WO2021125124A1 - 作業機 - Google Patents
作業機 Download PDFInfo
- Publication number
- WO2021125124A1 WO2021125124A1 PCT/JP2020/046481 JP2020046481W WO2021125124A1 WO 2021125124 A1 WO2021125124 A1 WO 2021125124A1 JP 2020046481 W JP2020046481 W JP 2020046481W WO 2021125124 A1 WO2021125124 A1 WO 2021125124A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work
- spraying
- unit
- range
- input
- Prior art date
Links
- 238000005507 spraying Methods 0.000 claims abstract description 111
- 238000003860 storage Methods 0.000 claims description 58
- 239000007921 spray Substances 0.000 claims description 48
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000003337 fertilizer Substances 0.000 description 18
- 238000012790 confirmation Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 13
- 239000000575 pesticide Substances 0.000 description 10
- 238000003973 irrigation Methods 0.000 description 8
- 230000002262 irrigation Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 244000025254 Cannabis sativa Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 235000013339 cereals Nutrition 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000004720 fertilization Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
-
- 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
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
-
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
- A01C21/005—Following a specific plan, e.g. pattern
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/06—Tractors adapted for multi-purpose use
Definitions
- the present invention relates to a working machine to which a working device is connected.
- Patent Document 1 is known as a technique for creating a running path (working running line) for automatically running a working machine such as a tractor.
- the work vehicle (working machine) of Patent Document 1 has an acquisition unit that acquires position data of the outer peripheral portion of the field and a work setting unit that sets a work traveling line on which the traveling machine (machine) travels based on the position data in the field. And have.
- a work running line (scheduled running route) can be created, and work can be performed while automatically running along the work running line, but the working device is a spraying device such as a fertilizer application device or a pesticide spraying device.
- the working device is a spraying device such as a fertilizer application device or a pesticide spraying device.
- the work efficiency may be lowered.
- the present invention has been made to solve such problems of the prior art, and an object of the present invention is to provide a working machine capable of performing work accurately and efficiently at an intended location.
- the working machine includes a machine body, a connecting device capable of connecting a working device including a spraying device to the machine body, an automatic traveling control unit that automatically travels the machine body based on a planned traveling route, and a spraying device.
- a range acquisition unit that acquires the spraying work range in the front-rear direction, and a work setting unit that sets the work start position and the work end position in the spraying device to different positions according to the spraying work range acquired by the range acquisition unit. , Is equipped.
- the working machine includes an input device that receives an input of the spraying work range in association with the spraying device, and the range acquisition unit acquires the spraying work range received by the input device.
- the work machine is provided with a storage unit for storing the spraying work range received by the input device, the input device is a display device for displaying an input screen for receiving the input of the spraying work range, and the storage unit has an input screen.
- the spraying work range for which the input is received and the spraying device corresponding to the spraying work range are stored in association with each other.
- the work machine is provided with a storage unit that stores the spraying work range received by the input device, and the storage unit stores the work device other than the spray device and the preset work range in association with each other.
- the range acquisition unit receives the input from the storage unit, acquires the spraying work range associated with the spraying device, and is connected to the coupling device.
- the work range is acquired from the storage unit, and the work setting unit is in the work device connected to the connecting device according to the spraying work range or work range acquired by the range acquisition unit. Set the work start position and the work end position to different positions.
- the work machine includes a control device that controls the work device connected to the connecting device based on the work start position and the work end position set by the work setting unit, and the control device is connected to the connecting device.
- the work machine passes the work start position, the work of the work device is started, and when the work device passes the work end position, the work of the work device is stopped.
- the work machine is provided with a route creation unit for creating a planned travel route, and the work setting unit sets a planned travel route between a work start position and a work end position in the work device according to the work device connected to the connecting device. Set on.
- the above working machine can perform work accurately and efficiently at the intended location.
- FIG. 1 is a diagram illustrating setting of a work start position and a work end position by a work setting unit.
- FIG. 2 is a diagram illustrating setting of a work start position and a work end position by the work setting unit.
- FIG. 3 is a diagram illustrating setting of a work start position and a work end position by the work setting unit. It is a figure which shows an example of automatic driving. It is a side view of the working machine.
- FIG. 14 shows a tractor which is an example of the working machine 1.
- the working machine 1 will be described by taking a tractor as an example, but the working machine 1 is not limited to the tractor, and may be a rice transplanter or a combine harvester.
- the front side (direction of arrow A1 in FIGS. 3B, 3C and 14) of the worker (driver) seated in the driver's seat 10 of the work machine 1 is forward, and the rear side of the worker (FIG. 3B).
- FIG. 3C, arrow A2 direction of FIG. 14 left side of the worker to the left (front side of FIG. 14, 3B, arrow B1 direction of FIG.
- the working machine 1 includes a machine body (running vehicle body) 3 having a traveling device 7, a prime mover 4, and a transmission 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 aircraft 3, and a driver's seat 10 is provided in the cabin 9.
- a connecting device is provided at the rear of the machine body 3.
- the connecting device is a lifting device 8 or the like that connects the working device 2 and the machine body 3 and is composed of a swing drawer that does not move up and down and a three-point link mechanism or the like and moves up and down.
- the working device 2 is attached to and detached from the connecting device. By connecting the working device 2 to the connecting device, the working device 2 can be towed by the machine body 3.
- the working device 2 includes at least a spraying device.
- the spraying device is, for example, a fertilizer application device (broad caster), a pesticide spraying device for spraying pesticides, an irrigation spraying device for irrigating, and the like.
- the work equipment includes a tilling device for cultivating, a transplanting device for planting seedlings, a cutting device for cutting grass, a spreading device for spreading grass, and a collection for collecting grass. It includes a grass device, a molding device for molding grass, and the like. In the following, a case where the fertilizer application device is connected to the connecting device as the spraying device will be described as an example.
- 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 above or below the rear upper portion of the case (mission 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 portion of the lower link 8b is swingably supported above or below the rear lower portion of the transmission 5.
- the front end of the top link 8c is swingably supported above or below the rear 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 via the lift rod 8d moves up and down.
- the working device 2 swings (up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.
- the working machine 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 working machine 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 working machine 1 (for example, latitude, longitude). That is, the aircraft position VP1 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 body 3 separately from the inertial measurement unit 42. In this embodiment, the receiving device 41 is attached to an airframe 3, for example, a 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. It is provided below the airframe 3, for example, the driver's seat 10, and the inertial measurement unit 42 can detect the roll angle, pitch angle, yaw angle, and the like of the airframe 3.
- the working machine 1 includes an input device.
- the input device is a device that accepts various settings related to the work machine 1.
- the input device is, for example, a display device 50 that is operable and displays predetermined input screens M5 and M6 that accept input of settings, a switch capable of inputting settings, and the like.
- the input device is, for example, a display device 50 included in the work machine 1.
- 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, electric / electronic circuits, and the like, and performs various controls related to the display device 50.
- the display unit 52 is operable and is composed of a liquid crystal panel, a touch panel, other panels, and the like, and displays various information about the work machine 1.
- the storage unit 53 is composed of a non-volatile memory or the like.
