WO2023127268A1 - 農作業支援システム、農業機械 - Google Patents
農作業支援システム、農業機械 Download PDFInfo
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- WO2023127268A1 WO2023127268A1 PCT/JP2022/040138 JP2022040138W WO2023127268A1 WO 2023127268 A1 WO2023127268 A1 WO 2023127268A1 JP 2022040138 W JP2022040138 W JP 2022040138W WO 2023127268 A1 WO2023127268 A1 WO 2023127268A1
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- agricultural machine
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- 238000001514 detection method Methods 0.000 claims abstract description 128
- 230000008878 coupling Effects 0.000 claims abstract description 39
- 238000010168 coupling process Methods 0.000 claims abstract description 39
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- 230000004044 response Effects 0.000 claims abstract description 12
- 238000004891 communication Methods 0.000 claims description 84
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- 230000007704 transition Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 239000002689 soil Substances 0.000 description 7
- 230000003028 elevating effect Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
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- 238000012790 confirmation Methods 0.000 description 2
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- 238000005507 spraying Methods 0.000 description 2
- 238000003971 tillage Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 235000009566 rice Nutrition 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
Definitions
- the present invention relates to an agricultural machine that performs agricultural work while traveling in a field, and an agricultural work support system that supports the agricultural work by the agricultural machine.
- the remote control device has a display device and a working height adjuster that allows manual adjustment of the working height in the automatic travel mode of the agricultural machine.
- the display device displays the working height set by the working height setter, the working height after adjustment by the working height adjuster, and the height position of the working device detected by the height detector. It has a height display.
- both the operating unit provided on the agricultural machine and the operating unit provided separately from the agricultural machine can operate the working device connected to the agricultural machine, for example,
- the operating state of the operating unit of the agricultural machine does not correspond to the operating state of the operating unit of the remote control device, or does not correspond to the actual operating state of the working device, and the user operates one of the operating units.
- Work equipment does not work in the street and may cause confusion.
- the technical means of the present invention for solving the above technical problems are characterized by the following points.
- An agricultural machine includes a traveling vehicle body, a coupling device that couples a working device to the traveling vehicle body, and a working device that travels in a field while automatically traveling or steering the traveling vehicle body.
- a control device for performing agricultural work a first operation unit operated to operate the work device, and a first detection unit for detecting whether the user is on or off the traveling vehicle body.
- the agricultural machine comprising and invalidating the operation of the second operation unit for operating the working device outside the agricultural machine, and when the first detection unit detects the non-boarding state, the operation of the second operation unit is disabled.
- the work device can be operated according to the operation, and the operation of the first operation section is disabled.
- the agricultural work support system includes a communication device that is provided in the agricultural machine and wirelessly communicates with a terminal device, the second operation unit is provided in the terminal device, and the coupling device adjusts the posture of the work device.
- the terminal device transmits an operation signal according to the operation of the second operation unit
- the control device transmits the operation signal is received by the communication device
- the posture of the work device is changed by the coupling device based on the operation signal
- the first detection unit detects the boarding state
- the terminal device Even if the second operation unit is operated, an operation signal corresponding to the operation may not be transmitted, or the control device may be configured not to receive the operation signal.
- the agricultural work support system includes a communication device that is provided in the agricultural machine and wirelessly communicates with a terminal device, the second operation unit is provided in the terminal device, and the first detection unit detects the When the transition to the boarding state is detected, the control device transmits an invalidation notification indicating that the operation of the second operation unit is invalidated by the communication device, and the terminal device transmits the invalidation notification. Upon reception, the operation of the second operation unit may be disabled.
- the agricultural work support system includes a second detection unit that detects an actual posture of the work device, and when the first detection unit detects the non-riding state, the terminal device performs the second operation.
- a part is operated, an input value of the attitude of the working device corresponding to the operation is calculated, and an operation signal including the input value is transmitted, and the control device receives the operation signal through the communication device. Then, the attitude of the working device may be changed so that the input value included in the operation signal and the actual attitude of the working device detected by the second detection unit correspond to each other.
- the agricultural work support system includes a second detection section that detects an actual posture of the work device, and a third detection section that detects an operation position of the first operation section.
- the control device adjusts the posture of the working device according to the operation position of the first operation unit detected by the third detection unit. may be calculated to change the posture of the work device so that the set value corresponds to the actual posture of the work device detected by the second detection unit.
- the terminal device calculates an input value of the posture of the work device according to the operation. Then, the input value is stored in the storage unit, and when the first detection unit detects a transition from the boarding state to the non-boarding state, the control device detects the third vehicle detected by the third detection unit. 1 calculating a set value of the attitude of the working device according to the operating position of the operation unit, transmitting the set value through the communication device, and receiving the set value of the attitude of the working device, The input value of the attitude of the working device stored in the storage unit may be changed so as to correspond to the set value.
- the control device controls the work device according to the operation position of the first operation unit detected by the third detection unit. is calculated, and if the set value does not correspond to the actual attitude of the working device detected by the second detection unit, automatic operation of the agricultural machine is not executed. You may
- the control device transmits the actual posture of the work device detected by the second detection unit through the communication device, and the terminal device receives the actual posture of the work device and compares the actual posture with the actual posture.
- a display unit may be provided for displaying an input value of the attitude of the working device according to the operation of the second operation unit.
- the coupling device lifts and lowers the work device to vary the height of the work device as a posture of the work device.
- the second operation unit is configured by an operation member that is operated by a user who gets in the vehicle and holds an operation position corresponding to the operation. may be configured from an operation key operated to change the
- the agricultural machine includes a communication device that wirelessly communicates with the terminal device, and a second detection unit that detects an actual attitude of the working device, the coupling device varies the attitude of the working device,
- the control device receives an operation signal transmitted from the terminal device in response to the operation of the second operation unit by the communication device while the first detection unit detects the non-boarding state
- the input value of the attitude of the working device according to the operation of the second operation unit included in the operation signal corresponds to the actual attitude of the working device detected by the second detection unit.
- a posture of the working device may be changed by a connecting device.
- the agricultural machine includes a third detection section that detects an operation position of the first operation section, and a warning section that outputs a warning, wherein the first detection section transitions from the non-riding state to the riding state. is detected, the control device calculates a set value of the posture of the working device according to the operation position of the first operation unit detected by the third detection unit, and calculates the set value and the second If the actual posture of the working device detected by the detection unit does not correspond, the warning unit outputs a warning, and the connecting device is configured so that the set value and the actual elevation height correspond to each other.
- the posture of the work device may be changed by
- FIG. 7B is a flowchart showing a continuation of FIG. 7A
- 4 is a flow chart showing an example of the operation of a terminal device
- FIG. 8B is a flowchart showing a continuation of FIG. 8A
- FIG. 8C is a flowchart showing a continuation of FIG. 8B
- FIG. 4 is a time chart showing an example of changes in the state of automatic operation, boarding, and raising/lowering of a working device of an agricultural machine
- It is a figure which shows an example of the raising/lowering height of the tiller connected with the agricultural machine.
- 1 is a side view of an agricultural machine
- FIG. 1 is a side view of an agricultural machine
- FIG. 11 is a side view of an example of the agricultural machine 1.
- the agricultural machine 1 consists of a tractor.
- the agricultural machine 1 is not limited to a tractor, and may be configured by, for example, a rice transplanter, a combine harvester, or other agricultural machine, or a work vehicle other than a tractor that performs farm work.
- the agricultural machine 1 includes a traveling vehicle body 3 , a prime mover 4 , a transmission 5 and a traveling device 7 .
- the front wheels 7F of the traveling device 7 may be of a tire type or a crawler type.
- the rear wheels 7R of the traveling device 7 may be of the tire type or of the crawler type.
- the prime mover 4 is composed of a diesel engine, an electric motor, or the like. In this embodiment, the prime mover 4 is composed of a diesel engine.
