WO2022071493A1 - Machine agricole, système, procédé, programme et support d'enregistrement - Google Patents

Machine agricole, système, procédé, programme et support d'enregistrement Download PDF

Info

Publication number
WO2022071493A1
WO2022071493A1 PCT/JP2021/036154 JP2021036154W WO2022071493A1 WO 2022071493 A1 WO2022071493 A1 WO 2022071493A1 JP 2021036154 W JP2021036154 W JP 2021036154W WO 2022071493 A1 WO2022071493 A1 WO 2022071493A1
Authority
WO
WIPO (PCT)
Prior art keywords
mode
automatic steering
control unit
traveling
unit
Prior art date
Application number
PCT/JP2021/036154
Other languages
English (en)
Japanese (ja)
Inventor
中林隆志
渡邉俊樹
佐野友彦
吉田脩
川畑翔太郎
堀内真幸
齊藤直
山岡京介
奥平淳人
Original Assignee
株式会社クボタ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to CN202180067689.8A priority Critical patent/CN116249441A/zh
Priority to KR1020237010160A priority patent/KR20230079056A/ko
Publication of WO2022071493A1 publication Critical patent/WO2022071493A1/fr

Links

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
    • A01B69/007—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
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa

Definitions

  • the present invention relates to agricultural work machines, systems, methods, programs, and recording media.
  • Patent Document 1 describes a rice transplanter capable of traveling in an automatic straight-ahead mode. Running in the self-propelled straight-ahead mode is performed as follows. First, the operator operates the steering wheel to drive the rice transplanter straight ahead, and the operator operates the registration switch at two points on the way. The teaching direction is calculated based on the satellite positioning data at the two points. A linear target line parallel to the calculated teaching direction is generated. The steering unit is controlled so that the aircraft moves along the target line, and the vehicle travels in the automatic straight-ahead mode (automatic steering).
  • the straight running from one end to the other end of the field is repeated.
  • the automatic steering running since the straight running can be performed by the automatic steering running, the manual steering of the operator becomes unnecessary and the work load is reduced.
  • the automatic steering running is interrupted due to an abnormality during the straight running, it is preferable that the automatic steering running can be started along the same teaching direction or the target line because the work load can be further reduced. In the rice transplanter of Patent Document 1, the restart after the interruption of the automatic steering running is not considered.
  • An object of the present invention is to provide a means capable of reducing the work load related to automatic steering running.
  • the agricultural work machine of the present invention executes automatic steering running by using a reference direction in a running control unit that controls the running of the machine having a traveling device and a control mode of the traveling control unit.
  • Information on the mode switching unit that switches between the possible first mode and the second mode in which the automatic steering travel is not performed, and the reference direction when the control mode of the travel control unit is the first mode.
  • a storage unit for storing a certain direction-related information is provided, and the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode, and further from the second mode to the first mode.
  • the travel control unit is capable of executing automatic steering travel using the reference direction based on the direction-related information stored in the storage unit.
  • the direction-related information which is the information about the reference direction when the control mode of the travel control unit is the first mode is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • the direction-related information is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • work such as regeneration of the reference direction becomes unnecessary, and it is possible to reduce the work load when restarting the automatic steering running.
  • an input device capable of accepting an artificial operation
  • the mode switching unit changes the control mode of the travel control unit from the first mode to the above.
  • the mode switching unit waits for an artificial operation from the input device, and receives an artificial operation from the input device to continue automatic steering running.
  • the mode switching unit switches the control mode of the traveling control unit from the second mode to the first mode, and the traveling control unit automatically steers using the reference orientation based on the orientation-related information stored in the storage unit. It is preferable to carry out running.
  • the automatic steering running is restarted based on the artificial operation. Therefore, it is possible to select whether or not to restart the automatic steering running according to the working conditions in the field, and it is possible to improve the convenience of the agricultural work machine.
  • the mode switching unit keeps the control mode of the traveling control unit in the second mode and the mode switching unit receives the human operation to the effect that the automatic steering operation is not continued from the input device.
  • the mode switching unit sets the control mode of the traveling control unit. It is preferable that the second mode is switched to the first mode and the traveling control unit is in a state where automatic steering traveling can be executed using the reference direction based on the orientation-related information stored in the storage unit.
  • an input device capable of accepting an artificial operation is provided, and when the travel control unit does not execute the automatic steering operation, the mode switching unit changes the control mode of the travel control unit from the first mode to the above.
  • the mode switching unit waits for an artificial operation from the input device, and receives an artificial operation from the input device to perform automatic steering running again.
  • the mode switching unit switches the control mode of the traveling control unit from the second mode to the first mode, and the traveling control unit automatically steers using the reference orientation based on the orientation-related information stored in the storage unit. It is preferable that the vehicle is in a state where it can be driven.
  • the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode when a predetermined switching condition is satisfied.
  • the switching condition includes that the engine has stopped.
  • the switching condition includes that the working device provided in the machine body has stopped.
  • the system of the present invention is a system for controlling an agricultural work machine, and a travel control unit for controlling the travel of the agricultural work machine and a control mode of the travel control unit are set to a reference direction.
  • the mode switching unit for switching between the first mode in which automatic steering traveling can be executed and the second mode in which automatic steering traveling is not performed and the control mode of the traveling control unit is the first mode.
  • the mode switching unit switches the control mode of the traveling control unit from the first mode to the second mode, further comprising a storage unit for storing directional information which is information related to the reference direction.
  • the traveling control unit can execute automatic steering traveling using the reference azimuth based on the azimuth-related information stored in the storage unit.
  • the method of the present invention is a method for controlling an agricultural work machine, and automatically steers the control mode of the traveling control unit for controlling the traveling of the agricultural work machine by using a reference direction.
