛星の位置、送信時刻、補正情報等)を受信し、衛星信号に基づいて、トラクタ1の位置(例えば、緯度、経度)、即ち、車体位置を検出する。測位装置40は、受信装置41と、慣性計測装置(IMU:Inertial Measurement Unit)42とを有している。受信装置41は、アンテナ等を有していて測位衛星から送信された衛星信号を受信する装置であり、慣性計測装置42とは別に走行車体3に取付けられている。この実施形態では、受信装置41は、走行車体3、即ち、キャビン9に取付けられている。なお、受信装置41の取付箇所は、実施形態に限定されない。
図1に示すように、トラクタ1は、表示装置50を備えている。表示装置50は、制御部51と、表示部52と、記憶部53とを備えている。制御部51は、CPU、電気電子回路等から構成されていて、表示装置50に関する様々な制御を行う。表示部52は、液晶パネル、タッチパネル、その他のパネル等で構成されていて、様々な情報を表示する。記憶部53は、不揮発性のメモリ等から構成されている。記憶部53には、例えば、トラクタ1の作業等を支援するアプリケーションプログラムが記憶されていて、当該アプリケーションプログラムを起動すると、表示装置50は、作業を支援する作業支援装置として作動する。なお、表示装置50が作業支援装置として作動した場合も、作業支援装置としての処理は、ハードウェアである制御部51が実行する。
マップ登録画面M1には、圃場を含むマップMP1、トラクタ1の車体位置VP1、圃場名及び圃場管理番号等の圃場識別情報が表示される。マップMP1には、圃場を示す画像データの他に緯度、経度等の位置情報が対応付けられている。トラクタ1が圃場内に入り、圃場内を周回すると、マップ登録画面M1には、トラクタ1が周回したときに測位装置40が検出した現在の車体位置VP1が表示される。トラクタ1による圃場内の周回が終了し、マップ登録画面M1に表示された登録ボタン55が選択されると、図4Aに示すように、マップ登録部51Aは、トラクタ1が周回したときの複数の車体位置によって得られた走行軌跡K1を圃場の輪郭(外形)H1とし、当該輪郭H1で表される圃場マップMP2を圃場識別情報と共に登録する。
図1に示すように、表示装置(作業支援装置)50は、エリア設定部51Dを備えている。エリア設定部51Dは、作業エリアA2と、補給エリアA5とを設定する。なお、圃場マップMP2において、作業エリアA2が既に設定されていれば、エリア設定部51Dは、補給エリアA5のみを設定するものであってもよい。この実施形態では、作業エリアA2と補給エリアA5との両方を設定する例について説明する。
図1に示すように、表示装置(作業支援装置)50は、ルート作成部51Bを備えている。ルート作成部51Bは、記憶部53に登録された圃場マップMP2を参照して、当該圃場マップMP2上に走行車体3の走行ルート(走行予定ルート)L1を作成する。
残量演算部51Fは、投入量取得部51Eが取得した投入量Q2(単位:kg)と、作業によって消費する資材消費量Q4(単位:kg)に基づいて所定位置における資材の残量Q3(単位:kg)を演算する。例えば、残量演算部51Fは、作業装置2が直進ルートL1aを走行した場合の走行距離に作業幅(供給幅)W2を乗算して、作業を行った面積(作業面積)を求め、作業面積と単位面積当たりの供給量とを用いて、所定位置における資材消費量Q4(資材を作業装置2に投入をして作業装置2によって作業を開始してから圃場に供給した量)を求める。残量演算部51Fは、容器2aに投入する資材の投入量Q2(単位:kg)から資材消費量Q4(単位:kg)を減算することにより、直進ルートL1aの所定位置における資材の残量Q3(単位:kg)を求める。なお、上述した残量Q3の演算方法は、一例であり限定されない。残量演算部51Fは、圃場へ供給する単位時間当たりの供給量Q1にトラクタ1が直進ルートL1aを直進した時間を乗算することで資材消費量Q4を求め、投入量Q2から資材消費量Q4を減算することにより、直進ルートL1aの所定位置における資材の残量Q3を求めてもよいし、その他の方法によって資材の残量Q3を求めてもよい。
図1に示すように、トラクタ1は、制御装置60を備えている。制御装置60は、トラクタ1における走行系の制御、作業系の制御等を行う装置である。制御装置60には、運転切換スイッチ65と、変更受付スイッチ67とが接続されている。運転切換スイッチ65は、ON/OFFに切り換え可能なスイッチであって、ONである場合に制御装置60を自動運転モードに設定することができ、OFFである場合に制御装置60を手動運転モードに設定することができる。変更受付スイッチ67は、ON/OFFに切り換え可能なスイッチであって、ONである場合に補給位置PHの変更(位置変更)を受付け、OFFである場合に補給位置PHの変更(位置変更)の受付は行わない。