- the transmission device 5 can switch the driving force of the traveling device 7 by shifting gears, and can switch the traveling device 7 between forward and reverse.
- the driving force of the prime mover 4 is transmitted to the traveling device 7 by the transmission device 5, and the traveling device 7 is driven, so that the traveling vehicle body 3 travels back and forth.
- the left side is the front side of the traveling vehicle body 3 and the right side is the rear side of the traveling vehicle body 3 .
- the far side is the right side of the traveling vehicle body 3
- the near side is the left side of the traveling vehicle body 3.
- a cabin 9 is provided in the traveling vehicle body 3 .
- a driver's seat 10 is provided inside the cabin 9 .
- a coupling device 8 configured by a three-point link mechanism or the like is provided at the rear portion of the traveling vehicle body 3 .
- the connecting device 8 connects the traveling vehicle body 3 of the agricultural machine 1 with the work device 2 for performing farm work. Specifically, by connecting the working device 2 to the connecting portions 8g and 8h provided in the connecting device 8, the working device 2 and the traveling vehicle body 3 are connected, and the working device 2 can be towed by the agricultural machine 1. Become.
- the work device 2 performs ground work on the field.
- the work device 2 includes, for example, a cultivating device (rotary cultivator) for tilling a field, a rough tilling device (stubble cultivator) for rough plowing, a puddling device (drive harrow) for puddling, It includes a spraying device that sprays fertilizer or agricultural chemicals, a seeding device that sows seeds, a transplanting device that transplants seedlings, and a harvesting device that harvests.
- FIG. 1 is a configuration diagram of an agricultural work support system 100.
- the agricultural work support system 100 includes an agricultural machine 1, a work device 2, and a portable terminal device 50 (hereinafter simply referred to as "portable terminal 50").
- the farm work support system 100 and the mobile terminal 50 support farm work using the work device 2 while the agricultural machine 1 is running in the field.
- the control device 60 is composed of an electric circuit including a CPU (or microcomputer) and memory.
- the memory of controller 60 includes volatile memory and non-volatile memory.
- the control device 60 controls operations of each part of the agricultural machine 1 .
- the operation device 62 includes switches, levers, pedals, and other keys that can be operated by a user (operator) such as a driver sitting in the driver's seat 10 or a worker near the agricultural machine 1 .
- the operating device 62 includes a mode switch 62a and a lifting operation lever 62b.
- the mode switch 62a is an operating member for switching modes of the agricultural machine 1 .
- the elevation operation lever 62b is an operation member operated by the user in order to change the elevation height as the posture of the work device 2, and holds an operation position according to the operation.
- the elevation operation lever 62b is an example of the first operation section of the present invention.
- Modes of the agricultural machine 1 that can be selected by the mode switch 62a include an automatic traveling operation mode and an automatic steering operation mode.
- the automatic traveling work mode is a mode in which agricultural work (ground work) is performed by the work device 2 while the traveling vehicle body 3 of the agricultural machine 1 is automatically driven.
- Automatic operation of the agricultural machine 1 means automatically changing the traveling speed of the traveling vehicle body 3 and automatically steering the traveling vehicle body 3 .
- the automatic steering work mode is a mode in which farm work (ground work) is performed by the work device 2 while the traveling vehicle body 3 is automatically steered.
- the driver of the agricultural machine 1 operates an accelerator member or a brake member included in the operation device 62, and the traveling speed of the traveling vehicle body 3 changes according to the operation. be done. That is, in the automatic steering work mode, the running speed of the running vehicle body 3 is changed based on the manual operation.
- the prime mover 4 (engine) is driven, stopped, and controlled by the control device 60 in terms of rotation speed.
- the transmission 5 is connected to the control valve 37 .
- the control valve 37 is an electromagnetic valve that operates based on a control signal sent from the control device 60 . Hydraulic oil discharged from the hydraulic pump 33 is supplied to the control valve 37 . Although the control valves 37 are shown as one block in FIG.
- the braking device 6 is connected to the control valve 38.
- the control valve 38 is an electromagnetic valve that operates based on control signals sent from the control device 60 . Hydraulic oil discharged from the hydraulic pump 33 is supplied to the control valve 38 .
- the control device 60 operates the braking device 6 to brake the traveling vehicle body 3 by electrically controlling the switching position and opening of the control valve 38 .
- the control device 60 electrically controls the switching position (opening degree) of the control valve 37 to control the driving of the transmission 5 .
- the transmission device 5 transmits the driving force of the prime mover 4 to the traveling device 7, whereby the traveling device 7 is operated to cause the traveling vehicle body 3 to travel forward and backward. Further, for example, when the work device 2 performs ground work, the transmission 5 transmits the driving force of the motor 4 to the work device 2 . As a result, the operating force of the working device 2 is increased.
- the control device 60 communicates with the work device 2 via the in-vehicle network N1.
- the work device 2 includes a control unit and a communication unit (not shown).
- the control device 60 transmits a work command to the work device 2 via the in-vehicle network N1.
- the control unit of the work device 2 controls the operation of each part of the work device 2 based on the work command to perform farm work (ground work).
- the control unit of the working device 2 transmits information or data indicating the working state or the like to the control device 60 via the in-vehicle network N1 using the communication unit.
- the control device 60 detects the working state of the work device 2 based on information or data received from the work device 2 via the in-vehicle network N1.
- control device 60 does not communicate with the working device 2 via the in-vehicle network N1.
- the operation of the working device 2 is controlled and the working state of the working device 2 is detected.
- the auxiliary mechanism 32 includes a control valve 34 and a steering cylinder 35.
- Control valve 34 is an electromagnetic valve that operates based on a control signal sent from control device 60 .
- the control valve 34 is composed of a three-position switching valve that can be switched by movement of a spool or the like. Hydraulic oil discharged from the hydraulic pump 33 is supplied to the control valve 34 .
- the control device 60 electrically controls the switching position and the opening degree of the control valve 34 to adjust the hydraulic pressure supplied to the steering cylinder 35 to extend and retract the steering cylinder 35 .
- the steering cylinder 35 is connected to a knuckle arm 39 that turns the front wheels 7F.
- the traveling vehicle body 3 of the agricultural machine 1 can be manually steered by manually operating the steering wheel 30 and automatically steered by the control device 60 . Further, the traveling vehicle body 3 can travel and stop by operating the transmission device 5 or the braking device 6 in response to manual operation of an accelerator member or a brake pedal (both not shown) provided in the operating device 62 . Furthermore, the traveling vehicle body 3 can automatically travel and stop according to the control of the transmission device 5 and the braking device 6 by the control device 60 .
- FIG. 2 is a perspective view of the coupling device 8.
- the coupling device 8 has a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d and a lift cylinder 8e.
- a front end portion of the lift arm 8a is supported by a rear upper portion of a case (transmission case) that houses the transmission 5 so as to be capable of swinging upward or downward.
- the lift arm 8a swings (moves up and down) by being driven by a lift cylinder 8e.
- the lift cylinder 8e is composed of a hydraulic cylinder.
- the lift cylinder 8e is connected with the control valve 36 (Fig. 1).
- the control valve 36 is an electromagnetic valve that operates based on control signals sent from the control device 60 . Hydraulic oil discharged from the hydraulic pump 33 is supplied to the control valve 36 .
- the front end portion of the lower link 8b shown in FIG. 2 is supported by the lower rear portion of the transmission 5 (FIGS. 1 and 11) so as to be able to swing upward or downward.
- a front end portion of the top link 8c is supported by the rear portion of the transmission 5 above the lower link 8b so as to be able to swing upward or downward.
- the lift rod 8d connects the lift arm 8a and the lower link 8b.
- Connecting portions 8g and 8h to which the working device 2 can be connected are provided at rear end portions of the lower link 8b and the top link 8c.