  • the control mode of the traveling control unit is set.
  • the traveling control unit includes a fifth step of executing automatic steering traveling using a reference direction based on the direction-related information stored in the storage unit.
  • the program of the present invention is a program for controlling an agricultural work machine, and automatically steers the control mode of the traveling control unit that controls the traveling of the agricultural work machine by using a reference direction.
  • the first function for setting the first mode in which driving can be executed, the second function for storing the direction-related information which is the information about the reference direction in the storage unit, and the traveling control unit after the execution of the first function.
  • the computer is made to execute the fifth function of executing the automatic steering running using the reference direction based on the direction-related information stored in the storage unit.
  • the recording medium of the present invention is a recording medium on which a program for controlling an agricultural work machine is recorded, and is based on a control mode of a travel control unit that controls the travel of the agricultural work machine.
  • the direction-related information which is the information about the reference direction when the control mode of the travel control unit is the first mode is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • the direction-related information is stored in the storage unit, and the control mode of the travel control unit is changed to the first mode again.
  • work such as regeneration of the reference direction becomes unnecessary, and it is possible to reduce the work load when restarting the automatic steering running.
  • the direction of arrow F shown in FIG. 1 is “front”
  • the direction of arrow B is “rear”
  • the direction of arrow U is “up”
  • the direction of arrow D is the direction of arrow D.
  • the ordinary type combine 1 (corresponding to the "agricultural work machine” according to the present invention) includes a machine body 10, a harvesting section H (an example of a working device), a threshing device 13, a grain tank 14, and a transport section. It is equipped with 16, a grain ejection device 18, and a satellite positioning module 80. Further, the machine body 10 has a crawler type traveling device 11, a driving unit 12, and an engine EG.
  • the traveling device 11 is provided at the lower part of the combine 1. Further, the traveling device 11 is driven by the power from the engine EG. Then, the combine 1 can self-propell by the traveling device 11.
  • the operation unit 12, the threshing device 13, and the grain tank 14 are provided on the upper side of the traveling device 11. An operator who monitors the work of the combine 1 can be boarded on the driving unit 12.
  • the grain discharge device 18 is provided on the upper side of the grain tank 14. Further, the satellite positioning module 80 is attached to the upper surface of the operating unit 12.
  • the cutting section H is provided in the front portion of the combine 1.
  • the transport unit 16 is provided on the rear side of the cutting unit H. Further, the cutting unit H includes a cutting blade 15 and a reel 17.
  • the cutting blade 15 cuts the planted culm in the field. Further, the reel 17 is driven to rotate around the reel shaft core 17b along the left-right direction of the machine body to scrape the planted grain culm to be harvested. The cut grain culm cut by the cutting blade 15 is sent to the transport unit 16.
  • the harvesting unit H harvests the grain in the field. Then, the combine 1 can be cut and run by the running device 11 while cutting the planted culm in the field by the cutting blade 15.
  • the harvested grain culm harvested by the harvesting unit H is transported to the rear of the machine by the transport unit 16. As a result, the harvested grain culm is transported to the threshing device 13.
  • the harvested grain culm is threshed.
  • the grains obtained by the threshing treatment are stored in the grain tank 14.
  • the grains stored in the grain tank 14 are discharged to the outside of the machine by the grain discharging device 18 as needed.
  • the combine 1 is provided with a grain tank 14 for storing the grains harvested by the harvesting unit H.
  • a display input device 4 (an example of an input device) is arranged in the operation unit 12.
  • the display input device 4 is configured to be able to display various information and to accept human operations.
  • the display input device 4 is, for example, a touch panel type liquid crystal display device.
  • the display input device 4 is fixed to the operation unit 12.
  • the present invention is not limited to this, and the display input device 4 may be configured to be detachable from the driving unit 12, and the display input device 4 is located outside the combine 1. Is also good.
  • the combine 1 is configured to be able to perform manual steering running and automatic steering running.
  • Manual steering running means running by manual steering of the operator.
  • automatic steering running means that the forward running is automatically performed.
  • the automatic steering running means that the forward running without a large change of direction such as an ⁇ turn or a U turn is automatically performed.
  • the driving unit 12 is provided with a main shift lever 19.
  • the vehicle speed of the combine 1 changes. That is, when the combine 1 is performing manual steering or automatic steering, the operator can change the vehicle speed of the combine 1 by operating the main shift lever 19.
  • the driving unit 12 is provided with a steering operating tool 41.
  • a steering operating tool 41 When the combine 1 is manually steering and traveling, when the operator operates the steering operating tool 41, a speed difference is generated between the left and right crawlers in the traveling device 11. As a result, the combine 1 turns. That is, when the combine 1 is manually steering and traveling, the operator can steer the combine 1 by operating the steering operating tool 41.
  • the combine 1 is provided with a steering operating tool 41 for steering.
  • the combine 1 is configured so that the operating force to the steering operating tool 41 is not transmitted to the traveling device 11. That is, the steering operation tool 41 is not mechanically interlocked with the traveling device 11.
  • the movement of the steering operation tool 41 is electrically detected, and the left and right crawlers in the traveling device 11 are controlled based on this detection.
  • the combine 1 turns. Further, when there is no speed difference between the left and right crawlers, the combine 1 goes straight.
  • the combine 1 includes a threshing clutch C1 and a harvesting clutch C2.
  • the power output from the engine EG is distributed to the traveling device 11 and the threshing clutch C1.
  • the traveling device 11 has a main transmission device 11a and an auxiliary transmission device 11b.
  • the main transmission 11a is configured by a hydrostatic continuously variable transmission.
  • the auxiliary transmission 11b is configured by a gear switching type transmission, and is configured to be switchable between a high speed state and a low speed state.
  • the high-speed state is a shift state for movement (non-working), and the low-speed state is a shift state for work.
  • the power input from the engine EG to the traveling device 11 is changed by the main transmission device 11a and the auxiliary transmission device 11b. Then, the combine 1 travels by driving the crawler of the traveling device 11 by the speed-shifted power.
  • the main shift lever 19 is configured to be swingable in the front-rear direction.