自動運転制御部63は、走行車体3の自動運転を制御する。自動運転制御部63は、自動運転モードになっている場合に自動運転を開始する。図10Cに示すように、トラクタ1が自動運転を行っている状況下において、車体位置と走行予定ルートL1との偏差が閾値未満である場合、自動運転制御部63は、操舵軸(回転軸)31の回転角を維持する。車体位置と走行予定ルートL1との偏差が閾値以上であって、トラクタ1が走行予定ルートL1に対して左側に位置している場合は、自動運転制御部63は、トラクタ1の操舵方向が右方向となるように操舵軸31を回転する。車体位置と走行予定ルートL1との偏差が閾値以上であって、トラクタ1が走行予定ルートL1に対して右側に位置している場合は、自動運転制御部63は、トラクタ1の操舵方向が左方向となるように操舵軸31を回転する。なお、上述した実施形態では、車体位置と走行予定ルートL1との偏差に基づいて操舵装置29の操舵角を変更していたが、走行予定ルートL1の方位とトラクタ1(走行車体3)の進行方向(走行方向)の方位(車体方位)とが異なる場合、即ち、走行予定ルートL1に対する車体方位の角度が閾値以上である場合、自動運転制御部63は、角度が零(車体方位F1が走行予定ルートL1の方位に一致)するように操舵角を設定してもよい。また、自動運転制御部63は、偏差(位置偏差)に基づいて求めた操舵角と、方位(方位偏差)に基づいて求めた操舵角とに基づいて、自動操舵における最終の操舵角を設定してもよい。上述した実施形態における自動操舵における操舵角の設定は一例であり、限定されない。
また、自動運転制御部63は、直進ルートL1aにおいて作業装置2による対地作業を行い、旋回ルートL1bでは、作業装置2による対地作業を一旦停止して旋回して、直進ルートL1aに入った時点で対地作業を再開する。
さて、自動運転中に、運転者が変更受付スイッチ67をONする、即ち、位置変更を受付けると、ルート設定画面M3等で設定された補給位置PHが変更可能になる。図10Aに示すように、位置変更部64は、位置変更を受付けた場合、運転画面M5にポインタ部95を表示する。ポインタ部95において、変更前の補給位置PH(PH1)を選択した後、補給エリア5Aにおいて、変更先の位置PAを選択すると、図10Bに示すように、位置変更部64は、選択された位置PAが変更後の補給位置PH(PH2)として設定し、変更前の補給位置PH(PH1)を削除する。
なお、上述した実施形態では、ポインタ部95において、変更前の補給位置PH(PH1)を選択した後に、変更後の補給位置PH(PH2)を選択していたが、位置変更部64は、ポインタ部95は、変更後の補給位置PH(PH2)のみの位置PAを受付けて、受付けた位置PAを変更後の補給位置PH(PH2)としてもよい。また、表示部52がタッチパネルの場合、ポインタ部95による選択を指の操作によって行っても良く、補給位置の変更に関する操作は上述した方法に限定されない。
図11のS10に示すように、自動運転制御部63は、例えば、地点P10で位置変更を受付けて、地点P10よりも手前側(進行方向の後方側)の位置に補給位置PH(PH2)に変更された場合、即ち、トラクタ1(走行車両3)が旋回ルートL1b3を通過した後に、当該旋回ルートL1b3に補給位置PH(PH2)が設定された場合、図11のS11に示すように、地点P10で作業装置2の作業を停止して作業を一端終了する。例えば、散布装置(肥料散布装置、農薬散布装置)である場合、自動運転制御部63は、作業装置2の制御装置2cに作業停止信号を出力して、散布装置の散布動作を停止させる。或いは、自動運転制御部63は、変速装置5に設けられたPTOクラッチに作業停止信号を出力して、PTOクラッチを接続状態(PTO軸の動力を散布装置に伝達する状態)から切断状態(PTO軸の動力を散布装置に伝達しない状態)に切り換えることにより、散布装置の散布動作を停止させる。
図11のS14に示すように、自動運転制御部63は、変更後の補給位置PH(PH2)において、資材の補給が完了すると、対地作業を停止した状態を維持したまま旋回ルートL1b3から直進ルートL1aに沿って、トラクタ1(走行車体3)を前進させる。即ち、自動運転制御部63は、作業装置3を停止させた状態でトラクタ1(走行車体3)を、作業跡WE1の上を通過しながら地点(作業終了地点)P10に向けて移動させる。
つまり、自動運転制御部63は、資材の補給後、作業終了地点P10にトラクタ1(走行車体3)を移動させて対地作業を再開する。作業終了地点P10にて、作業の再開後は、自動運転制御部63は、走行予定ルートL1に沿ってトラクタ1(走行車体3)を移動しながら対地作業を続ける。