- the control device 60 lowers the tiller 2A by the connecting device 8, as shown in FIG. 10B. , the tilling blade 2g of the tilling device 2A is brought into contact with the soil K2 of the field and positioned at the working position P1 where the tilling work can be performed. Further, the control device 60 further lowers the tilling device 2A by the connecting device 8, or causes the tilling device 2A to deeply penetrate the tilling tines 2g into the soil K2, thereby deepening the tilling depth of the field.
- control device 60 raises the tilling device 2A or the tilling tines 2g by the connecting device 8 or the tilling device 2A to make the tilling depth of the field shallower. Further, when the tilling device 2A is transported, the control device 60 raises the tilling device 2A by the coupling device 8 to separate the tilling tines 2g from the soil K2 of the field as shown in FIG. It is positioned at the non-working position P2 where it cannot be performed. That is, the control device 60 changes the elevation height of the working device 2 by the connecting device 8 or the working device 2 .
- the control device 60 changes the elevation height of the working device 2 by the coupling device 8 or the working device 2 according to the details of the farm work to be performed. That is, the working device 2 whose elevation height is changed by the connecting device 8 is not limited to the tilling device 2A, and includes various working devices such as a puddling device, a rough plowing device, and a spraying device. .
- the coupling device 8 is provided with an angle changing portion 8T.
- the angle changer 8T changes the attitude of the working device 2 attached to the traveling vehicle body 3 .
- the angle changer 8T has a change cylinder 8s configured by a hydraulic cylinder and a control valve 36b.
- the change cylinder 8s is connected to the hydraulic pump via a control valve 36b.
- the control valve 36b is an electromagnetic valve or the like, and expands and contracts the change cylinder 8s.
- the change cylinder 8s connects the lift arm 8a on the right side of the traveling vehicle body 3 and the lower link 8b.
- the control device 60 (FIG. 1) electrically controls the switching position or opening degree of the control valve 36b to adjust the hydraulic pressure supplied to the change cylinder 8s to expand and contract the change cylinder 8s, thereby adjusting the left and right lower links.
- the angle in the width direction of working device 2 (the angle of the straight line connecting lower links 8b, 8b with respect to the horizontal plane) is changed. That is, the control device 60 varies the angle in the width direction (horizontal direction) of the working device 2 (the angle of the straight line connecting the lower links 8b, 8b with respect to the horizontal plane, the so-called Monroe angle) by the angle changing portion 8T.
- the control device 60 changes the angle in the width direction of the working device 2 to be horizontal, parallel to the ground, or at a predetermined inclination by the angle changing section 8T.
- the control device 60 controls the prime mover 4 , the transmission device 5 , the braking device 6 , the travel device 7 , the steering device 29 , and the coupling device 8 to automatically travel or steer the agricultural machine 1 , while the working device 2 Agricultural work is performed on the field. Specifically, the control device 60 executes automatic operation in which the farm work is performed by the work device 2 while automatically running the agricultural machine 1 . In addition, the control device 60 automatically steers the agricultural machine 1 while entrusting the change of the running speed of the agricultural machine 1 to a manual operation, so that the working device 2 performs the agricultural work on the field (auto steering). to run.
- the positioning device 40 shown in FIG. 1 has a receiving device (not shown) and an inertial measurement unit (IMU: Inertial Measurement Unit).
- the receiving device receives satellite signals (position of positioning satellite, transmission time, correction information, etc.) transmitted from satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki.
- the positioning device 40 detects the current position (for example, latitude and longitude) based on the satellite signals received by the receiving device. That is, the positioning device 40 is a position detector that detects the position of the traveling vehicle body 3 of the agricultural machine 1 .
- the inertial measurement device has an acceleration sensor, a gyro sensor, and the like.
- the detection device 64 includes a seat switch 64a, a lifting height detector 64b, and a lifting operation detector 64c.
- the seat switch 64a is built in the seating portion of the seat of the driver's seat 10. As shown in FIG. When a user (such as a driver) is seated on the seat of the driver's seat 10, the seat switch 64a is turned on, and an ON signal is output from the seat switch 64a to the controller 60. FIG. When the user is not seated on the seat of the driver's seat 10, the seat switch 64a is turned off, and an OFF signal is output from the seat switch 64a to the controller 60. FIG. When the ON signal is input from the sheet switch 64a, the control device 60 determines that the user is riding the agricultural machine 1 (riding state). Further, when an OFF signal is input from the sheet switch 64a, the control device 60 determines that the user is not riding the agricultural machine 1 (non-boarding state).
- the sheet switch 64a is an example of the first detection section of the present invention.
- the first detection section of the present invention is not limited to the sheet switch 64a.
- the control device 60 may detect whether the user is in the agricultural machine 1 or not, from images taken by a camera capturing the interior of the cabin 9 .
- another sensor such as an optical sensor, an infrared sensor, a biosensor (such as a pulse sensor), or a piezoelectric element is provided in the cabin 9, and based on the output signal from the sensor, the control device 60 transmits the signal to the agricultural machine 1. It is also possible to detect the riding state and the non-boarding state of each user.
- the elevation height detector 64b includes, for example, a sensor such as a potentiometer that detects the swing angle of the lower link 8b shown in FIG.
- the elevation height detector 64b calculates the actual elevation height of the work device 2 from the swing angle of the lower link 8b detected by the sensor.
- the lift height detector 64b is an example of the second detector of the present invention.
- the second detection section of the present invention is not limited to the elevation height detector 64b.
- the swing angle of the lower link 8b is calculated based on an output signal from another sensor such as a rotation sensor or an optical sensor, or the control signal or opening of the control valve 36 (FIG. 2), A second detection unit that calculates the actual elevation height of the work device 2 from the swing angle may be used.
- the lifting operation detector 64c includes, for example, a sensor such as a potentiometer that detects the swinging angle of the swingable lifting operation lever 62b.
- the elevation operation detector 64c calculates the operating position of the elevation operation lever 62b from the swing angle of the elevation operation lever 62b detected by the sensor.
- the lifting operation detector 64c is an example of the third detection section of the present invention.
- the detection device 64 includes sensors and cameras installed in each part of the agricultural machine 1 and the work device 2, and electric circuits that process output signals from the sensors or cameras.
- the detection device 64 detects the operation state of each part such as the transmission device 5, the braking device 6, the traveling device 7, the coupling device 8, the steering device 29, and the operating device 62 of the agricultural machine 1 based on the output signals from these sensors. (driving and stopping states, operating positions, etc.) are detected. Further, the detection device 64 detects the operating state of the work device 2 based on the output signal from a sensor or the like.
- the detection device 64 also includes an object detection sensor, such as a LiDAR or ultrasonic sensor.
- the object detection sensors are installed at the front, rear, left and right sides of the traveling vehicle body 3 . The object detection sensor detects the presence or absence of an object around the agricultural machine 1 and the distance to the object.
- the mobile terminal 50 is composed of, for example, a tablet terminal device or a smart phone.
- the mobile terminal 50 is carried by the user and moved outside the agricultural machine 1 or installed at a predetermined position inside the cabin 9 of the agricultural machine 1 . That is, the mobile terminal 50 can be operated outside the agricultural machine 1 and can be operated inside the agricultural machine 1 as well.
- the outside of the agricultural machine 1 is not limited to the outside of the cabin 9, but means a position, equipment, or device other than the agricultural machine 1, and the position, device, or equipment other than the agricultural machine 1 It may be close to 1 or far away.
- the mobile terminal 50 includes a control unit 51, a display operation unit 52, a storage unit 53, and a communication unit 54.
- the control unit 51 is composed of a CPU (or microcomputer), a volatile memory, and a nonvolatile memory.
- the control unit 51 controls each unit of the mobile terminal 50 .