  • the range of motion of the main shift lever 19 is divided into three, a forward operation position, a neutral position, and a reverse operation position. Then, by operating the main shift lever 19, the shift state of the main shift device 11a changes.
  • the main speed change device 11a When the main speed change lever 19 is in the neutral position, the main speed change device 11a is in the neutral state. At this time, the main transmission 11a does not output power.
  • the main shift device 11a When the main shift lever 19 is located at the reverse operation position, the main shift device 11a is in the reverse shift state. At this time, the more the main speed change lever 19 is tilted to the rear side, the higher the power output from the main speed change device 11a becomes.
  • the main shift lever 19 is provided with an auxiliary shift switch 42 (FIG. 2). Each time the auxiliary transmission switch 42 is pressed, the transmission state of the auxiliary transmission device 11b is switched between a high speed state and a low speed state.
  • the threshing clutch C1 shown in FIG. 2 is configured so that the state can be changed between an on state in which power is transmitted and an off state in which power is not transmitted.
  • the threshing clutch C1 When the threshing clutch C1 is in the engaged state, the power from the engine EG is transmitted to the threshing device 13 and the cutting clutch C2. As a result, the threshing device 13 is driven.
  • the threshing clutch C1 when the threshing clutch C1 is in the off state, the power from the engine EG is not transmitted to either the threshing device 13 or the cutting clutch C2. At this time, the threshing device 13 is not driven.
  • the cutting clutch C2 is configured so that the state can be changed between the on state in which power is transmitted and the off state in which power is not transmitted.
  • the combine 1 includes a harvesting threshing lever 43.
  • the harvesting threshing lever 43 is provided in the driving unit 12.
  • the harvesting threshing lever 43 is configured to be swingable in the front-rear direction.
  • the harvesting threshing lever 43 is configured so that the operation position can be selectively switched between the first operation position, the second operation position, and the third operation position.
  • both the threshing clutch C1 and the cutting clutch C2 are in the engaged state.
  • the threshing clutch C1 When the operating position of the cutting threshing lever 43 is the second operating position, the threshing clutch C1 is in the on state and the cutting clutch C2 is in the off state.
  • both the threshing clutch C1 and the cutting clutch C2 are in the off state.
  • the combine 1 is provided with a steering operation tool 41.
  • the steering control tool 41 is configured to be swingable in the left-right direction.
  • the control device CU of the combine 1 includes a control unit CS and a storage device ME.
  • control device CU is a so-called ECU, and includes a memory (HDD, non-volatile RAM, etc., not shown) for storing a program corresponding to a functional unit, and a CPU (not shown) for executing the program. ing. When the program is executed by the CPU, the functions of each functional unit are realized.
  • a memory HDD, non-volatile RAM, etc., not shown
  • a CPU not shown
  • the control unit CS includes a vehicle position calculation unit 21, a travel control unit 24, a vehicle orientation calculation unit 25, a mode switching unit 26, a reference direction calculation unit 27, an automatic steering control unit 28, and a travel route calculation unit 29. There is.
  • the storage device ME includes a state flag storage unit 51 and an orientation-related information storage unit 52 (an example of a storage unit).
  • the state flag storage unit 51 and the orientation-related information storage unit 52 are provided in an element or region (for example, a non-volatile RAM) that retains storage even when the power supply of the control device CU in the storage device ME is cut off.
  • the state flag storage unit 51 stores the automatic steering flag and the B point standby flag.
  • the automatic steering flag and the B point standby flag take two values, ON and OFF.
  • the directional information storage unit 52 stores directional information, which is information related to the reference azimuth when the control mode of the traveling control unit 24 is the first mode.
  • RTK-GPS Real Time Kinetic GPS
  • the satellite positioning module 80 shown in FIG. 1 includes GPS signals from the artificial satellite GS used in GPS (Global Positioning System), positioning data transmitted from a reference station (not shown) installed at a known position, and positioning data. To receive. Then, as shown in FIG. 2, the satellite positioning module 80 sends the positioning data based on the received GPS signal and the positioning data received from the reference station to the own vehicle position calculation unit 21.
  • the vehicle position calculation unit 21 calculates the position coordinates of the combine 1 over time based on the positioning data received from the satellite positioning module 80. The calculated position coordinates of the combine 1 over time are sent to the traveling control unit 24.
  • the distance between the GPS satellite and the GPS receiver is N ⁇ ⁇ + ⁇ ⁇ ⁇ + c ⁇ dT + c ⁇ dt, and N called an integer value bias is obtained.
  • N is the wavelength of the carrier wave.
  • ⁇ is a fractional part of the wave number between the GPS satellite and the GPS receiver.
  • c is the radio wave propagation speed
  • dT is the clock error of the GPS satellite
  • dt is the clock error of the GPS receiver.
  • the state where N is not determined as an integer solution is called FLOAT.
  • the positioning result at this time is called an FLOAT solution.
  • the FIX solution has a centimeter accuracy, while the FLOAT solution has an accuracy of several tens of centimeters to several meters.
  • the state in which the FIX solution is obtained may be described as "high accuracy state”.
  • the satellite positioning module 80 does not have to use GPS.
  • the satellite positioning module 80 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
  • GNSS GLONASS, Galileo, Michibiki, BeiDou, etc.
  • the combine 1 is provided with an inertial measurement unit 81. Further, the control unit CS has a vehicle direction calculation unit 25.
  • the inertial measurement unit 81 detects the angular velocity of the yaw angle of the airframe 10 and the acceleration in the three axial directions orthogonal to each other over time. The detection result by the inertial measurement unit 81 is sent to the own vehicle direction calculation unit 25.
  • the vehicle direction calculation unit 25 receives the position coordinates of the combine 1 from the vehicle position calculation unit 21. Then, the own vehicle direction calculation unit 25 calculates the attitude direction of the combine 1 based on the detection result by the inertial measurement unit 81 and the position coordinates of the combine 1.
  • the heading vehicle direction calculation unit 25 determines the current position coordinates of the combine 1 and the position coordinates of the combine 1 at the point where the combine 1 was traveling immediately before. Calculate the initial posture orientation.
  • the own vehicle direction calculation unit 25 integrates the angular velocity detected by the inertial measurement unit 81 during the operation for the fixed time. , Calculate the amount of change in posture and orientation.
  • the own vehicle orientation calculation unit 25 updates the calculation result of the attitude orientation. After that, the amount of change in the posture direction is calculated in the same manner at regular time intervals, and the calculation result of the posture direction is sequentially updated.