図12のS20に示すように、自動運転制御部63は、例えば、旋回ルートL1b3よりも作業開始側の地点P11で位置変更を受付け且つ資材の残量Q3がある場合は、S20に示すように、作業装置2の対地作業を停止せずに直進ルートL1a及び旋回ルートL1b(旋回ルートL1b3)に沿って、トラクタ1(走行車体3)を前進させ、トラクタ1(走行車体3)を前進させ、対地作業を継続する。
また、図12のS22に示すように、作業装置2の対地作業を停止すると、自動運転制御部63は、対地作業を停止した状態を維持したまま直進ルートL1aに沿って、トラクタ1(走行車体3)を後進させ、変更後の補給位置PH(PH2)、即ち、変更位置に向けて移動する。その後、図11のS13と同様に、自動運転制御部63は、変更後の補給位置PH(PH2)に対応する旋回ルートL1b3に達するとトラクタ1(走行車体3)を停止し、図11のS14と同様に、資材の補給が完了すると、対地作業を停止した状態を維持したまま旋回ルートL1b3から直進ルートL1aに沿って、トラクタ1(走行車体3)を前進させる。図11のS14と同様に、トラクタ1(走行車体3)が位置(作業終了地点)P12に達すると対地作業を再開する。
農業機械1は、走行可能な走行車体3と、走行車体3に設けられた作業装置2で資材を用いて作業を行う作業エリアA2に走行車体3の走行予定ルートを作成するルート作成部51Bと、作業エリアA2の外側に資材の補給を行う補給エリアA5を設定するエリア設定部51Dと、作業装置2に搭載する資材の投入量Q2を取得する投入量取得部51Eと、投入量取得部51Eが取得した投入量Q2と作業によって消費する資材消費量Q4に基づいて資材の残量Q3を演算する残量演算部51Fと、残量演算部51Fの残量に基づいてエリア設定部51Dで設定された補給エリアA5に、資材の補給位置PHを設定する位置設定部51Gと、補給位置PHの変更を受け付ける変更受付スイッチ67と、変更受付スイッチ67が変更を受け付けた場合に、補給位置PHを変更する位置変更部64と、変更した補給位置PHである変更位置を表示する表示部52と、を備えている。これによれば、補給エリアA5に補給位置PHを設定した後、実際に作業装置2によって作業を行った場合、想定していたよりも資材の残量が少ない場合等は補給位置PHを変更することができるため、資材の補給を簡単かつ効率的に行うことができる。
位置変更部64は、補給エリアA5の旋回ルートL1bに対応する部分であって、補給位置PHよりも走行予定ルートL1の進行方向の手前の位置に、変更位置を設定する。これによれば、出来る限り、トラクタ1(走行車体3)の現在の位置から近い位置で補給作業を行うことができ、作業の効率を上げることができる。
自動運転制御部63は、資材の補給後、作業を終了した地点に走行車体3を移動させて、作業を再開する。これによれば、資材の補給後に他の場所から作業を再開するのに比べて、自動運転における管理及び制御が行い易く、自動運転における安定した作業を続けることができる。
2 :作業装置
2d :表示装置
3 :走行車体
3 :作業装置
5A :補給エリア
50 :表示装置
51 :制御部
51B :ルート作成部
51D :エリア設定部
51E :投入量取得部
51F :残量演算部
51G :位置設定部
52 :表示部
63 :自動運転制御部
64 :位置変更部
67 :変更受付スイッチ
A2 :作業エリア
A5 :補給エリア
J1 :エリア
J2 :エリア
J3 :エリア
J4 :エリア
Ji :エリア
L1 :走行予定ルート
L1b :旋回ルート
L1b3 :旋回ルート
L1b4 :旋回ルート
L1bn :旋回ルート
L1bn-1 :旋回ルート
M3 :設定画面
M4 :設定画面
PH :補給位置
Q2 :投入量
Q3 :残量
Q4 :資材消費量
Claims (14)
- 走行可能な走行車体と、
前記走行車体に設けられた作業装置で資材を用いて作業を行う作業エリアに前記走行車体の走行予定ルートを作成するルート作成部と、
前記作業エリアの外側に資材の補給を行う補給エリアを設定するエリア設定部と、
前記作業装置に搭載する資材の投入量を取得する投入量取得部と、
前記投入量取得部が取得した投入量と作業によって消費する資材消費量に基づいて前記資材の残量を演算する残量演算部と、
前記残量演算部の残量に基づいて前記エリア設定部で設定された補給エリアに、前記資材の補給位置を設定する位置設定部と、
前記補給位置の変更を受け付ける変更受付スイッチと、
前記変更受付スイッチが前記変更を受け付けた場合に、前記補給位置を変更する位置変更部と、
前記変更した前記補給位置である変更位置を表示する表示装置と、
を備えている農業機械。 - 前記ルート作成部は、前記作業エリアから前記補給エリアを通過して再び前記作業エリアに戻る旋回ルートを作成し、