- the control unit 51 is provided with an area setting unit 51b and a route creation unit 51c.
- the area setting unit 51b and the route creating unit 51c are configured by software programs in this example, they may be configured by hardware such as semiconductor elements such as ASIC or electric circuits as another example.
- the display operation unit 52 is composed of a touch panel and displays various information on the screen. Further, various inputs can be performed by performing predetermined operations on the display screen of the display operation unit 52 .
- the display/operation unit 52 is a display unit, an operation unit, and an input unit. Instead of the display operation unit 52, the portable terminal 50 may be provided with an independent display unit and an operation unit (input unit). Information indicating a predetermined warning is output by being displayed on the display operation unit 52 . Alternatively, a sound, voice, or light indicating a predetermined warning may be output from the warning device 63 .
- the display operation section 52 and the warning device 63 are examples of the warning section of the present invention.
- the user After the mobile terminal 50 is activated, the user performs a predetermined operation on the screen displayed on the display operation unit 52 to display information about the field, the agricultural machine 1 or the work device 2, the information of the agricultural machine 1 and the work device 2 in the field. Work conditions for performing farm work, information for performing automatic operation of the agricultural machine 1 , etc. are input to the mobile terminal 50 . Thereafter, when the user performs a predetermined operation using the display operation unit 52 to confirm the input content, the area setting unit 51b sets a predetermined area on the map indicating the field. Further, the route creation unit 51c creates a travel route along which the agricultural machine 1 travels on the map.
- FIG. 3 is a diagram showing an example of the travel route L1 created by the route creation unit 51c.
- the area setting unit 51b (FIG. 1) assigns a central area C1 and a headland area E1 to the field map MP2 as shown in FIG. set. More specifically, for example, the area setting portion 51b is formed by offsetting the contour H1 of the field inward the same number of times as the number of headlands, with a width obtained by subtracting the headland overlap from the working width of the working device 2. Compute the contours Hc, Hb and Ha. Then, the area setting unit 51b sets an area (central portion) surrounded by the innermost contour Ha as the central area C1.
- the area setting unit 51b sets a frame-shaped area (outer frame portion) outside the central area C1 and inside the contour H1 of the field as the headland area E1. Further, in the headland area E1, the area setting unit 51b selects the areas between the adjacent contours among the outline H1 of the farm field and the outlines Hc, Hb, and Ha obtained by offsetting the outline H1 as the headlands E2c and E2b. , E2c.
- the route creation unit 51c creates a travel route L1 on the field map MP2 based on the position information of the field, the areas C1 and E1, the dimension information of the agricultural machine 1 and the working device 2, the working conditions, the automatic driving information, and the like. to create More specifically, the route creation unit 51c calculates the width obtained by subtracting the overlapping margin of the central portion included in the working conditions from the working width of the working device 2, and calculates the width of one of the central areas C1 parallel to the working direction (vertical direction in FIG. 3). A plurality of unit work sections are created in the central area C1 by partitioning the central area C1 from the end of (the right end in FIG. 3).
- a straight route L1a along which the traveling vehicle body 3 travels straight is created on the center line in the width direction (horizontal direction in FIG. 3) of each unit work section.
- the route creation unit 51c creates a turning route L1b that connects adjacent straight routes L1a in the headland area E1.
- the turning route L1b is a route from one to the other of the two adjacent straight routes L1a.
- the route creating unit 51c secures a turning space for turning the agricultural machine 1 and the work device 2 in the headland area E1 when creating the turning route L1b.
- a simple semicircular turning route L1b is illustrated, but this shape can be easily displayed on the display screen of the display operation unit 52, or the driving route L1 can be easily visually recognized on the display screen. This is because it is convenient to do so.
- the traveling vehicle body 3 of the agricultural machine 1 and the working device 2 actually travel along one of the straight routes L1a, when turning toward the other straight traveling route L1a, the traveling vehicle body 3 and the like move not only forward but also backward.
- the trajectory may be cut back to draw a trajectory with a more complicated shape than a semicircular shape. That is, the turning route L1b is a route for display on the display operation unit 52, and the agricultural machine 1 may not turn based on the turning route L1b.
- the controller 60 (FIG. 1) of the agricultural machine 1 lowers the working device 2 to the working position P1 by the connecting device 8 (FIG. 2) while the traveling vehicle body 3 is traveling along the straight route L1a. Work on the ground is performed by the work device 2 . Further, when the traveling vehicle body 3 is turned at a location corresponding to the turning route L1b, that is, when the traveling vehicle body 3 is turned from one straight traveling route L1a toward the other straight traveling route L1a, the control device 60 controls the coupling device 8 to raise the working device 2 to the non-working position P2 and stop the work on the ground by the working device 2.
- the straight route L1a is a work route in which ground work is performed by the work device 2 while the traveling vehicle body 3 of the agricultural machine 1 is automatically driven.
- the central area C1 in which a plurality of straight routes L1a are created is a work area in which the work on the ground is performed by the work device 2 while the traveling vehicle body 3 is reciprocated while traveling straight by automatic operation.
- the route creation unit 51c creates the outside of the central area C1 in addition to the straight route L1a and the turning route L1b.
- a circular route L1c is created in the headland area E1.
- the circuit route L1c is a work route in which the work on the ground is performed by the work device 2 while the traveling vehicle body 3 of the agricultural machine 1 is automatically driven.
- the circuit route L1c includes a plurality of straight routes L1s that are substantially straight and turning routes L1r that are curved with a radius of curvature greater than or equal to a predetermined radius.
- a plurality of straight routes L1s are created on the center line in the width direction of the headland E2a so as to correspond to each straight line portion of the contour H2a of the central area C1.
- the turning route L1r is a route from one straight route L1s to the other straight route L1s adjacent to the one straight route L1s in the extending direction.
- One straight route L1s and the other straight route L1s extend in different directions, but the end of one straight route L1s and the beginning of the other straight route L1s are connected by a turning route L1r.
- the route creating unit 51c also secures a turning space in the headland area E1 for turning the traveling vehicle body 3 of the agricultural machine 1 and the working device 2 when creating the turning route L1r.
- FIG. 3 illustrates a simple arc-shaped turning route L1b.
- the agricultural machine 1 or the like actually turns from one straight route L1s toward the other straight route L1s, it not only moves forward, but also reverses or turns back to follow a more complicated shape than a circular arc.
- the turning route L1r is a route for display on the display operation unit 52, and the agricultural machine 1 may not turn based on the turning route L1r.
- the route creation unit 51c selects one straight route L1a that is not connected to the turning route L1b among both ends of the straight route L1a at both ends (left and right ends in FIG. 3) of the central area C1. (the upper end of the straight route L1a on the right end in FIG. 3), and the loop route L1c is set on the other end of the straight route L1a (the lower end of the straight route L1a on the left end in FIG. 8B). Connect. Further, the route creating unit 51c sets the goal position Pg at the end of the circuit route L1c that is not connected to the straight route L1a. Then, the route creation unit 51c stores information indicating the areas C1 and E1, the travel route L1, the start position Ps, the goal position Pg, and the turning space in the internal memory as route information.
- the control unit 51 When the route creation unit 51c completes creating the travel route L1, the control unit 51 displays the route information such as the field map MP2, the areas C1 and E1, the travel route L1, the start position Ps, and the goal position Pg on the display operation unit 52. display. Thereafter, when the user performs a predetermined operation using the display/operation unit 52, the control unit 51 causes the display/operation unit 52 to display the traveling control screen D8 shown in FIG.
- the control unit 51 also generates automatic traveling data based on the setting information stored in the internal memory, and transmits (outputs) the automatic traveling data to the control device 60 of the agricultural machine 1 through the communication unit 54 .
- the automatic driving data includes route information, setting information of the agricultural machine 1, setting information of the work device 2, automatic driving information, and the like.