  • the angular velocity detected by the inertial measurement unit 81 includes a measurement error (drift). Since this measurement error increases with the passage of time, the error included in the calculated change in posture and orientation increases each time the amount of change in posture and orientation is calculated.
  • drift measurement error
  • the own vehicle direction calculation unit 25 is configured to correct the attitude direction calculated based on the detection result by the inertial measurement unit 81 by the direction information calculated based on the change in the position coordinates of the combine 1. ..
  • the directional information calculated based on the change in the position coordinates of the combine 1 has a FIX solution obtained by RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, and the combine 1 is several meters. High accuracy is achieved when going straight over the above. Therefore, the own vehicle orientation calculation unit 25 obtains a FIX solution in RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21 for correction based on the orientation information calculated based on the change in the position coordinates of the combine 1. And only when the combine 1 goes straight for several meters or more.
  • the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21, and the combine 1 has traveled straight for several meters or more, and the combine.
  • a state in which high-precision directional information is calculated based on a change in the position coordinates of 1 may be described as a high-precision directional calculation state.
  • the vehicle direction calculation unit 25 can calculate the attitude direction of the combine 1 with high accuracy.
  • the attitude direction of the combine 1 calculated by the own vehicle direction calculation unit 25 is sent to the traveling control unit 24.
  • the travel control unit 24 is configured to be able to control the travel device 11.
  • the travel control unit 24 controls the travel of the machine body 10 by controlling the travel device 11.
  • the combine 1 includes a travel control unit 24 that controls the travel of the machine body 10 having the travel device 11.
  • the combine 1 includes a cutting cylinder 15A. Further, as shown in FIG. 2, the combine 1 is provided with a cutting elevating operation tool 44.
  • the cutting elevating operation tool 44 is provided in the driving unit 12.
  • the control unit CS is configured to control the expansion and contraction of the cutting cylinder 15A in response to the operation of the cutting raising / lowering operation tool 44 by the operator.
  • the operator can perform the raising / lowering operation of the cutting unit H by operating the cutting raising / lowering operation tool 44.
  • the mode switching unit 26 sets the control mode of the travel control unit 24 into an automatic steering mode (an example of the first mode) capable of executing automatic steering travel using a reference direction and a non-automatic steering mode (an example of the first mode) in which automatic steering travel is not performed. Switch between (second mode) and.
  • the automatic steering running is a running in which an automatic steering target line is generated and determined based on a set reference direction, and the aircraft 10 is automatically steered along the determined automatic steering target line. Prior to automatic steering, the reference direction is set.
  • a point registration button When setting the reference direction (reference direction acquisition routine described later), a button marked “A point registration” (hereinafter referred to as “A point registration button”) is displayed on the screen of the display input device 4.
  • a point registration button When the point A registration button is touch-operated by the operator, a predetermined signal is sent to the reference direction calculation unit 27.
  • the reference azimuth calculation unit 27 receives the signal, and based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21, the combine at the time when the point A registration button is touch-operated. Calculate the position coordinates of 1.
  • the position coordinates are referred to as "point A coordinates”
  • the position corresponding to the point A coordinates is simply referred to as "point A”.
  • the position coordinates (point A coordinates) calculated at this time are stored in the direction-related information storage unit 52 as the direction-related information.
  • point B registration button When the combine 1 is manually steered and moved and is separated from the point A by a predetermined distance, the button marked “Point B registration” on the screen of the display input device 4 (hereinafter referred to as "point B registration button”) is point B.
  • a predetermined signal is sent to the reference direction calculation unit 27.
  • the reference azimuth calculation unit 27 receives the signal, and based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21, the combine at the time when the point B registration button is touch-operated. Calculate the position coordinates of 1.
  • the position coordinates are referred to as "point B coordinates"
  • the position corresponding to the point B coordinates is simply referred to as "point B”.
  • the position coordinates (point B coordinates) calculated at this time are stored in the direction-related information storage unit 52 as the direction-related information.
  • the reference direction calculation unit 27 determines the reference direction for automatic steering based on the A point coordinates and the B point coordinates. More specifically, the reference direction calculation unit 27 calculates the direction of the straight line from the point A to the point B, and determines this direction as the reference direction. The reference direction calculation unit 27 stores the determined reference direction as the direction-related information in the direction-related information storage unit 52.
  • the format of the reference direction is not particularly limited, but may be, for example, a format based on north, south, east, or west (for example, "north" or "27 degrees east of north"), or a unit vector in the coordinate system. Is also good.
  • the reference direction does not have to have a direction from one to the other.
  • the reference direction may indicate the slope of a straight line in the coordinate system (for example, the slope of a straight line passing through points A and B), or the straight line itself in the coordinate system (for example, points A and B). It may indicate the straight line itself passing through the above, or it may indicate the direction based on the north, south, east, and west (for example, "north-south direction", "east-west direction”, etc.).
  • the travel path calculation unit 29 passes through the cutting width center of the cutting unit H and constantly calculates the travel line in the direction along the reference direction. That is, this traveling line is calculated based on the reference direction.
  • the automatic steering button becomes operable.
  • a predetermined signal is sent to the automatic steering control unit 28.
  • the automatic steering control unit 28 fixes the travel line calculated at that time in response to receiving the signal.
  • the fixed travel line becomes an automatic steering target line and is sent from the automatic steering control unit 28 to the travel control unit 24.
  • the travel control unit 24 has the position coordinates of the combine 1 received from the vehicle position calculation unit 21, the attitude direction of the combine 1 received from the vehicle orientation calculation unit 25, and the automatic steering target line received from the automatic steering control unit 28. And, based on, the running of the combine 1 is controlled. More specifically, the travel control unit 24 controls the travel of the machine body 10 so that the cutting travel is performed by the automatic steering travel along the automatic steering target line.