- an application program that supports the work of the work machine 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 work machine 1 includes an information acquisition unit 51a, a map registration unit 51b, a turning width acquisition unit 51c, an area setting unit 51d, a work acquisition unit 51e, and a work width acquisition unit 51f. It includes a range acquisition unit 51g, a route creation unit 51h, and a work setting unit 51i.
- the display device 50 is an information acquisition unit 51a, a map registration unit 51b, a turning width acquisition unit 51c, an area setting unit 51d, a work acquisition unit 51e, a work width acquisition unit 51f, a range acquisition unit 51g, and a route creation unit. It has 51h and a work setting unit 51i.
- the information acquisition unit 51a, the map registration unit 51b, the turning width acquisition unit 51c, the area setting unit 51d, the work acquisition unit 51e, the work width acquisition unit 51f, the range acquisition unit 51g, the route creation unit 51h, and the work setting unit 51i are displayed. It is composed of an electric / electronic circuit of a control unit 51 of the device 50, a program stored in a CPU, and the like.
- the work setting unit 51i is composed of the control unit 51, it may be composed of an electric / electronic circuit or the like other than the control unit 51, or may be composed of, for example, the control device 60 of the work machine 1.
- the information acquisition unit 51a acquires information regarding the positional relationship between the machine body 3 and the work device 2.
- the information acquisition unit 51a acquires the information input to the display device 50.
- the information acquisition unit 51a acquires a reference distance Y1 which is a distance from a predetermined position of the machine body 3 to a predetermined position of the work device 2.
- the reference distance Y1 is the distance between the positioning device 40 and the front end of the working range of the working device 2 in the front-rear direction (traveling direction).
- the reference distance may be a reference for calculating the positional relationship between the machine body 3 and the working device 2, and the reference distance is the rear end of the positioning device 40 and the connecting device (elevating device 8), that is, the front of the working device 2. It may be the distance from the rear end portion of the machine body 3 to the front end portion of the work range w2 of the work device 2.
- the information acquisition unit 51a may acquire information regarding the positional relationship between the machine body 3 and the work device 2, and the information is not limited to the information input to the input device (display device 50), but is stored in the storage unit 53. Information on the positional relationship between the machine body 3 and the work device 2 is stored in advance, and the information acquisition unit 51a may acquire information on the positional relationship between the machine body 3 and the work device 2 from the storage unit 53.
- the map registration unit 51b registers a field map MP of a predetermined field, for example, a position corresponding to the contour of the predetermined field. For example, the map registration unit 51b acquires the position information of the contour of the field based on the machine position VP1 detected by the positioning device 40 of the work machine 1, and stores the position information in the storage unit 53 in association with the field.
- the map registration unit 51b only needs to be able to register the field map MP of a predetermined field.
- the field map MP is acquired from the outside via wireless or wired communication or a storage medium, and the field map MP is registered.
- the method of registering the field map MP is not limited to the above method.
- the turning width acquisition unit 51c acquires the width (turning width) W1 of the turning area E1 which is the region where the machine body 3 turns.
- the swivel area E1 is, for example, an area including a ridge and the periphery of the ridge.
- the turning width acquisition unit 51c acquires the turning width W1 by acquiring the information input to the input device (display device 50) via the storage unit 53 or the like.
- the area setting unit 51d sets a work area E2 on the field map MP, which is an area where the work device 2 works as shown in FIG. 3A, that is, an area of the field map MP excluding the turning area E1.
- the area setting unit 51d sets the work area E2 based on the turning width W1 acquired by the turning width acquisition unit 51c.
- the area setting unit 51d registers the work area E2 on the field map MP stored in the storage unit 53.
- the area setting unit 51d sets the area surrounded by the contour H2 formed by offsetting the contour H1 of the field map MP inward by the turning width W1 as the work area E2.
- the area setting unit 51d only needs to be able to set the work area E2.
- the area setting unit 51d uses a pointer or the like on the field map MP displayed on the display unit 52 of the display device 50 to set the work area E2.
- the work area E2 may be set in the field map MP by designating the position of the contour of, and the method is not limited to the above method.
- the work acquisition unit 51e acquires the work device 2 mounted on the connecting device (elevating device 8), the work content (work classification) of the work device 2, and the like.
- the work acquisition unit 51e acquires the work device 2, the work content, and the like by acquiring the information input to the input device (display device 50) via the storage unit 53 and the like.
- the storage unit 53 may include identification information such as a plurality of work devices 2 that can be attached to the work machine 1, that is, the name, model number, product number, etc. of the work device 2, and identification information such as the work contents of the work device 2.
- the classification is stored, and the work acquisition unit 51e acquires the work device 2 stored in the storage unit 53 and the work contents of the work device 2 based on the information input to the input device.
- the work width acquisition unit 51f acquires the work range w1 in the width direction of the work device 2 (particularly, the work range w1 in the width direction of the spraying device is referred to as the spray work range w3 in the width direction).
- the work range (hereinafter referred to as the first work width) w1 in the width direction of the work device 2 is the width (work execution width) in which the work device 2 works on the ground such as a field. ).
- the first working width w1 is, for example, the length of the longest portion of the length in the width direction of the working range of the working device 2.
- the first work width w1 that is, the spray work range in the width direction (hereinafter referred to as the first spray width).
- w3 is the width at which fertilizer is applied, and the first spraying width w3 can be changed by operating the fertilizer application device to operate the opening of the shutter through which the fertilizer passes.
- the first spray width w3 varies depending on the size of the fertilizer grains. Specifically, when the size of the fertilizer grains sprayed by the fertilizer applicator becomes large, the first spray width w3 becomes small, and when the size of the fertilizer grains becomes small, the first spray width w3 becomes large.
- the work width acquisition unit 51f acquires the first work width w1 based on the information received by the display device 50. Specifically, the input screens M5 and M6 displayed by the display device 50, that is, the input device receives the input of the first work width w1, and the storage unit 53 stores the first work width w1 in association with the work device 2.
- the work width acquisition unit 51f can acquire the first work width w1 from the storage unit 53 based on the information acquired by the work acquisition unit 51e.
- the route creation unit 51h refers to the field map MP registered in the storage unit 53, and as shown in FIG. 3A, the travel route (planned travel route) for the work machine 1 to automatically travel on the field map MP.
- Create L The planned travel route L includes a straight-ahead portion (straight-ahead route) L1 in which the working machine 1 travels straight, and a turning portion (turning route) L2 in which the working machine 1 turns.
- the straight portion L1 is mainly created in the work area E2
- the swivel portion L2 is mainly created in the swivel area E1.
- the range acquisition unit 51g acquires the work range (hereinafter referred to as the second work width) w2 in the front-rear direction of the work device 2.
- the range acquisition unit 51g acquires the second work width w2 based on the information received by the input device.
- the second working width w2 of the working device 2 is the width in the front-rear direction in which the working device 2 works on the ground such as a field, for example, the working range w2 of the working device 2. It is the length of the longest part of the length from the front end to the rear end in the front-rear direction.
- the second work width w2 is a rear spray width distance.
- the storage unit 53 associates the second work width w2 with the work device 2.
- the range acquisition unit 51g can acquire the second work width w2 from the storage unit 53 based on the information acquired by the work acquisition unit 51e. Therefore, when the work device 2 connected to the connecting device is other than the spraying device such as the fertilizer application device, the pesticide spraying device, and the irrigation spraying device, the range acquisition unit 51g has a second work width preset from the storage unit 53. Get w2.