- information on the travel route L1 included in the route information may include information indicating the positions of the work routes L1a and L1s, and may not include information indicating the positions of the turning routes L1b and L1r.
- the setting information of the agricultural machine 1 and the working device 2 includes dimension information of the agricultural machine 1 and the working device 2, the type of agricultural work to be executed, and the like.
- the travel control screen D8 shown in FIG. 4 is a screen that displays the travel state of the agricultural machine 1 and the work state of the work device 2 in the automatic travel work mode.
- the traveling control screen D8 displays the traveling state and working state of the agricultural machine 1 after a while from the start of the automatic traveling work mode.
- the traveling control screen D8 includes a farm field map MP2, a traveling route L1, a start position Ps, a goal position Pg, an agricultural machine mark X2, a traveling state of the agricultural machine 1, a setting change key B20, a state display key B21, a work trajectory key B15, and a trajectory clear key B16 are displayed.
- the control unit 51 acquires the actual position of the traveling vehicle body 3 detected by the positioning device 40 by the communication unit 54 at a predetermined cycle, and displays the agricultural field map MP2 corresponding to the position of the traveling vehicle body 3 on the corresponding location on the agricultural field map MP2.
- the machine mark X2 is displayed at any time. That is, the agricultural machine mark X2 in the traveling control screen D8 indicates the actual position of the traveling vehicle body 3 of the agricultural machine 1.
- the control device 60 shifts to the automatic traveling work mode, and automatically operates the agricultural machine 1 based on the automatic traveling data received from the mobile terminal 50 and the position of the traveling vehicle body 3 detected by the positioning device 40. is started, and the work on the ground is performed by the working device 2 while the traveling vehicle body 3 is automatically driven.
- the control device 60 first reads the route information included in the automatic travel data, and grasps areas C1 and E1, travel route L1 (work routes L1a and L1s), start position Ps, and goal position Pg. Then, the control device 60 performs ground work by the working device 2 while automatically driving the traveling vehicle body 3 based on the straight route L1a of the traveling route L1 from the start position Ps.
- the traveling vehicle body 3 (agricultural machine 1) reaches the end of one of the straight routes L1a
- the control device 60 temporarily stops the work on the ground by the working device 2, raises the working device 2, and traverses the adjacent straight route L1a.
- the traveling vehicle body 3 is turned toward the starting end of L1a.
- the control device 60 lowers the work device 2, and when the traveling vehicle body 3 starts to travel automatically based on the other straight route L1a, Ground work by the work device 2 is resumed.
- the traveling vehicle body 3 travels straight back and forth in the central area C1 by automatic operation, and the work device 2 performs ground work in the central area C1.
- the control device 60 causes the traveling vehicle body 3 to travel by automatic operation while the work device 2 performs ground work. At this time, the control device 60 causes the traveling vehicle body 3 to automatically travel on the straight route L1s while performing ground work using the working device 2, and when turning the traveling vehicle body 3 at a location corresponding to the turning route L1r, The work device 2 is raised to stop the work on the ground by the work device 2 .
- the control device 60 provides the position information of the areas C1 and E1, the position information of the straight route L1s, the dimension information of the agricultural machine 1 and the working device 2, the position of the traveling vehicle body 3 detected by the positioning device 40, and the detection
- the agricultural machine 1 and the working device 2 are turned based on the detection result of the device 64 or the like.
- the traveling vehicle body 3 automatically circulates outside the central area C1, and the work device 2 performs ground work on the headland E2a (FIG. 3) surrounding the central area C1.
- the control device 60 controls the traveling vehicle body.
- the steering shaft 31 is rotated so that the steering direction of 3 is to the left.
- control device 60 calculates the actual vehicle speed of the traveling vehicle body 3 based on the change in the position of the traveling vehicle body 3 when the traveling vehicle body 3 is automatically traveling based on the traveling route L1. Then, the driving of the transmission 5, the braking device 6, and the prime mover 4 is controlled so that the actual vehicle speed matches (or substantially matches) the vehicle speed associated with the straight route L1a, the turning route L1b, or the circuit route L1c. do.
- the control device 60 automatically changes the traveling speed of the traveling vehicle body 3 (agricultural machine 1) based on the traveling route L1 and the position of the traveling vehicle body 3 (agricultural machine 1). Steering of the traveling vehicle body 3 is automatically performed while the vehicle is moving. In addition, the control device 60 automatically performs or stops agricultural work (ground work) by the work device 2 . Further, the control device 60 controls the coupling device 8 or the work device 2 based on the travel route L1 to automatically change the elevation height of the work device 2 during automatic operation of the agricultural machine 1 . Further, during automatic operation of the agricultural machine 1, when the user performs a predetermined operation using the display operation unit 52, the control device 60 controls the coupling device 8 or the working device 2 according to the operation, thereby Change the lifting height of 2.
- a lifting operation screen D ⁇ b>14 as shown is displayed on the display operation unit 52 .
- the elevation operation screen D14 is a screen for operating the elevation height of the work device 2 .
- the farm field map MP2, the travel route L1, and the like are displayed on the left side of the elevation operation screen D14 in the same manner as the travel control screen D8 (FIG. 4).
- a schematic diagram 80 showing the depth, a meter 81, a cursor 82, up/down operation keys B28 and B29, and a return key B8 are displayed.
- a schematic diagram 80 is a diagram showing the elevation height of the work device 2 .
- the elevation height of the working device 2 is shown in percentage (%). That is, the lower limit value of the lifting height of the working device 2 that can be changed by the connecting device 8 (FIG. 2) is set to 0%, and the upper limit value of the lifting height is set to 100%. 2 can be changed.
- the schematic diagram 80 shows that the same height as the lower end of the rear wheel 7R of the agricultural machine 1 is regarded as the ground (soil surface of the field), and that the height corresponds to 40%. For example, when the working device 2 is a tilling device 2A (FIG. 10B), if the lifting height of the tilling device 2A is less than 40%, the tilling tines 2g enter the soil K2 and the soil K2 can be tilled. Become.
- a meter 81 indicates a changeable range (0 to 100%) of the elevation height of the working device 2.
- the meter 81 also shows the actual lifting height (hatched portion) of the working device 2 and the ground level (horizontal line indicated by a dashed dotted line; 40%).
- the control unit 51 acquires the actual lifting height of the working device 2 detected by the lifting height detector 64b (FIG. 1) via the communication unit 54 and the communication device 66 of the agricultural machine 1, and obtains the actual lifting height.
- the lifting height is stored in the storage unit 53 and displayed on the meter 81 .
- the elevation operation keys B28 and B29 are operation keys operated to raise and lower the working device 2 to change the elevation height of the working device 2.
- the control unit 51 moves the cursor 82 as shown in FIG. 6B in response to the operation of the rise operation key B28.
- the cursor 81 is moved upward within the range (0 to 100%) of the meter 81, and the position on the meter 81 indicated by the cursor 82 is calculated as the input value of the elevation height of the working device 2.
- the control unit 51 moves the cursor 82 to the range of the meter 81 (0 100%) (not shown), and the position on the meter 81 indicated by the cursor 82 is calculated as an input value for the elevation height of the work device 2 . That is, the cursor 82 indicates the input value of the elevation height of the working device 2 by operating the elevation operation keys B28 and B29. Note that immediately after the lifting operation screen D14 is displayed, the input value (initial input value) of the lifting height of the working device 2 stored in advance in the storage unit 53 is indicated by the cursor 82 .
- the control unit 51 determines that the input value has been determined, stores the input value in the storage unit 53, and transmits the input value to the communication unit 54 and the agricultural machine 1. It transmits to the control device 60 via the communication device 66 .
- the control unit 51 changes the input value to The input value may be stored in the storage unit 53 and transmitted to the control device 60 via the communication unit 54 and the communication device 66 of the agricultural machine 1 .