  • the travel control unit 24 may be configured to control the travel of the aircraft 10 based on the reference direction instead of the automatic steering target line. In this case, the travel control unit 24 may be configured to control the travel of the aircraft 10 so that the posture orientation of the combine 1 matches the reference orientation or is parallel to the reference orientation.
  • control unit CS acquires the value of the automatic steering flag stored in the state flag storage unit 51 (S102).
  • the control unit CS displays the character string "Do you want to continue the interrupted automatic steering?", The Yes button, and the No button on the screen of the display input device 4. Display (S103).
  • control unit CS changes the value of the automatic steering flag to OFF and stores it in the state flag storage unit 51 (S104).
  • the control unit CS monitors the operation input to the display input device 4 (S105).
  • the Yes button is touched, that is, when the operation input for continuing the automatic steering is performed (S105: Yes)
  • the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S106).
  • the automatic steering control unit 28 reads the reference direction used in the previous automatic steering run from the direction-related information storage unit 52 and sets it as the reference direction to be used in the next automatic steering run (S107). Then, the control unit CS starts S408 of the automatic steering start routine (FIG. 6).
  • the control unit CS acquires the value of the B point waiting flag stored in the state flag storage unit 51 (S108).
  • the control unit CS displays the character string "Do you want to continue the suspended B point registration?", Yes button, on the screen of the display input device 4. And the No button are displayed (S109).
  • control unit CS changes the value of the B point waiting flag to OFF and stores it in the state flag storage unit 51 (S110).
  • the control unit CS monitors the operation input to the display input device 4 (S111).
  • the Yes button is touched, that is, when the operation input for continuing the B point registration is performed (S111: Yes)
  • the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S112). ..
  • the automatic steering control unit 28 reads out the point A coordinates registered in the interrupted reference direction acquisition routine from the direction-related information storage unit 52 (S113). Then, the control unit CS starts S304 of the reference direction acquisition routine (FIG. 5).
  • the control unit CS waits for an operation input for switching to the automatic steering mode (S201: No). For example, the control unit CS displays a button (hereinafter referred to as “straight-ahead keep button”) on which the characters “straight-ahead keep” are drawn on the screen of the display input device 4, and waits for a touch operation to the button.
  • the straight-ahead keep button is touched, that is, when the operation input for switching to the automatic steering mode is performed (S201: Yes)
  • the mode switching unit 26 switches the traveling control unit 24 from the non-automatic steering mode to the automatic steering mode (S201: Yes). S202).
  • the automatic steering control unit 28 refers to the direction-related information stored in the direction-related information storage unit 52, and refers to the direction-related information (reference direction, A point coordinates, B) used in the automatic steering running in the previous automatic steering mode. It is determined whether or not there is (point coordinates) (whether or not it is stored in the direction-related information storage unit 52) (S203).
  • the automatic steering control unit 28 When there is the previous direction-related information (S203: Yes), the automatic steering control unit 28 generates the direction-related information (when the A point coordinates and the B coordinates are acquired, and when the reference direction is generated using them). It is determined whether or not the same base station as is grounded in the field (S204).
  • the automatic steering control unit 28 displays a button marked “previous A / B" (hereinafter referred to as "previous AB button”) on the screen of the display input device 4. (S205).
  • the automatic steering control unit 28 displays a button marked with “previous reference” (hereinafter referred to as “previous reference button”) on the screen of the display input device 4 (hereinafter referred to as “previous reference button”). S206).
  • the automatic steering control unit 28 After the end of S205, after the end of S206, and when there is no previous direction-related information (S203: Yes), the automatic steering control unit 28 has a button (point A registration) written on the screen of the display input device 4. Hereinafter referred to as "point A registration button”) is displayed (S207).
  • the automatic steering control unit 28 monitors the operation input to the display input device 4 (S208: No, S209: No, S211: No).
  • the automatic steering control unit 28 reads the previous reference direction (reference direction-related information) from the direction-related information storage unit 52, and uses the reference for the next automatic steering run. It is set as the direction (S210).
  • the reference direction calculation unit 27 reads the previous A point coordinates and B point coordinates (reference direction related information) from the direction-related information storage unit 52, and reads the A.
  • the reference direction is calculated based on the point coordinates and the B point coordinates (S212).
  • the automatic steering control unit 28 sets the calculated reference direction as the reference direction to be used for the next automatic steering run.
  • control unit CS After the end of S210 and after the end of S212, the control unit CS starts the automatic steering start routine (FIG. 6).
  • the reference direction calculation unit 27 is the aircraft position of the combine 1 at the time when the point A registration button is touch-operated (S208 of the main routine) based on the time-dependent position coordinates of the combine 1 received from the own vehicle position calculation unit 21. Is calculated (S301).
  • the reference direction calculation unit 27 stores the position coordinates calculated in S301 as point A coordinates (direction-related information) in the direction-related information storage unit 52 (S302).
  • the reference direction calculation unit 27 changes the B point waiting flag to ON and stores it in the state flag storage unit 51 (S303).
  • the automatic steering control unit 28 displays the position of point A on the screen of the display input device 4 (S304), and displays the travel locus on the screen of the display input device 4 as the combine 1 travels (S305).
  • the reference direction calculation unit 27 determines whether or not the point B can be registered (S306).
  • the state in which the point B can be registered is a state in which the combine 1 is separated from the point A by a predetermined distance or more (for example, 5 m).
  • the conditions for the state in which B point registration is possible are not limited to this. For example, it may be a condition that the FIX solution is obtained in the RTK-GPS positioning by the satellite positioning module 80 and the own vehicle position calculation unit 21.
  • the automatic steering control unit 28 When the B point registration is possible (S306: Yes), the automatic steering control unit 28 has a button marked “B point registration" on the screen of the display input device 4 (hereinafter referred to as "B point registration button"). Is displayed (S307), and the touch of the point B registration button is awaited (S308: No).