- the second work width w2 is stored in the storage unit 53 in advance, but the work range w2 may be stored in the storage unit 53 in advance in association with each work device 2. However, it may be changed arbitrarily.
- the range acquisition unit 51g acquires the spraying work range in the front-rear direction of the spraying device, that is, the rear spraying width distance (hereinafter, will be described as the second spraying width) w4 will be described as an example.
- the display device 50 displays.
- the range acquisition unit 51g can acquire the second spray width w4 from the storage unit 53 based on the information of the work device 2 acquired by the work acquisition unit 51e. Therefore, when the work device 2 connected to the connecting device is a spraying device, the range acquisition unit 51g receives an input from the display device 50 and stores the second spraying width w4 associated with the spraying device from the storage unit 53. get.
- the work setting unit 51i sets the work start position STn and the work end position ETn in the work device 2.
- the work setting unit 51i sets the work start position STn and the work end position ETn in the spraying device to different positions according to the spraying work range w4 acquired by the range acquisition unit 51g.
- the work setting unit 51i sets the work start position STn and the work end position ETn in the work device 2 on the planned travel route L according to the work device 2 connected to the connecting device.
- the work setting unit 51i sets the work start position STn and the work end position ETn based on, for example, the boundary X1 between the work area E2 and the turning area E1. Further, the work setting unit 51i sets the work start position STn and the work end position ETn on the planned travel route L.
- the display device 50 sets a reference for inputting information on the work machine 1 (for example, dimensional information including the reference distance Y1) to the display unit 52.
- the reference setting screen M1 includes a figure D1 imitating a working machine (tractor) 1, a figure D2 imitating a working device 2, and a figure D3 imitating a positioning device 40.
- the reference setting screen M1 has a distance input unit 100 for inputting the reference distance Y1 and a first input confirmation button 101.
- the distance input unit 100 is a portion for inputting the reference distance Y1.
- the reference distance Y1 is input by operating a predetermined operation tool displayed on the reference setting screen M1 or an operation switch of the display device 50.
- the first input confirmation button 101 is an image unit capable of confirming the reference distance Y1 input to the distance input unit 100, that is, confirming the acceptance of the input of the reference distance Y1. Therefore, when the reference distance Y1 is input to the distance input unit 100 and the first input confirmation button 101 is operated, the storage unit 53 associates the reference distance Y1 input to the distance input unit 100 with the work machine 1.
- the information acquisition unit 51a acquires the reference distance Y1 from the storage unit 53 based on the information acquired by the information acquisition unit 51a.
- the display device 50 displays the map registration screen M2 on the display unit 52.
- map registration screen M2 field identification information such as the map MP1 including the field, the machine position VP1 of the work machine 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 unit 51b When the lap in the field by the work machine 1 is completed and the registration button 105 displayed on the map registration screen M2 is operated, as shown in FIG. 6A, the map registration unit 51b when the work machine 1 laps.
- the traveling locus K1 obtained by the plurality of aircraft positions VP1 is set as the field contour (outer shape) H1, and the field map MP represented by the contour H1 is registered together with the field identification information.
- the map registration unit 51b calculates the inflection point from the traveling locus indicated by the aircraft position VP1 and registers the contour K2 connecting the inflection points as the field contour H1 (field map MP).
- the driver or the like designates the end of the field by a switch or the like provided on the work machine 1 and connects the designated ends.
- the contour K3 may be registered as the contour H1 (field map MP).
- the above-mentioned field registration method is an example and is not limited.
- the outline of the field that is, the field map MP, can be expressed in other expressions regardless of whether the data is indicated by the position (latitude, longitude) or the coordinate (X-axis, Y-axis) system. It may be the data shown.
- the storage unit 53 stores the field map MP showing the contour (outer shape) registered by the map registration unit 51b. That is, the storage unit 53 stores the field map MP and data indicating the outline of the field (data for representing a predetermined field).
- the screen displayed by the display unit 52 of the display device 50, the acquisition of the width of the turning area E1 by the turning width acquisition unit 51c, and the setting of the work area E2 by the area setting unit 51d will be described in detail.
- the display device 50 displays the area setting screen M3 on the display unit 52.
- the area setting screen M3 has a field input unit 110, a field display unit 111, a swivel width input unit 112, and a swivel setting button 113.
- the field input unit 110 can input field identification information such as a field name and a field management number.
- the field display unit 111 displays a field map MP indicating a predetermined field corresponding to the field identification information input to the field input unit 110. That is, the control unit 51 requests the storage unit 53 for the field map MP corresponding to the field identification information input to the field input unit 110, and the field map MP transmitted from the storage unit 53 to the field display unit 111. Display it.
- the swivel width input unit 112 can input the swivel width W1 in a predetermined field corresponding to the field identification information input to the field input unit 110.
- the swivel setting button 113 is an image unit capable of confirming the swivel width W1 input to the swivel width input unit 112, that is, confirming the acceptance of the input of the swivel width W1. Therefore, when the swivel width W1 is input to the swivel width input unit 112 and the swivel setting button 113 is operated, the swivel width acquisition unit 51c acquires the swivel width W1 input to the swivel width input unit 112.
- the area setting unit 51d displays the field map MP displayed on the field display unit 111.
- the work area E2 excluding the turning area E1 is displayed.
- the area setting unit 51d sets an area surrounded by the contour H2 formed by offsetting the contour H1 of the field map MP inward by the swivel width W1 based on the swivel width W1 acquired by the swivel width acquisition unit 51c.
- the work area E2 is set in the field map MP by designating the contour position of the work area E2 on the field map MP displayed on the field display unit 111 using a pointer or the like. You may.
- the storage unit 53 stores the data of the field map MP in which the work area E2 is set, that is, the data indicating the position of the work area E2 in the field map MP.
- acquisition of the screen displayed by the display unit 52 of the display device 50 and the work classification of the work device 2 or the work device 2 by the work acquisition unit 51e will be described in detail.
- the display device 50 displays the work selection screen M4 on the display unit 52.
- the work selection screen M4 has a selection unit 115.
- the selection unit 115 is used to select a plurality of work devices 2 that can be attached to the work machine 1, that is, identification information such as the name, model number, and product number of the work device 2 that can be identified by the work device 2, and the work contents of the work device 2. And its classification can be input and operated.
- the selection unit 115 has, for example, a plurality of selection tools 116, and the plurality of selection tools 116 identify the work device 2 such as the name, model number, and product number of the work device 2. It is an image unit associated with information, the work content of the work device 2, and its classification.
- the selection tool 116 is associated with the work classification of the work device 2, and the work classification associated with the plurality of selection tools 116 includes at least "fertilization". For example, they are associated with "cultivation”, “scraping”, “coarse tillage", and “fertilization", respectively.
- the work classification associated with the plurality of selection tools 116 may include, for example, "pesticide spraying", “irrigation”, “sowing”, “cutting”, etc., and the classification is limited to the above classification. Not done.
- the work selection screen M4 has a selection confirmation button 117.
- the selection confirmation button 117 is an operable image unit.