- the control device 60 When the control device 60 receives an input value of the lifting height of the working device 2 through the communication device 66, the control device 60 controls the connecting device 8 or the like (the connecting device 8 or the working device 2) so as to correspond to the input value, The lifting height of the work device 2 is changed. That is, the control device 60 changes the elevation height of the working device 2 by controlling the coupling device 8 and the like according to the operation of the elevation operation keys B28 and B29. Further, the control device 60 transmits the actual elevation height of the work device 2 detected by the elevation height detector 64b to the mobile terminal 50 through the communication device 66 . Further, the control device 60 calculates a setting value for the lifting height of the working device 2 according to the operating position of the lifting operation lever 62b detected by the lifting operation detector 64c, and carries the setting value with the communication device 66. Send to terminal 50 .
- FIG. 7A and 7B are flowcharts showing an example of the operation of the agricultural machine 1.
- FIG. 8A to 8C are flowcharts showing an example of the operation of the mobile terminal (terminal device) 50.
- FIG. 9 is a time chart showing an example of changes in the state of automatic operation and boarding of the agricultural machine 1 and lifting and lowering of the work device 2 .
- the input values are indicated by dashed lines, and when the keys B28 and B29 are inoperable, the input values are indicated by dashed lines. is not shown with a line.
- the ON/OFF state of the sheet switch 64a and the actual lifting height of the working device 2 are indicated by thick solid lines.
- the effective operation of the elevation operation lever 62b means that the user can operate the elevation operation lever 62b, and the controller 60 controls the connection device 8 or the work device 2 according to the operation of the elevation operation lever 62b. means that the elevation height of the working device 2 is changed (the operation of the elevation operation lever 62b is reflected). Further, when the operation of the elevation operation lever 62b is disabled, it means that the user can operate the elevation operation lever 62b, but the control device 60 controls the coupling device 8 or the work device according to the operation of the elevation operation lever 62b. 2 means that the lifting height of the working device 2 is not changed (the operation of the lifting operation lever 62b is not reflected).
- the operation of the elevation operation keys B28 and B29 is valid, it means that the user can operate the elevation operation keys B28 and B29, and the control device 60 is connected according to the operation of the elevation operation keys B28 and B29. It means that the lifting height of the working device 2 is changed by the device 8 (or the working device 2) (the operation of the lifting operation keys B28 and B29 is reflected). Furthermore, when the operation of the elevation operation keys B28 and B29 is disabled, the user can operate the elevation operation keys B28 and B29. It means that the elevation height of the working device 2 is not changed by the coupling device 8 or the like (operations of the elevation operation keys B28 and B29 are not reflected).
- an invalid flag corresponding to the elevation operation lever 62b and an invalid flag corresponding to the elevation operation keys B28 and B29 are provided in a predetermined storage area of the internal memory of the control device 60.
- the storage unit 53 stores the disabling of the operation of the elevation operation lever 62b and the elevation operation keys B28 and B29. Further, by turning off each invalid flag, the validity of the operation of the elevation operation lever 62b and the elevation operation keys B28 and B29 is recorded. After that, when the elevation operation lever 62b or the elevation operation keys B28, B29 is operated, the control device 60 switches the corresponding invalid flag from the ON/OFF state to the operation of the elevation operation lever 62b or the elevation operation keys B28, B29. is invalid or valid.
- the communication device 66 transmits an automatic operation start notification ( S2 in FIG. 7A). Then, the control device 60 confirms the ON/OFF state of the sheet switch (SW) 64a, determines whether or not the user has boarded the agricultural machine 1 from the confirmation result, and stores the determination result in the internal memory. (S3a). At this time, the control device 60 determines that the user is riding the agricultural machine 1 if the seat switch 64a is in the ON state, and that the user is riding the agricultural machine 1 if the seat switch 64a is in the OFF state. judge that it is not.
- SW sheet switch
- the control device 60 reads the contents stored in the internal memory and confirms that the user is on the agricultural machine 1 (S3b: YES)
- the lifting operation lever 62b provided on the agricultural machine 1 is The operation is validated, the operation of the up/down operation keys B28 and B29 displayed on the mobile terminal 50 is invalidated, and an invalidation notification indicating the invalidation is transmitted to the mobile terminal 50 by the communication device 66 (S4).
- the control unit 51 detects from the detection result of the elevation operation detector 64c , the operation of the elevation operation lever 62b is detected (S5: YES), the operating position of the elevation operation lever 62b is detected, and the set value of the elevation height of the work device 2 corresponding to the operation position is calculated. (S6). Then, the control device 60 adjusts the coupling device 8 and the like so that the calculated set value (set value after change) corresponds to the actual lift height of the working device 2 detected by the lift height detector 64b. control to change the elevation height of the working device 2 (S7).
- set value (%) In addition to the actual lifting height (%)), if the set value and the actual lifting height are close enough that the difference between the setting value and the actual lifting height is less than the predetermined value (setting value (%) ⁇ actual lifting height (%), ie approximate match).
- setting value (%) In addition to the actual lifting height (%)
- the control device 60 disables the operation of the elevation operation lever 62b and enables the operation of the elevation operation keys B28 and B29.
- the communication device 66 transmits a valid notification to that effect to the portable terminal 50 (S8).
- the control device 60 detects the operating position of the lifting operation lever 62b by the lifting operation detector 64c, calculates the setting value of the lifting height of the working device 2 corresponding to the operating position (S9), and calculates the setting value.
- the value is transmitted to the mobile terminal 50 by the communication device 66 (S10).
- the travel control screen D8 (FIG. 4) is displayed by the display operation unit 52 (S31 in FIG. 8A), and the communication unit 54 receives the automatic driving start notification from the control device 60 (S32).
- the control unit 51 determines that the automatic operation of the agricultural machine 1 has started. Then, when the communication unit 54 receives the invalidation notification from the control device 60 (S33: YES), the control unit 51 causes the storage unit 53 to store that the operations of the up/down operation keys B28 and B29 are invalid ( S34).
- the control unit 51 causes the storage unit 53 to store that the operation of the up/down operation keys B28 and B29 is valid ( S34).
- the control unit 51 regards the set value of the elevation height of the work device 2 stored in the storage unit 53 as the actual elevation height of the work device 2, and displays the elevation height on the elevation operation screen D14.
- the input value (initial input value) of the elevation height of the working device 2 stored in the storage unit 53 according to the setting value is displayed by the cursor 82 on the elevation operation screen D14 (FIG. 6A, etc.).
- the controller 60 controls the elevation operation key B28 as shown in FIG. 6D. , B29 are displayed on the elevation operation screen D14 in an inoperable form (S42 in FIG. 8B). Then, for example, when the user viewing the elevation operation screen D14 outside the agricultural machine 1 operates the return key B8 (S43: YES), the controller 51 displays the travel control screen D8 instead of the elevation operation screen D14. It is displayed on the display operation unit 52 (S55).
- the control unit 51 displays the received automatic operation stop status on the display operation unit 52 (S57 in FIG. 8C), and waits for an instruction to interrupt or end automatic operation from the control device 60. .
- the control device 60 controls the elevation operation keys B28 and B29 as shown in FIG. 6A. B28 and B29 are displayed on the elevation operation screen D14 in an operable form (S46 in FIG. 8B). Thereafter, for example, when the user operates the return key B8 (S48: YES) without operating the up/down operation keys B28 and B29 (S47: NO), the control unit 51 displays the travel control screen D8. 52 (S55).
- the control unit 51 causes the display operation unit 52 to display the traveling control screen D8 (S50). Then, the control unit 51 displays the received automatic operation stop status on the display operation unit 52 (S57 in FIG. 8C), and waits for an instruction to interrupt or end automatic operation from the control device 60. .