  • the reference direction calculation unit 27 touches the B point registration button based on the temporal position coordinates of the combine 1 received from the own vehicle position calculation unit 21.
  • the position of the combine 1 at that time is calculated (S309).
  • the automatic steering control unit 28 displays the position of point A on the screen of the display input device 4 (S310).
  • the reference direction calculation unit 27 stores the position coordinates calculated in S309 as point B coordinates (direction-related information) in the direction-related information storage unit 52 (S311).
  • the reference direction calculation unit 27 changes the B point waiting flag to OFF and stores it in the state flag storage unit 51 (S312).
  • the reference direction calculation unit 27 calculates the reference direction based on the A point coordinates calculated in S301 and the B point coordinates calculated in S309 (S313).
  • the reference direction calculation unit 27 stores the reference direction calculated in S313 in the direction-related information storage unit 52 as the direction-related information (S314). Then, the control unit CS starts the automatic steering start routine.
  • the automatic steering control unit 28 acquires information indicating the operation position of the main shift lever 19 and determines whether or not the main shift lever 19 is located at the forward operation position (S401). If the main shift lever 19 is not located at the forward operating position (S401: Yes), step S401 is executed again.
  • the automatic steering control unit 28 acquires information indicating the state of the auxiliary transmission 11b, and the auxiliary transmission 11b shifts the gear for work. It is determined whether or not it is in a state (low speed state) (S402). If the auxiliary transmission 11b is not in the working shift state (low speed state) (S402: No), step S401 is executed again.
  • the automatic steering control unit 28 When the auxiliary transmission 11b is in a shift state (low speed state) for work (S402: Yes), the automatic steering control unit 28 provides information indicating whether or not a FIX solution is obtained from the own vehicle position calculation unit 21. It is acquired and it is determined whether or not the FIX solution is obtained (S403). If no FIX solution has been obtained (S403: No), step S401 is executed again.
  • the automatic steering control unit 28 acquires information indicating the operation position of the cutting and threshing lever 43, and determines whether or not the cutting clutch C2 is in the engaged state (S). S404). If the cutting clutch C2 is not in the engaged state (S404: No), step S401 is executed again.
  • the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H is located at the working position, and the cutting unit H is positioned at the working position. It is determined whether or not it is done (S405). If the cutting unit H is not located at the working position (S405: No), step S401 is executed again.
  • the combine 1 includes an elevating detection unit 54.
  • the elevating detection unit 54 detects the expansion / contraction state of the cutting cylinder 15A.
  • the detection result by the elevating detection unit 54 is sent to the control device CU.
  • the automatic steering control unit 28 is configured to be able to determine whether or not the cutting unit H is located at the working position based on the detection result of the elevating detection unit 54.
  • the amount of descent from the highest rising position of the cutting section H is equal to or more than a predetermined value, which corresponds to the position of the cutting section H at the working position.
  • the automatic steering control unit 28 changes the automatic steering button (not shown) to an operable state (S406).
  • the automatic steering button is, for example, a push button provided in the display input device 4.
  • the light emitting element built in the push button is made to emit light when it is in the operable state, and the light emitting element is extinguished when it is not in the operable state.
  • the automatic steering button is, for example, a button marked "automatic steering" displayed on the screen of the display input device 4. In this case, the characters written on the buttons are colored dark when the operation is possible, and light colors are used when the buttons are not operable.
  • S401-S405 when all of S401-S405 are Yes, S406 is executed and automatic steering running is started. In addition, one or more of S401-S405 may be omitted.
  • the automatic steering control unit 28 waits for the operation of the automatic steering button (S407: No).
  • the automatic steering control unit 28 determines the traveling line calculated by the traveling route calculation unit 29 at that time as the automatic steering target line (S408).
  • the travel control unit 24 starts automatic steering travel based on the automatic steering target line determined in S408 (S409).
  • the automatic steering control unit 28 changes the automatic steering flag to ON and stores it in the state flag storage unit 51 (S410).
  • the automatic steering control unit 28 stores the current reference direction as the direction-related information in the direction-related information storage unit 52 (S411). Then, the control unit CS starts the automatic steering end routine.
  • the automatic steering control unit 28 waits for the operation of the automatic steering button (S501).
  • the automatic steering control unit 28 acquires information indicating the operation position of the main shift lever 19, and the main shift lever 19 is located at the neutral position or the reverse operation position. It is determined whether or not it is present (S501).
  • the automatic steering control unit 28 acquires information indicating the state of the auxiliary transmission 11b, and the auxiliary transmission 11b travels. It is determined whether or not the gear shift state (high speed state) is set (S503).
  • the automatic steering control unit 28 acquires information indicating whether or not the FLOAT solution is obtained from the own vehicle position calculation unit 21. Then, it is determined whether or not the FLOAT solution is obtained (S504).
  • the automatic steering control unit 28 acquires information indicating the operating position of the cutting and threshing lever 43, and determines whether or not the cutting clutch C2 is in the disengaged state (S). S505).
  • the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H is located in the non-working position, and the cutting unit H is in the non-working position. It is determined whether or not it is located (S506).
  • the amount of descent from the highest rising position of the cutting section H is equal to or less than a predetermined value, which corresponds to the position of the cutting section H in the non-working position.
  • the automatic steering control unit 28 acquires information indicating whether or not the cutting unit H has been raised, and the cutting unit H is raised. It is determined whether or not it is (S507).
  • the automatic steering control unit 28 acquires information indicating the operating state of the engine EG and determines whether or not the engine EG is stopped (S508). .. If the engine EG is not stopped, step S501 is executed again.
  • the travel control unit 24 ends the automatic steering run, and the mode switching unit 26 switches the mode of the travel control unit 24 from the automatic steering mode to the non-automatic steering mode (S509). ).
  • the control unit CS continuously monitors the operation of the combine 1 activation key (not shown) (S510: No).
  • the automatic steering control unit 28 changes the automatic steering flag to OFF and stores it in the state flag storage unit 51 (S512).