- the work classification of the work device 2 is selected by the operation of the selection tool 116, and the selection of the work classification of the work device 2 by the operation of the selection tool 116 is confirmed by operating the selection confirmation button 117. Therefore, when the selection confirmation button 117 is operated, the work acquisition unit 51e acquires the work classification associated with the selection tool 116 being selected from the storage unit 53.
- the selection tool 116 is associated with the work classification, and the work acquisition unit 51e acquires the work classification from the storage unit 53, but the selection tool 116 is the name, model number, and product number of the work device 2. It suffices if the work device 2 such as the above is associated with any one or more of the identifiable identification information and the work contents of the work device 2, and the work acquisition unit 51e can acquire the information identifiable to the work device 2. , The work acquisition unit 51e may acquire a name or a product number instead of the work classification.
- the screen displayed by the display unit 52 of the display device 50 the acquisition of the first work width w1 by the work width acquisition unit 51f, the acquisition of the second work width w2 of the work device 2 by the range acquisition unit 51g, and the route creation.
- the creation of the planned travel route L by the unit 51h and the setting of the work start and the work end in the work device 2 by the work setting unit 51i will be described in detail.
- a spraying device in which a worker (driver) selects a work device 2 on the work selection screen M4, and the work device 2 acquired by the work acquisition unit 51e performs fertilization work, pesticide spraying work, irrigation spraying work, and the like. In this case, as shown in FIG.
- the display device 50 displays the first setting screen M5 on the display unit 52.
- the first setting screen M5 is an input screen in which at least the second spray width w4 can be input, and the work start position STn and the work end position ETn are set to different positions based on the input second spray width w4. It is possible to do. Further, on the first setting screen M5, the first spray width w3 can be input, and the planned travel route L can be set in the work area E2 based on the input first spray width w3.
- the first setting screen M5 has a route display unit 120 for displaying the planned travel route L, a first width input unit 121, a second width input unit 122, and a second input confirmation button 123.
- the first width input unit 121 can input the first spray width w3 corresponding to the spray device selected and operated on the work selection screen M4.
- the second width input unit 122 can input the second spray width w4 corresponding to the spray device selected and operated on the work selection screen M4.
- the first spray width w3 and the second spray width w4 are input by operating a predetermined operation tool displayed on the first setting screen M5, an operation switch of the display device 50, and the like.
- the second input confirmation button 123 confirms the first spray width w3 input to the first width input unit 121 and the second spray width w4 input to the second width input unit 122, that is, the first spray width w3 and This is an image unit capable of confirming the acceptance of the input of the second spray width w4. Therefore, when the first spray width w3 is input to the first width input unit 121, the second spray width w4 is input to the second width input unit 122, and the second input confirmation button 123 is selected, the storage unit 53 Is stored in association with the first spray width w3 and the second spray width w4 and the spray device.
- the work width acquisition unit 51f acquires the first spray width w3 from the storage unit 53 based on the information acquired by the work acquisition unit 51e. Further, the range acquisition unit 51g acquires the second spray width w4 from the storage unit 53 based on the information acquired by the work acquisition unit 51e.
- the worker selects the work device 2 on the work selection screen M4, and the work device 2 acquired by the work acquisition unit 51e is a work device other than the fertilizer application device, the pesticide sprayer, the irrigation sprayer, and the like.
- the display device 50 displays the second setting screen M6 on the display unit 52.
- the second setting screen M6 is a screen on which the first work width w1 can be input and the planned travel route L can be set in the work area E2 based on the input first work width w1.
- the second setting screen M6 has a route display unit 125 for displaying the planned travel route L, a third width input unit 126, and a third input confirmation button 127.
- the third width input unit 126 can input the first work width w1 corresponding to the work device 2 selected and operated on the work selection screen M4.
- the input of the first work width w1 is input by operating a predetermined operation tool displayed on the second setting screen M6, an operation switch of the display device 50, and the like.
- the third input confirmation button 127 is an image unit capable of confirming the first work width w1 input to the third width input unit 126, that is, confirming the acceptance of the input of the first work width w1. Therefore, when the first work width w1 is input to the third width input unit 126 and the third input confirmation button 127 is selected, the storage unit 53 associates the first work width w1 with the work device 2.
- the work width acquisition unit 51f acquires the first work width w1 from the storage unit 53 based on the information acquired by the work acquisition unit 51e. Further, based on the information acquired by the work acquisition unit 51e, the range acquisition unit 51g acquires the preset second work width w2 from the storage unit 53.
- the route creation unit 51h sets the work area E2 as shown in FIG. 10A. By dividing in the vertical direction or the horizontal direction by one work width w1, a plurality of unit work sections E3 for working with the work device 2 are created in the work area E2. That is, the route creation unit 51h creates a plurality of unit work sections E3 having the same width as the first work width w1 in the work area E2. As shown in FIG. 10A, a plurality of unit work sections E3 for working with the work device 2 are created in the work area E2. That is, the route creation unit 51h creates a plurality of unit work sections E3 having the same width as the first work width w1 in the work area E2. As shown in FIG.
- the route creation unit 51h may create a plurality of unit work sections E3 having a width W3 obtained by subtracting the overlap width W2 from the first work width w1 in the work area E2.
- the overlap width W2 can be input on a predetermined screen displayed by the display unit 52. That is, when the machine body 3 to which the work device 2 is connected is run, the route creation unit 51h sets the area of the smallest unit in which the work device 2 performs work on the field as the unit work section E3. Further, as shown in FIG. 10C, the route creation unit 51h may create a plurality of unit work sections E3 having a width W5 obtained by adding the underlap width W4 to the first work width w1 in the work area E2. The underwrap width W4 can be input on a predetermined screen displayed by the display unit 52.
- the route creation unit 51h creates a straight-ahead portion L1 in which the machine body 3 goes straight for each unit work section E3 of the field map MP. That is, for example, the route creating unit 51h travels straight in the central portion in the width direction of the unit work compartment E3 over both ends of the unit work compartment E3 in the longitudinal direction, the turning area E1, the work area E2, and the boundary X1. Part L1 is created. Further, the route creating unit 51h creates a turning portion L2 connecting the ends of the adjacent straight traveling portions L1. That is, the route creating unit 51h creates the turning unit L2 at least in the turning area E1.
- the work setting unit 51i sets the work start and work end in the work device 2. Do. As shown in FIG. 12B, the work setting unit 51i sets the work start position STn and the work end position ETn based on the boundary X1 between the work area E2 and the turning area E1 and the second spray width w4. Further, the work setting unit 51i sets the work start position STn and the work end position ETn on the planned travel route L.
- the work setting unit 51i sets the adjacent work start position STn and work end position ETn at least according to the second spray width w4 to the machine body 3 (work device 2). ) To different positions in the front-back direction.
- the work setting unit 51i has a work start position based on the reference distance Y1 acquired by the information acquisition unit 51a and the second work width w2 (second spray width w4) acquired by the range acquisition unit 51g. Set STn and the work end position ETn to different positions.
- the work setting unit 51i has the work start position STn and the work end based on the reference distance Y1 acquired by the information acquisition unit 51a and the second work width w2 acquired by the range acquisition unit 51g.