- the communication unit 54 does not receive the automatic operation stop status from the control device 60 (S49 in FIG. 8B: NO)
- the processes from S47 onward are executed again.
- the elevation operation keys B28 and B29 are displayed on the elevation operation screen D14 in an operable form (S46 in FIG. 8B), for example, in order for the user to change the elevation height of the work device 2, the elevation operation keys B28, B29, Operate B29.
- the control unit 51 detects the operation of the elevation operation keys B28 and B29 (S47: YES, time T2 in FIG. 9), and calculates the input value of the elevation height of the working device 2 corresponding to the operation. Then, the input value is displayed on the elevation operation screen D14 by the meter 81 and the cursor 82 (S51).
- the processes from S3b onward are repeatedly executed.
- the portable terminal 50 transmits an operation signal based on the operation of the elevation operation keys B28 and B29 (S54 in FIG. 8B), displays the travel control screen D8 (S55), and then stops the automatic operation from the control device 60.
- the status is not received (S56 in FIG. 8C: NO)
- the processes from S38a in FIG. 8A onward are repeatedly executed.
- the control unit 51 of the portable terminal 50 inputs an instruction to shift to the elevation operation screen D14 (S38a: YES) while the stop status is not received from the control device 60 (S38b: NO). wait for
- an instruction to suspend the agricultural work by the automatic operation of the agricultural machine 1 is input to the mobile terminal 50 (S58 in FIG. 8C: YES). ).
- the control unit 51 transmits a suspension instruction indicating that the automatic operation of the agricultural machine 1 has been suspended to the control device 60 via the communication unit 54 (S59).
- the control unit 51 creates suspension data including the fact that the automatic operation of the agricultural machine 1 has been suspended, the suspension position (stop position) of the agricultural machine 1 on the travel route L1, and the implementation status of farm work. to store (save) the suspension data in the storage unit 53 (S60).
- the communication device 66 receives the interruption instruction from the mobile terminal 50 (S15 in FIG. 7B: YES), automatic operation and farm work are suspended (S16, time T3 in FIG. 9). . While the automatic operation of the agricultural machine 1 is suspended, the agricultural machine 1 and the working device 2 can be used for other agricultural work.
- control device 60 reads the contents stored in the internal memory and confirms that the user has not boarded the agricultural machine 1 (S19b: NO), it disables the operation of the elevation operation lever 62b.
- the operation of the keys B28 and B29 is validated and a validation notification is transmitted to the portable terminal 50 (S8 in FIG. 7A). After that, the processing from step S9 onward is repeatedly executed.
- the elevation height of the work device 2 corresponding to the valid operation is determined. and the actual elevation height of the work device 2 (S12 in FIG. 7A, immediately after time T6 in FIG. 9: actual elevation height changed from 20% to 10%).
- the operation of the lifting operation lever 62b continues to be disabled, but the lifting operation lever 62b can be operated. Therefore, for example, when the user operates the elevation operation lever 62b without sitting on the driver's seat 10, the operating position of the elevation operation lever 62b (and the set value corresponding to the operation position) is changed ( At time T4 in FIG. 9: the set value is changed from 30% to 25%), the actual lifting height of the working device 2 is not changed, and the input value of the lifting height by the lifting operation keys B28 and B29 is also not changed.
- the control device 60 confirms that the set value of the elevation height of the work device 2 does not correspond to the actual elevation height of the work device 2 (S23 in FIG. 7B: NO, time T9 in FIG. 9: set value 25% ⁇ actual lifting height 10%). Then, the control device 60 causes the alarm device 63 to output a warning indicating a mismatch between the setting value of the elevation height of the work device 2 and the actual elevation height of the work device 2 by sound or voice, or displays the warning.
- a message or the like is output by being displayed on the display operation unit 52 of the mobile terminal 50 (S24 in FIG. 7B).
- the warning may be displayed on the screen of another display device installed in the agricultural machine 1 .
- the control device 60 controls the coupling device 8 and the like so that the set value and the actual lifting height correspond to each other, thereby changing the lifting height of the working device 2 (S25 in FIG. 7B, Immediately after time T9: set value 25%, actual lifting height changed from 10% to 25%).
- the control device 60 does not restart (execute) the automatic operation of the agricultural machine 1 while changing the elevation height of the work device 2 as described above. After confirming that the actual elevation height of the work device 2 detected by the elevation height detector 64b corresponds to the set value of the elevation height of the work device 2 by the elevation operation lever 62b, the control device 60 , restarts (performs) the automatic operation of the agricultural machine 1 and the agricultural work by the working device 2 . Then, the processing from step S3b in FIG. 7A onward is repeatedly executed.
- the set value of the elevation height of the work device 2 corresponding to the effective operation and the operation The elevation height of the work device 2 is changed so that it corresponds to the actual elevation height of the device 2 (S7 in FIG. 7A, immediately after time T10 in FIG. 9: from 25% to 15% of the actual elevation height) change, immediately after time T13: change from 15% to 20% of the actual lifting height).
- the control device 60 calculates the setting value of the lifting height of the working device 2 according to the operating position of the lifting operation lever 62b, and transmits the setting value to the portable terminal 50 (S10 in FIG. 7A).
- the setting value of the elevation height of the working device 2 is received by the mobile terminal 50 (S35 in FIG. 8A: YES), and is stored in the storage unit 53 of the mobile terminal 50 so as to correspond to the setting value.
- the control device 60 stops the automatic operation of the agricultural machine 1 (S13 in FIG. 7A: YES), and notifies the portable terminal 50 of the stop status via the communication device 66 (S14 in FIG. 7B).
- the control unit 51 causes the display operation unit 52 to display the stop state (S57).
- a message indicating that the agricultural machine 1 and the working device 2 have reached the goal position Pg, or a message indicating that the stop operation has been performed on the agricultural machine 1 is displayed on the display operation unit 52. be.
- an instruction to end farm work by automatic operation of the agricultural machine 1 is input to the mobile terminal 50 (S63: YES).
- the control unit 51 transmits an end instruction to the control device 60 through the communication unit 54 indicating that the automatic operation and farm work are to end (S64), and ends the series of operations.
- the end instruction is received by the communication device 66 from the mobile terminal 50 (S26 in FIG. 7B: YES)
- the series of operations is ended.
- the ON or OFF state of the seat switch 64a (that is, the state in which the user does not get on or off the agricultural machine 1) while the automatic operation of the agricultural machine 1 is interrupted. ) is switched, the operation of the elevation operation lever 62b and the operation of the elevation operation keys B28 and B29 are switched between valid and invalid when the automatic operation of the agricultural machine 1 is subsequently started or restarted (see FIG. 8). time points T0, T8, T15).
- the control device 60 does not wait for the automatic operation to be resumed (resume instruction), and the lifting operation lever is turned on.
- the operation of 62b and the operation of the elevation operation keys B28 and B29 may be immediately switched between valid and invalid.
- the control device 60 does not wait for the automatic operation to be resumed.
- the lifting height of the working device 2 may be changed immediately by the connecting device 8 or the like in accordance with the operation of the lifting operation lever 62b.
- 10A and 10B show an example of the working position P1 and the non-working position P2 of the working device 2 (cultivating device 2A). , or may be appropriately set depending on the type of agricultural work.
- control device 60 transmits to the mobile terminal 50 the invalidation notification or the validating notification of the elevation operation keys B28 and B29 according to the ON or OFF state of the sheet switch 64a, and the mobile terminal 50 transmits the invalidation notification.
- the operation of the elevation operation lever 62b or the elevation operation keys B28, B29 is enabled or disabled according to whether the user is on or off the agricultural machine 1, and the effective elevation operation lever 62b or
- the lifting height of the working device 2 is changed by the connecting device 8 or the working device 2 according to the operation of the lifting operation keys B28 and B29
- the present invention is not limited to this.