  • the travel control unit 24 ends the automatic steering run, and the mode switching unit 26 changes the mode of the travel control unit 24 from the automatic steering mode to the non-automatic steering mode. Switch to (S513).
  • the control unit CS monitors the operation of the combine 1 activation key (not shown) (S514).
  • the mode switching unit 26 switches the control mode of the traveling control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode) (S509, S513), and further non-automatic steering mode.
  • the traveling control unit 24 stores the direction-related information in the direction-related information storage unit 52 (storage unit).
  • the control device CU is configured so that the automatic steering run can be executed using the reference direction based on the information (S409).
  • the mode switching unit 26 changes the control mode of the travel control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (second mode). ) (S509, S513), the mode switching unit 26 waits for the human operation from the display input device 4 (input device) (S105), and displays the human operation to continue the automatic steering running. Upon receiving from the input device 4 (input device), the mode switching unit 26 switches the control mode of the traveling control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S106). ), The control device CU so that the travel control unit 24 executes automatic steering travel (S107) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit). Is configured.
  • the mode switching unit 26 non-automatically steers the control mode of the traveling control unit 24. While keeping the mode (second mode), the mode switching unit 26 waits for the human operation from the input device (S201), and displays the human operation to perform the automatic steering running again from the input device 4 (input device). In response to the acceptance (S201: Yes), the mode switching unit 26 switches the control mode of the traveling control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode) (S202).
  • the travel control unit 24 is in a state where automatic steering travel can be executed (S210, S212) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit) (S409).
  • the control device CU is configured.
  • the mode switching unit 26 changes the control mode of the travel control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (first mode).
  • the mode switching unit 26 waits for an artificial operation from the display input device 4 (input device) (S201), and displays an artificial operation to perform automatic steering running again.
  • the mode switching unit 26 changes the control mode of the travel control unit 24 from the non-automatic steering mode (second mode) to the automatic steering mode (first mode).
  • the travel control unit 24 can execute automatic steering travel (S210, S212) using the reference orientation based on the orientation-related information stored in the orientation-related information storage unit 52 (storage unit).
  • the control device CU is configured.
  • the mode switching unit 26 changes the control mode of the traveling control unit 24 from the automatic steering mode (first mode) to the non-automatic steering mode (S502-508: Yes) when the predetermined switching condition is satisfied. It is configured to switch to the second mode) (S509).
  • the switching condition includes that the engine EG has stopped (S508). Further, the switching condition includes that the cutting unit H (working device) provided in the machine body 10 has stopped (S505).
  • the method described below is executed. It ’s a way to control a farming machine.
  • the control mode of the travel control unit 24 is switched to the non-automatic steering mode (second mode) in which the automatic steering travel is not performed, and the third step (S509, S513).
  • the control mode of the travel control unit 24 is switched to the automatic steering mode (first mode) in the fourth step (S106, S112, S202).
  • the program described below is recorded in the memory (recording medium) of the control device CU and executed.
  • a program for controlling agricultural work machines The first function (mode switching unit 26) that sets the control mode of the travel control unit 24 that controls the travel of the agricultural work machine to the automatic steering mode (first mode) that can execute the automatic steering travel using the reference direction, and The second function (reference direction calculation unit 27) for storing the direction-related information, which is the information related to the reference direction, in the direction-related information storage unit 52 (storage unit), and After the execution of the first function, the control mode of the travel control unit 24 is switched to the non-automatic steering mode (second mode) in which the automatic steering operation is not performed, and the third function (mode switching unit 26).
  • the fourth function (mode switching unit 26) that switches the control mode of the traveling control unit 24 to the automatic steering mode (first mode)
  • the fifth function travel control unit 24
  • the fifth function that executes automatic steering running using the reference azimuth based on the azimuth-related information stored in the azimuth-related information storage unit 52 (storage unit).
  • the traveling device 11 may be a wheel type or a semi-crawler type.
  • a part or all of the flag storage unit 51 and the direction-related information storage unit 52 may be provided outside the combine 1.
  • these may be provided in a computer, a management server, a cloud server, or the like of a field management facility.
  • a system that realizes automatic steering running may be constructed by the computer, management server, cloud server, etc. of these management facilities and the combine 1.
  • the combine 1 may be configured to enable automatic traveling in addition to automatic steering traveling.
  • Autonomous driving means that in addition to forward driving, reverse driving and stopping are automatically performed.
  • automatic driving means that forward driving and reverse driving accompanied by a large change of direction such as ⁇ -turn and U-turn are automatically performed.
  • the direction-related information stored in the storage unit 52 may be one or a plurality of the reference direction, the A point coordinate, and the set of the A point coordinate and the B point coordinate. May be good.
  • a plurality of reference directions may be stored in the orientation-related information storage unit 52, a plurality of A-point coordinates may be stored, or a set of a plurality of A-point coordinates and B-point coordinates may be stored. ..
  • the device that accepts human operations from the operator may be a button or the like displayed on the screen of the display input device 4, or may be a physically operable button, a switch, a lever, or the like. However, it may be a voice input device.
  • the conditions for ending the automatic steering are the operation of the automatic steering button (S501), the operation of the main shift lever 19 (S502), the state of the auxiliary transmission 11b (S503), and the state of satellite positioning. (S504), the state of the cutting clutch C2 (S505), the position of the cutting portion H (S506), the presence / absence of operation (S507), and the stop of the engine EG (S508) were exemplified.
  • the conditions for terminating the automatic steering are not limited to these.
  • the automatic steering may be terminated in response to the stop of the threshing device 13 (an example of the working device).
  • the present invention can be used not only for ordinary combine harvesters but also for various agricultural work machines such as self-removing combine harvesters, tractors, rice transplanters, corn harvesters, potato harvesters, and carrot harvesters.
  • Aircraft 11 Traveling device 24: Traveling control unit 26: Mode switching unit EG: Engine