- the position ETn is set to a different position
- the work setting unit 51i sets the work start position STn and the work end position ETn to different positions based on at least the second spray width w4 acquired by the range acquisition unit 51g.
- the method is not limited to the above method.
- the work start position STn and the work end position ETn were set on the planned traveling route L (straight-ahead portion L1n) while the turning area E1 and the work area E2 remained as they were, but the work setting unit 51i is shown in FIG. 12C.
- the work area E2 is shifted to the turning area E1 by at least the second working width w2 or more by the width of the unit work section E3, and the work start position STn is on the boundary X1 between the working area E2 and the turning area E1.
- the work end position ETn may be set.
- the working machine 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 working machine 1.
- An operation changeover switch 65 is 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 driving mode, and when it is OFF, the control device 60 is set to the manual operation mode. Can be set.
- the control device 60 includes an automatic traveling control unit 63.
- the automatic driving control unit 63 is composed of an electric / electronic circuit provided in the control device 60, a program stored in a CPU, and the like.
- the automatic traveling control unit 63 controls the automatic traveling of the machine body 3.
- the automatic traveling control unit 63 starts automatic traveling when the automatic traveling mode is set. As shown in FIG. 13, when the deviation between the machine body position VP1 and the planned travel route L is less than the threshold value in the situation where the work equipment 1 is automatically traveling, the automatic traveling control unit 63 rotates the steering shaft (rotation). The rotation angle of the shaft) 31 is maintained.
- the automatic travel control unit 63 steers the work equipment 1.
- the steering shaft 31 is rotated so that the direction is to the right.
- the automatic travel control unit 63 steers the work machine 1.
- the steering shaft 31 is rotated so that the direction is to the left.
- the steering angle of the steering device 29 is changed based on the deviation between the aircraft position VP1 and the planned travel route L, but the direction of the planned travel route L and the work machine 1 (aircraft 3)
- the direction (aircraft direction) F1 in the traveling direction (traveling direction) is different, that is, when the angle of the aircraft direction F1 with respect to the planned traveling route L is equal to or greater than the threshold value
- the automatic traveling control unit 63 becomes zero ( The steering angle may be set so that the aircraft direction F1 matches the direction of the planned travel route L).
- the automatic traveling control unit 63 sets the final steering angle in automatic traveling based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (direction deviation) F1. You may.
- the setting of the steering angle in the automatic driving in the above-described embodiment is an example and is not limited.
- the automatic traveling control unit 63 shifts the speed change device 5 so that the vehicle speed of the current working machine 1 matches the vehicle speed corresponding to the planned traveling route L.
- the stage, the number of rotations of the prime mover 4, etc. are automatically changed.
- the control device 60 controls the work device 2 based on the work start position STn and the work end position ETn set by the work setting unit 51i.
- the automatic traveling control unit 63 of the control device 60 has the work start position STn and the work end position ETn set by the work setting unit 51i, the position of the machine 3 positioned by the positioning device 40, and the reference distance Y1.
- the working device 2 is controlled based on.
- the automatic traveling control unit 63 starts driving by outputting a start signal to, for example, a drive device (drive motor) included in the work device 2, and stops driving by outputting a stop signal.
- the automatic travel control unit 63 starts driving the work device 2 when the work device 2 passes the work start position STn while traveling while automatically traveling along at least the turning unit L2 (work). Start the work of the device 2). On the other hand, the automatic traveling control unit 63 stops driving the working device 2 when the working device 2 passes the work end position ETn while traveling while automatically traveling along at least the turning unit L2. (The work of the work device 2 is completed).
- the control device 60 starts the work of the work device 2 when the work device 2 connected to the coupling device passes the work start position STn, and when the work device 2 passes the work end position ETn.
- the work of the work device 2 may be stopped, and the control method thereof is not limited to the above method.
- the control device 60 (automatic travel control unit 63) starts driving by outputting a start signal to the drive motor and stops driving by outputting a stop signal.
- the 60 may control the start and stop of the drive of the work device 2.
- the PTO clutch 155 that can switch between a connected state in which the power of the PTO axis is transmitted to the work device 2 and a disconnection state in which the power of the PTO axis is not transmitted to the work device 2 is controlled. Then, the start and stop of the drive of the drive device may be controlled by switching from the connected state to the disconnected state, and any method of controlling the start and stop of the drive of the work device 2 may be used.
- the above-mentioned working machine 1 includes a machine body 3, a connecting device capable of connecting the working device 2 including a spraying device to the machine body 3, an automatic traveling control unit 63 that automatically travels the machine body 3 based on a planned traveling route L.
- the work start position STn and the work end position ETn in the spraying device are different according to the range acquisition unit 51g for acquiring the spraying work range w4 in the front-rear direction of the spraying device and the spraying work range w4 acquired by the range acquisition unit 51g. It is provided with a work setting unit 51i for setting a position.
- the position where the work is started and the position where the work is finished can be changed according to the spraying work range w4 in the front-rear direction of the spraying device.
- the work range w2 in the front-rear direction is relatively significantly different from that of other work devices 2 such as fertilizer application devices, pesticide sprayers, irrigation sprayers, etc., the work can be performed at the intended location. It is possible to suppress uneven application of fertilizer and reduce uncultivated land.
- the working machine 1 includes an input device that receives an input of the spraying work range w4 in association with the spraying device, and the range acquisition unit 51g acquires the spraying work range w4 received by the input device.
- the spraying work range w4 can be arbitrarily adjusted by inputting the spraying work range w4 to the input device. Thereby, the convenience of the working machine 1 can be improved.
- the working machine 1 includes a storage unit 53 that stores the spraying work range w4 received by the input device, and the input device is a display device 50 that displays an input screen M5 that receives the input of the spraying work range w4 and stores the storage.
- the unit 53 stores the spraying work range w4 for which the input screen M5 has received the input and the spraying device corresponding to the spraying work range w4 in association with each other. According to the above configuration, since the storage unit 53 stores the spraying work range w4 and the spraying device in association with each other, the working machine 1 can call the spraying work range w4 according to the spraying device. As a result, it is not necessary to operate the input device to input the spraying work range w4 each time the work is performed.
- the work machine 1 includes a storage unit 53 that stores the spraying work range w4 received by the input device, and the storage unit 53 corresponds to the work device 2 other than the spray device and the preset work range w2.
- the range acquisition unit 51g receives an input from the storage unit 53 and the spraying work range associated with the spraying device is associated with the range acquisition unit 51g.
- the work range w2 is acquired from the storage unit 53, and the work setting unit 51i acquires the spraying work range w4 acquired by the range acquisition unit 51g.
- the work start position STn and the work end position ETn in the work device 2 connected to the connecting device are set to different positions according to the work range w2.
- the work setting unit 51i can set the work start position STn and the work end position ETn based on the predetermined work range w2. Therefore, when the working device 2 is not a working device 2 such as a fertilizer application device, a pesticide spraying device, an irrigation spraying device, etc., the spraying work range w4 (work range w2) remarkably varies depending on the work type and the type of the work machine 1. Sets the work start position STn and the work end position ETn based on the preset work range w2.
- the efficiency can be improved because there is no need to operate the input device, and the usability of the working device 1 is improved. be able to.