前記位置設定部は、前記補給エリアにおいて、前記旋回ルートに対応する部分に前記補給位置を設定する請求項1に記載の農業機械。 - 前記位置設定部は、複数の前記旋回ルートのうち、前記走行車体の旋回方向が同一側の旋回ルート上に前記補給位置を設定する請求項2に記載の走行支援装置。
- 前記位置変更部は、前記補給エリアの前記旋回ルートに対応する部分であって、前記補給位置よりも前記走行予定ルートの進行方向の手前の位置に、前記変更位置を設定する請求項2又は3に記載の農業機械。
- 前記走行予定ルートに基づいて前記走行車体を自動運転させながら前記作業装置によって作業を行う自動運転制御部を備え、
前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けた場合に、前記資材の残量がある場合は、前記資材が無くなる位置まで前記走行車体を走行させて作業を終了した後、前記変更位置に戻る請求項1~4のいずれかに記載の農業機械。 - 前記走行予定ルートに基づいて前記走行車体を自動運転させながら前記作業装置によって作業を行う自動運転制御部を備え、
前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けた場合に、前記作業装置による作業を停止して作業を終了した後、前記変更位置に戻る請求項1~3のいずれかに記載の農業機械。 - 前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けたとき、前記作業装置が散布装置である場合、前記散布装置の散布動作を停止させる請求項6に記載の農業機械。
- 前記作業装置に動力を伝達するPTO軸と、
前記PTO軸の動力の伝達を接続状態と切断状態とに切り換えるPTOクラッチと、
を備え、
前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けたとき、前記PTOクラッチを前記接続状態から前記切断状態に切り換える請求項6に記載の農業機械。 - 前記作業装置を昇降することで作業姿勢と退避姿勢とに変更する昇降装置を備え、
前記自動運転制御部は、前記変更受付スイッチが前記変更を受け付けたとき、前記昇降装置を作業姿勢から退避姿勢にする請求項6に記載の農業機械。 - 前記自動運転制御部は、前記資材の補給後、前記作業を終了した地点に前記走行車体を移動させて、前記作業を再開する請求項5~9のいずれかに記載の農業機械。
- 前記表示装置は、資材の投入量を設定する設定画面を表示し、
前記投入量取得部は、前記表示装置の設定画面に設定された投入量を取得する請求項1~10のいずれかに記載の農業機械。 - 前記表示装置は、前記ルート作成部によって作成された走行予定ルートと、前記エリア設定部で設定された補給エリアと、前記補給エリアに設定された前記補給位置とを表示し、前記変更受付スイッチによって前記補給位置の変更を受け付けると、前記補給エリアに設定された前記補給位置の変更を受け付ける請求項1~11のいずれかに記載の農業機械。
- 前記位置変更部は、変更前の補給位置を選択した後、前記補給エリアにおいて、変更先の補給位置を選択すると、選択された補給位置が変更後の補給位置として設定し、変更前の補給位置を削除する請求項12に記載の農業機械。
- 前記位置変更部は、補給位置を選択された後、選択された補給位置を変更後の補給位置として設定する請求項12に記載の農業機械。
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- 2020-08-28 EP EP20860895.0A patent/EP4026414A4/en active Pending
- 2020-08-28 AU AU2020343982A patent/AU2020343982A1/en active Pending
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Also Published As
Publication number | Publication date |
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AU2020343982A1 (en) | 2022-03-10 |
US11832548B2 (en) | 2023-12-05 |
JP7313989B2 (ja) | 2023-07-25 |
US20220167545A1 (en) | 2022-06-02 |
EP4026414A1 (en) | 2022-07-13 |
EP4026414A4 (en) | 2023-09-27 |
JP2021040497A (ja) | 2021-03-18 |
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