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

Une machine agricole selon la présente invention comprend : une unité de commande de déplacement qui commande le déplacement d'un corps de véhicule avec un dispositif de déplacement ; une unité de commutation de mode qui commute un mode de commande de l'unité de commande de déplacement entre un premier mode dans lequel un déplacement de direction automatique peut être effectué en utilisant un azimut de référence et un second mode dans lequel le déplacement de direction automatique n'est pas effectué ; et une unité de stockage qui stocke des informations relatives à l'azimut qui sont des informations relatives à l'azimut de référence lorsque le mode de commande de l'unité de commande de déplacement est le premier mode. Lorsque l'unité de commutation de mode a commuté le mode de commande de l'unité de commande de déplacement du premier mode au second mode, puis du second mode au premier mode (S106), l'unité de commande de déplacement peut utiliser l'azimut de référence sur la base des informations relatives à l'azimut stockées dans l'unité de stockage (S107) pour effectuer le déplacement de direction automatique.
PCT/JP2021/036154 2020-10-02 2021-09-30 Machine agricole, système, procédé, programme et support d'enregistrement WO2022071493A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202180067689.8A CN116249441A (zh) 2020-10-02 2021-09-30 农作业机、系统、方法、程序以及记录介质
KR1020237010160A KR20230079056A (ko) 2020-10-02 2021-09-30 농작업기, 시스템, 방법, 프로그램 및 기록 매체

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020167989A JP2022060021A (ja) 2020-10-02 2020-10-02 農作業機
JP2020-167989 2020-10-02

Publications (1)

Publication Number Publication Date
WO2022071493A1 true WO2022071493A1 (fr) 2022-04-07

Family

ID=80950504

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/036154 WO2022071493A1 (fr) 2020-10-02 2021-09-30 Machine agricole, système, procédé, programme et support d'enregistrement

Country Status (4)

Country Link
JP (1) JP2022060021A (fr)
KR (1) KR20230079056A (fr)
CN (1) CN116249441A (fr)
WO (1) WO2022071493A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017136015A (ja) * 2016-02-03 2017-08-10 株式会社クボタ 作業車
JP2018045710A (ja) * 2014-02-06 2018-03-22 ヤンマー株式会社 併走作業システム
JP2018117563A (ja) * 2017-01-24 2018-08-02 株式会社クボタ 農作業車
JP2019097534A (ja) * 2017-12-07 2019-06-24 株式会社クボタ 収穫機
JP2020147205A (ja) * 2019-03-14 2020-09-17 ヤンマーパワーテクノロジー株式会社 自動走行システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018045710A (ja) * 2014-02-06 2018-03-22 ヤンマー株式会社 併走作業システム
JP2017136015A (ja) * 2016-02-03 2017-08-10 株式会社クボタ 作業車
JP2018117563A (ja) * 2017-01-24 2018-08-02 株式会社クボタ 農作業車
JP2019097534A (ja) * 2017-12-07 2019-06-24 株式会社クボタ 収穫機
JP2020147205A (ja) * 2019-03-14 2020-09-17 ヤンマーパワーテクノロジー株式会社 自動走行システム

Also Published As

Publication number Publication date
CN116249441A (zh) 2023-06-09
KR20230079056A (ko) 2023-06-05
JP2022060021A (ja) 2022-04-14

Similar Documents

Publication Publication Date Title
EP3970462A1 (fr) Système de déplacement autonome
JP2019110762A (ja) 作業車及び作業車のための走行経路選択システム
WO2022071493A1 (fr) Machine agricole, système, procédé, programme et support d'enregistrement
WO2022071382A1 (fr) Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré, et procédé de commande de machine de travail agricole
JP7420759B2 (ja) 走行制御システム
WO2022004698A1 (fr) Machine de travail agricole, programme de commande de machine de travail agricole, support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré, et procédé de commande de machine de travail agricole
WO2022004474A1 (fr) Moissonneuse, procédé de déplacement automatique de moissonneuse, programme, support d'enregistrement, système, machine agricole, procédé de déplacement automatique de machine agricole, procédé et système de gestion de pilotage automatique
JP7085977B2 (ja) 圃場作業機及び搭載物管理システム
JP7499717B2 (ja) 走行制御システム
JP7458918B2 (ja) 農作業機
WO2023127684A1 (fr) Véhicule de chantier
WO2022071375A1 (fr) Machine de travail agricole, programme de commande de machine de travail agricole et support d'enregistrement sur lequel le programme de commande de machine de travail agricole est enregistré
WO2023127640A1 (fr) Engin de chantier et système de commande pour engin de chantier
JP7433186B2 (ja) 農作業機
JP7332502B2 (ja) 経路作成管理システム
WO2023127650A1 (fr) Véhicule de travail et système de commande de véhicule de travail
JP2022191070A (ja) 農作業機
JP7334281B2 (ja) 収穫機
JP2023098042A (ja) 作業車
WO2023127651A1 (fr) Engin de chantier et système de commande pour engin de chantier
US20230311655A1 (en) Control Device And Work Vehicle
JP7387572B2 (ja) 農作業機
JP2022011846A (ja) 収穫機及び収穫機の自動走行方法
JP7387544B2 (ja) 農作業車のための自動操舵管理システム
JP2022011847A (ja) 農作業機及び農作業機の自動走行方法

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: 21875789

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21875789

Country of ref document: EP

Kind code of ref document: A1