- the work machine 1 includes a control device 60 that controls the work device 2 connected to the connecting device based on the work start position STn and the work end position ETn set by the work setting unit 51i, and the control device 60. Starts the work of the work device 2 when the work device 2 connected to the connecting device passes the work start position STn, and when the work device 2 passes the work end position ETn, the work device 2 of the work device 2 starts work. Stop working.
- the work device 2 starts the work at the work start position STn set by the work setting unit 51i, and the work device 2 finishes the work at the work end position ETn set by the work setting unit 51i.
- the work machine 1 can perform work at an intended location.
- the work machine 1 includes a route creation unit 51h for creating a planned travel route L, and the work setting unit 51i works with the work start position STn in the work device 2 according to the work device 2 connected to the connecting device.
- the end position ETn is set on the planned travel route L. According to the above configuration, since the work start position STn and the work end position ETn are set on the planned travel route L to start and end the work based on the position of the work machine 1, the work machine 1 is running. It is easy to link the work of the work device 2, and the work machine 1 can perform the work more efficiently.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Soil Sciences (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Water Supply & Treatment (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Fertilizing (AREA)
- Agricultural Machines (AREA)
Abstract
Description
本発明は、このような従来技術の問題点を解決すべくなされたものであって、意図した箇所で作業を正確に且つ効率よく行うことができる作業機の提供を目的とする。
また、作業機は、入力装置が受け付けた散布作業範囲を記憶する記憶部を備え、入力装置は、散布作業範囲の入力を受け付ける入力画面を表示する表示装置であり、記憶部は、入力画面が入力を受け付けた散布作業範囲と、当該散布作業範囲に対応する散布装置と、を対応付けて記憶する。
また、作業機は、走行予定ルートを作成するルート作成部を備え、作業設定部は、連結装置に連結された作業装置に応じて当該作業装置における作業開始位置と作業終了位置とを走行予定ルート上に設定する。
図14は、作業機1の一例であるトラクタを示している。作業機1について、トラクタを例にあげて説明するが、作業機1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。本発明の実施形態において、作業機1の運転席10に着座した作業者(運転者)の前側(図3B、図3C、図14の矢印A1方向)を前方、作業者の後側(図3B、図3C、図14の矢印A2方向)を後方、作業者の左側を左方(図14の手前側、図3B、図3Cの矢印B1方向)、作業者の右側を右方(図14の奥側、図3B、図3Cの矢印B2方向)として説明する。また、作業機1の前後方向に直交する方向である水平方向を幅方向として説明する。
図1に示すように、作業機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、作業機1の位置(例えば、緯度、経度)、即ち、機体位置VP1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とは別に機体3に取付けられている。この実施形態では、受信装置41は、機体3、例えばキャビン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、作業機1は、入力装置を備えている。入力装置は、作業機1に関する様々な設定を受け付ける装置である。入力装置は、例えば操作可能であり且つ設定の入力を受け付ける所定の入力画面M5,M6を表示する表示装置50や、設定の入力操作が可能なスイッチ等である。本実施形態において、入力装置は、例えば作業機1が備えている表示装置50である。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、操作可能であり液晶パネル、タッチパネル、その他のパネル等で構成されていて、作業機1に関する様々な情報を表示する。
また、情報取得部51aは、機体3と作業装置2との位置関係に関する情報を取得すればよく、その情報は入力装置(表示装置50)に入力された情報に限定されず、記憶部53に機体3と作業装置2との位置関係に関する情報が予め記憶されており、情報取得部51aが記憶部53から機体3と作業装置2との位置関係に関する情報を取得してもよい。
エリア設定部51dは、図3Aに示すような作業装置2が作業を行う領域、即ち圃場マップMPのうち旋回エリアE1を除く領域である作業エリアE2を圃場マップMP上に設定する。エリア設定部51dは、旋回幅取得部51cが取得した旋回幅W1に基づいて作業エリアE2を設定する。エリア設定部51dは、記憶部53に記憶されている圃場マップMP上に作業エリアE2を登録する。エリア設定部51dは、圃場マップMPの輪郭H1を内側に、旋回幅W1だけオフセットすることで形成される輪郭H2で囲まれるエリアを、作業エリアE2に設定する。
作業取得部51eは、連結装置(昇降装置8)に装着された作業装置2や、当該作業装置2の作業内容(作業分類)等を取得する。作業取得部51eは、記憶部53等を介して入力装置(表示装置50)に入力された情報を取得することで当該作業装置2や作業内容等を取得する。例えば、記憶部53は、作業機1に装着可能な複数の作業装置2、即ち作業装置2の名称、型番、品番等の作業装置2が識別可能な識別情報や当該作業装置2の作業内容やその分類を記憶しており、作業取得部51eは入力装置に入力された情報に基づいて記憶部53に記憶された作業装置2や当該作業装置2の作業内容を取得する。
第1入力確定ボタン101は、距離入力部100に入力された基準距離Y1を確定、即ち基準距離Y1の入力の受け付けを確定させる操作が可能な画像部である。このため、距離入力部100に基準距離Y1が入力され、第1入力確定ボタン101が操作されると、記憶部53が距離入力部100に入力された基準距離Y1を作業機1と対応付けて記憶する。情報取得部51aは、情報取得部51aが取得した情報に基づいて、記憶部53から基準距離Y1を取得する。
以下、表示装置50の表示部52が表示する画面と、旋回幅取得部51cによる旋回エリアE1の幅の取得と、エリア設定部51dによる作業エリアE2の設定について詳しく説明する。図7に示すように、作業者(運転者)が表示装置50に対して所定の操作を行うと、表示装置50が表示部52にエリア設定画面M3を表示する。エリア設定画面M3は、圃場入力部110と、圃場表示部111と、旋回幅入力部112と、旋回設定ボタン113と、を有している。圃場入力部110は、圃場名、圃場の管理番号等の圃場識別情報を入力可能である。圃場表示部111は、圃場入力部110に入力された圃場識別情報に対応する所定の圃場を示す圃場マップMPを表示する。即ち、制御部51は、圃場入力部110に入力された圃場識別情報に対応する圃場マップMPを、記憶部53に要求し、当該記憶部53から送信された圃場マップMPを圃場表示部111に表示させる。
以下、表示装置50の表示部52が表示する画面と作業取得部51eによる作業装置2、又は作業装置2の作業分類等の取得について詳しく説明する。図8に示すように、作業者(運転者)が表示装置50に対して所定の操作を行うと、表示装置50が表示部52に作業選択画面M4を表示する。作業選択画面M4は、選択部115を有している。選択部115は、作業機1に装着可能な複数の作業装置2の選択操作、即ち作業装置2の名称、型番、品番等の作業装置2が識別可能な識別情報や当該作業装置2の作業内容やその分類を入力操作可能である。
作業者(運転者)が作業選択画面M4で作業装置2の選択操作を行い、且つ作業取得部51eが取得した作業装置2が施肥作業、農薬散布作業、灌水散布作業等を行う散布装置である場合、図9Aに示すように、表示装置50は表示部52に第1設定画面M5を表示する。第1設定画面M5では、少なくとも第2散布幅w4を入力可能な入力画面であって、当該入力された第2散布幅w4に基づいて作業開始位置STnと作業終了位置ETnとを異なる位置に設定することが可能である。また、第1設定画面M5では、第1散布幅w3を入力可能であり、当該入力された第1散布幅w3に基づいて作業エリアE2に走行予定ルートLを設定することが可能である。第1設定画面M5は、走行予定ルートLを表示するルート表示部120と、第1幅入力部121と、第2幅入力部122と、第2入力確定ボタン123と、を有している。
第3入力確定ボタン127は、第3幅入力部126に入力された第1作業幅w1を確定、即ち第1作業幅w1の入力の受け付けを確定操作可能な画像部である。このため、第3幅入力部126に第1作業幅w1が入力され、第3入力確定ボタン127が選択されると、記憶部53が当該第1作業幅w1と作業装置2とを対応付けて記憶する。作業幅取得部51fは、作業取得部51eが取得した情報に基づいて、記憶部53から第1作業幅w1を取得する。また、作業取得部51eが取得した情報に基づいて、範囲取得部51gが記憶部53から予め設定された第2作業幅w2を取得する。
自動走行制御部63は、機体3の自動走行を制御する。自動走行制御部63は、自動走行モードになっている場合に自動走行を開始する。図13に示すように、作業機1が自動走行を行っている状況下において、機体位置VP1と走行予定ルートLとの偏差が閾値未満である場合、自動走行制御部63は、操舵軸(回転軸)31の回転角を維持する。機体位置VP1と走行予定ルートLとの偏差が閾値以上であって、作業機1が走行予定ルートLに対して左側に位置している場合は、自動走行制御部63は、作業機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。機体位置VP1と走行予定ルートLとの偏差が閾値以上であって、作業機1が走行予定ルートLに対して右側に位置している場合は、自動走行制御部63は、作業機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。
制御装置60は、作業設定部51iが設定した作業開始位置STnと作業終了位置ETnとに基づいて、作業装置2を制御する。具体的には、制御装置60が有する自動走行制御部63が、作業設定部51iが設定した作業開始位置STnと作業終了位置ETnと、測位装置40が測位した機体3の位置と、基準距離Y1と、に基づいて作業装置2を制御する。自動走行制御部63は、例えば作業装置2が有する駆動装置(駆動モータ)に開始信号を出力することによって駆動を開始し、停止信号を出力することによって駆動を停止する。
一方、自動走行制御部63は、少なくとも旋回部L2に沿って自動走行をしながら走行している状況下において、作業装置2が作業終了位置ETnを通過した場合に作業装置2の駆動を停止する(作業装置2の作業を終了する)。
また、上述した実施形態において、制御装置60(自動走行制御部63)は、駆動モータに開始信号を出力することによって駆動を開始し、停止信号を出力することによって駆動を停止するが、制御装置60は、作業装置2の駆動の開始及び停止を制御できればよく、例えばPTO軸の動力を作業装置2に伝達する接続状態と作業装置2に伝達しない切断状態とに切り換え可能なPTOクラッチ155を制御して、接続状態から切断状態に切り換えることによって、駆動装置の駆動の開始及び停止を制御してもよく、作業装置2の駆動の開始及び停止を制御する方法は何でもよい。
また、作業機1は、入力装置が受け付けた散布作業範囲w4を記憶する記憶部53を備え、入力装置は、散布作業範囲w4の入力を受け付ける入力画面M5を表示する表示装置50であり、記憶部53は、入力画面M5が入力を受け付けた散布作業範囲w4と、当該散布作業範囲w4に対応する散布装置と、を対応付けて記憶する。上記構成によれば、記憶部53が散布作業範囲w4と散布装置とを対応付けて記憶しているため、作業機1は散布装置に応じて散布作業範囲w4を呼び出すことができる。これにより、作業を行う都度入力装置を操作して散布作業範囲w4を入力する必要がない。
2 作業装置
3 機体
50 表示装置
51g 範囲取得部
51h ルート作成部
51i 作業設定部
53 記憶部
60 制御装置
63 自動走行制御部
ETn 作業終了位置
L 走行予定ルート
M5 第1設定画面(入力画面)
w2 第2作業幅(前後方向の作業範囲)
w4 第2散布幅(前後方向の散布作業範囲)
Claims (6)
- 機体と、
散布装置を含む作業装置を前記機体に連結可能な連結装置と、
前記機体を走行予定ルートに基づいて自動走行を行う自動走行制御部と、
前記散布装置の前後方向の散布作業範囲を取得する範囲取得部と、
前記範囲取得部が取得した前記散布作業範囲に応じて、当該散布装置における作業開始位置と作業終了位置とを異なる位置に設定する作業設定部と、
を備えている作業機。 - 前記散布装置と対応付けて前記散布作業範囲の入力を受け付ける入力装置を備え、
前記範囲取得部は、前記入力装置が受け付けた前記散布作業範囲を取得する請求項1に記載の作業機。 - 前記入力装置が受け付けた前記散布作業範囲を記憶する記憶部を備え、
前記入力装置は、前記散布作業範囲の入力を受け付ける入力画面を表示する表示装置であり、
前記記憶部は、前記入力画面が入力を受け付けた前記散布作業範囲と、当該散布作業範囲に対応する前記散布装置と、を対応付けて記憶する請求項2に記載の作業機。 - 前記入力装置が受け付けた前記散布作業範囲を記憶する記憶部を備え、
前記記憶部は、前記散布装置以外の前記作業装置と、予め設定された作業範囲と、を対応付けて記憶しており、
前記範囲取得部は、
前記連結装置に連結された前記作業装置が前記散布装置である場合、前記記憶部から前記入力装置が入力を受け付け且つ前記散布装置に対応付けられた前記散布作業範囲を取得し、
前記連結装置に連結された前記作業装置が前記散布装置以外である場合、前記記憶部から前記作業範囲を取得し、
前記作業設定部は、前記範囲取得部が取得した前記散布作業範囲又は前記作業範囲に応じて、前記連結装置に連結された前記作業装置における作業開始位置と作業終了位置とを異なる位置に設定する請求項2又は3に記載の作業機。 - 前記作業設定部によって設定された前記作業開始位置と前記作業終了位置とに基づいて、前記連結装置に連結された前記作業装置を制御する制御装置を備え、
前記制御装置は、前記連結装置に連結された前記作業装置が前記作業開始位置を通過した場合に当該作業装置の作業を開始し、当該作業装置が前記作業終了位置を通過した場合に当該作業装置の作業を停止する請求項4に記載の作業機。 - 前記走行予定ルートを作成するルート作成部を備え、
前記作業設定部は、前記連結装置に連結された前記作業装置に応じて当該作業装置における作業開始位置と作業終了位置とを前記走行予定ルート上に設定する請求項1~5のいずれか1項に記載の作業機。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2020409148A AU2020409148A1 (en) | 2019-12-18 | 2020-12-14 | Work machine |
EP20904142.5A EP4079128A4 (en) | 2019-12-18 | 2020-12-14 | WORKING MACHINE |
US17/751,804 US20220279698A1 (en) | 2019-12-18 | 2022-05-24 | Working machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019228666A JP7223680B2 (ja) | 2019-12-18 | 2019-12-18 | 作業機 |
JP2019-228666 | 2019-12-18 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/751,804 Continuation US20220279698A1 (en) | 2019-12-18 | 2022-05-24 | Working machine |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021125124A1 true WO2021125124A1 (ja) | 2021-06-24 |
Family
ID=76429818
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/046481 WO2021125124A1 (ja) | 2019-12-18 | 2020-12-14 | 作業機 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220279698A1 (ja) |
EP (1) | EP4079128A4 (ja) |
JP (2) | JP7223680B2 (ja) |
AU (1) | AU2020409148A1 (ja) |
WO (1) | WO2021125124A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022158551A (ja) * | 2021-04-02 | 2022-10-17 | トヨタ自動車株式会社 | 作業車両の制御装置 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120283909A1 (en) * | 2011-05-03 | 2012-11-08 | Dix Peter J | System and method for positioning a vehicle with a hitch using an automatic steering system |
JP2016095660A (ja) * | 2014-11-13 | 2016-05-26 | ヤンマー株式会社 | 無人作業システム |
JP2018000039A (ja) | 2016-06-28 | 2018-01-11 | 株式会社クボタ | 作業車 |
JP2018161085A (ja) * | 2017-03-24 | 2018-10-18 | ヤンマー株式会社 | 作業車両 |
JP2019008409A (ja) * | 2017-06-21 | 2019-01-17 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 飛行制御方法、情報処理装置、プログラム及び記録媒体 |
JP2019082873A (ja) * | 2017-10-31 | 2019-05-30 | 株式会社ゼンリン | 決定方法、プログラム、およびデータ構造 |
JP2019088227A (ja) * | 2017-11-14 | 2019-06-13 | 株式会社クボタ | 作業表示装置及び作業機 |
JP2019121009A (ja) * | 2017-12-28 | 2019-07-22 | 株式会社クボタ | 作業エリア管理システム |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005008105A1 (de) * | 2005-02-21 | 2006-08-31 | Amazonen-Werke H. Dreyer Gmbh & Co. Kg | Elektronisches Maschinen-Management-System |
JP6170185B2 (ja) * | 2014-02-06 | 2017-07-26 | ヤンマー株式会社 | 作業車両の走行経路の設定方法 |
JP6253565B2 (ja) * | 2014-11-13 | 2017-12-27 | ヤンマー株式会社 | 操作端末 |
US10080325B2 (en) * | 2015-10-27 | 2018-09-25 | Cnh Industrial America Llc | Predictive overlap control model |
KR102102102B1 (ko) * | 2016-03-09 | 2020-04-20 | 얀마 가부시키가이샤 | 작업 차량 및 주행 영역 특정 장치 |
JP6674877B2 (ja) * | 2016-09-26 | 2020-04-01 | ヤンマー株式会社 | 経路生成システム |
JP7076969B2 (ja) * | 2017-09-06 | 2022-05-30 | 株式会社トプコン | 施肥を行う装置、施肥を行う方法およびプログラム |
JP7059096B2 (ja) * | 2018-04-27 | 2022-04-25 | 株式会社クボタ | 作業機の散布支援システム |
-
2019
- 2019-12-18 JP JP2019228666A patent/JP7223680B2/ja active Active
-
2020
- 2020-12-14 WO PCT/JP2020/046481 patent/WO2021125124A1/ja unknown
- 2020-12-14 AU AU2020409148A patent/AU2020409148A1/en active Pending
- 2020-12-14 EP EP20904142.5A patent/EP4079128A4/en active Pending
-
2022
- 2022-05-24 US US17/751,804 patent/US20220279698A1/en active Pending
-
2023
- 2023-02-06 JP JP2023016155A patent/JP2023054003A/ja active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120283909A1 (en) * | 2011-05-03 | 2012-11-08 | Dix Peter J | System and method for positioning a vehicle with a hitch using an automatic steering system |
JP2016095660A (ja) * | 2014-11-13 | 2016-05-26 | ヤンマー株式会社 | 無人作業システム |
JP2018000039A (ja) | 2016-06-28 | 2018-01-11 | 株式会社クボタ | 作業車 |
JP2018161085A (ja) * | 2017-03-24 | 2018-10-18 | ヤンマー株式会社 | 作業車両 |
JP2019008409A (ja) * | 2017-06-21 | 2019-01-17 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 飛行制御方法、情報処理装置、プログラム及び記録媒体 |
JP2019082873A (ja) * | 2017-10-31 | 2019-05-30 | 株式会社ゼンリン | 決定方法、プログラム、およびデータ構造 |
JP2019088227A (ja) * | 2017-11-14 | 2019-06-13 | 株式会社クボタ | 作業表示装置及び作業機 |
JP2019121009A (ja) * | 2017-12-28 | 2019-07-22 | 株式会社クボタ | 作業エリア管理システム |
Non-Patent Citations (1)
Title |
---|
See also references of EP4079128A4 |
Also Published As
Publication number | Publication date |
---|---|
EP4079128A4 (en) | 2024-01-10 |
JP2021093982A (ja) | 2021-06-24 |
JP7223680B2 (ja) | 2023-02-16 |
JP2023054003A (ja) | 2023-04-13 |
EP4079128A1 (en) | 2022-10-26 |
US20220279698A1 (en) | 2022-09-08 |
AU2020409148A1 (en) | 2022-06-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2021044970A1 (ja) | 作業車両及び作業車両の作業支援装置 | |
US11832548B2 (en) | Agricultural machine | |
JP2023101605A (ja) | 自動走行制御システム及び自律走行制御方法 | |
JP7102333B2 (ja) | 作業車両の制御装置及び制御装置を備えた作業車両 | |
WO2021125124A1 (ja) | 作業機 | |
JP6953304B2 (ja) | 作業場管理システム | |
JP2021106558A (ja) | 作業車両及び作業車両の走行管理システム | |
WO2021125099A1 (ja) | 作業機 | |
JP6833941B1 (ja) | 作業車両 | |
JP6815971B2 (ja) | 作業管理システム | |
JP7179565B2 (ja) | 作業車両 | |
JP7102332B2 (ja) | 走行支援装置、走行支援装置を備えた作業車両 | |
JP7050874B2 (ja) | 作業管理システム | |
US20240107931A1 (en) | Travel assistance system for agricultural machine | |
JP7060208B2 (ja) | 走行支援装置、走行支援装置を備えた作業車両及び走行支援方法 | |
JP6980087B2 (ja) | 自動走行作業車両のための衛星測位システム | |
WO2022176351A1 (ja) | 農作業支援装置、農作業支援システム、農業機械 | |
WO2023127266A1 (ja) | 農作業支援システム、農業機械、農作業支援装置 | |
JP6995711B2 (ja) | 作業機の測位システム | |
JP6949700B2 (ja) | 作業マップの生成システム | |
JP6812303B2 (ja) | 自動走行作業車両のための衛星測位システム | |
JP2023055285A (ja) | 作業車両 | |
JP2021085800A (ja) | 作業機 | |
JP2023172692A (ja) | 作業車両の支援システム | |
JP2021009523A (ja) | 作業表示装置及び作業機 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20904142 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2020409148 Country of ref document: AU Date of ref document: 20201214 Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2020904142 Country of ref document: EP Effective date: 20220718 |