- the agricultural machine 1 and the portable terminal 50 are each provided with an operating member or operation key that is operated to change the attitude of the working device 2, such as the tilling depth or the Monroe angle of the working device 2. Then, the operation of the operation unit may be enabled or disabled depending on whether the user is on or off the agricultural machine 1 .
- connection device 8 or the working device 2 may change the attitude of the working device 2 such as the tillage depth or the Monroe angle.
- the driving state of the working device 2 such as driving and stopping of the working device 2, or the number of rotations of a rotating device provided in the working device 2 can be determined by the operating units provided in the agricultural machine 1 and the portable terminal 50, respectively. You may make it operate according to effective operation.
- the first operation unit provided in the agricultural machine 1 is not limited to the operation lever 62b, but can be switches, buttons, dials, keys, or other operation members configured by hardware, switches configured by software, It may consist of buttons, sliders, levers, or other keys.
- a terminal device (such as a display terminal) mounted on the agricultural machine 1 may be provided with the first operation unit.
- the second operation unit provided in the mobile terminal 50 is not limited to the operation keys B28 and B29, but switches, buttons, dials, or slide keys configured by software, or switches and buttons configured by hardware. , dials, keys, or other operating members. Further, instead of the mobile terminal 50, a stationary terminal device may be used, and the second operation unit may be provided in the terminal device.
- the operation of the operating units 62b, B28, and B29 is enabled or disabled according to the state of the user riding on the agricultural machine 1, and the work device 2 is operated according to the valid operation of the operating units 62b, B28, and B29. may operate.
- the input values through the second operating units B28 and B29 may be changed so as to correspond to the set values corresponding to the operating position of the first operating unit 62b.
- the agricultural work support system 100 of the present embodiment includes a connection device 8 that connects a work device 2 to an agricultural machine 1, and control for performing farm work on a field by the work device 2 while automatically running or steering the agricultural machine 1.
- the work device 2 is operable in response to the operation of the first operation portion 62b and the operations of the second operation portions B28 and B29 are disabled, so that the first detection portion 64a
- the work device 2 can be operated in response to the operation of the second operation portions B28 and B29, and the operation of the first operation portion 62b is disabled.
- the agricultural machine 1 of this embodiment includes a traveling vehicle body 3 , a coupling device 8 that couples the working device 2 to the traveling vehicle body 3 , and the traveling vehicle body 3 automatically travels or steers while the working device 2 controls the agricultural field.
- a control device 60 for performing farm work a first operation unit 62b operated to operate the work device 2, and a first detection unit for detecting whether the user is riding on the traveling vehicle body 3 or not. 64a, and the control device 60 operates the working device 2 according to the operation of the first operation portion 62b while the first detection portion 64a is detecting the boarding state. and disables the operation of the second operation units B28 and B29 for operating the working device 2 outside the agricultural machine 1, and the first detection unit 64a detects the non-riding state. , and the operation of the second operation portions B28 and B29, and disables the operation of the first operation portion 62b.
- the working device 2 is operated, and at both the working device 2 is not operated at the same time. Therefore, the operation state of the first operation portion 62b is prevented from not corresponding to the operation state of the second operation portions B28 and B29 or from not corresponding to the actual operation state of the work device 2. It is possible to prevent confusion during operation of the working device 2 by the operating portions 62b, B28, and B29.
- the work device 2 can be operated by the first operation portion 62b of the agricultural machine 1, and the work device 2 can be operated by the second operation portions B28 and B29 outside the agricultural machine 1, thereby improving convenience. can be improved.
- the first operation portion 62b and the second operation portions B28 and B29 are operated to change the posture of the work device 2, and the control device 60 causes the work device 2 to perform farm work while the agricultural machine 1 is running.
- the work device 2 is operated according to one of the operation of the first operation unit 62b and the operation of the second operation units B28 and B29 according to the detection result of the first detection unit 64a.
- the posture is changed, and the posture of the work device 2 is not changed according to the other operation.
- one of the first operation unit 62b and the second operation units B28 and B29 can be operated according to whether the user is in or out of the agricultural machine 1. are operated, and the attitude of the working device 2 is not operated simultaneously by both. Therefore, it is possible to prevent the user from being confused when manipulating the posture of the working device 2 using the operation units 62b, B28, and B29, thereby improving convenience.
- the agricultural work support system 100 includes a communication device 66 that is provided in the agricultural machine 1 and wirelessly communicates with the terminal device 50, the second operation units B28 and B29 are provided in the terminal device 50,
- the coupling device 8 changes the posture of the work device 2, and when the first detection unit 64a detects the non-riding state, the terminal device 50 outputs an operation signal corresponding to the operation of the second operation units B28 and B29.
- the control device 60 receives the operation signal by the communication device 66, changes the posture of the working device 2 by the coupling device 8 based on the operation signal, and the first detection unit 64a detects the boarding state.
- the terminal device 50 When the second operation units B28 and B29 are operated, the terminal device 50 does not transmit an operation signal corresponding to the operation, or the control device 60 does not accept the operation signal. Accordingly, one of the first operation unit 62b and the second operation units B28 and B29 is operated for the attitude of the work device 2 according to whether the user is riding on or off the agricultural machine 1, and both of them operate at the same time. It is possible to reliably prevent the posture of the work device 2 from being manipulated.
- the control device 60 disables the operation of the second operation units B28 and B29.
- the notification is transmitted by the communication device 66, and when the terminal device 50 receives the invalidation notification, the operation of the second operation units B28 and B29 is disabled.
- the agricultural work support system 100 includes a second detector (elevating height detector) 64b that detects the actual posture of the work device 2, and the first detector 64a detects the non-riding state.
- the terminal device 50 calculates an input value of the attitude of the work device 2 corresponding to the operation, and transmits an operation signal including the input value.
- the control device 60 receives the operation signal by the communication device 66, the input value included in the operation signal corresponds to the actual attitude of the work device 2 detected by the second detection unit 64b. Change the posture of the work device 2 .
- the input value of the attitude of the working device 2 from the second operation units B28 and B29 of the terminal device 50 corresponds to the actual attitude of the working device 2.
- the work device 2 can be properly and reliably operated.
- the agricultural work support system 100 includes a third detection section (elevating operation detector) 64c that detects the operation position of the first operation section 62b.
- a third detection section (elevating operation detector) 64c that detects the operation position of the first operation section 62b.
- the attitude of the working device 2 is changed so that the set value corresponds to the actual attitude of the working device 2 detected by the second detection unit 64b.
- the set value of the attitude of the working device 2 corresponding to the operating position of the first operation unit 62b of the agricultural machine 1 and the actual attitude of the working device 2 are different. Therefore, it is possible to properly and reliably operate the working device 2 with the first operating portion 62b.
- the terminal device 50 detects the work device 2 according to the operation. and stores the input value in the storage unit 53, and when the first detection unit 64a detects a transition from the riding state to the non-riding state, the control device 60 causes the third detection unit A set value of the attitude of the working device 2 corresponding to the operation position of the first operation unit 62b detected by the terminal device 50 is transmitted by the communication device 66.
- the input value of the posture of the work device 2 stored in the storage unit 53 is changed so as to correspond to the setting value.
- the input value can be updated so as to correspond to the setting value, and the updated input value can be used as the input initial value of the second operation units B28 and B29. Therefore, it is possible to prevent the user from being confused when manipulating the posture of the working device 2 using the operation portions 62b, B28, and B29, and prevent the working device 2 from taking an unintended posture. It becomes possible.
- the agricultural work support system 100 includes the warning units 63 and 52 (alarm device 63, display operation unit 52) that output warnings, and the first detection unit 64a detects the transition from the non-riding state to the riding state. is detected, the control device 60 calculates a set value of the posture of the work device 2 according to the operation position of the first operation unit 62b detected by the third detection unit 64c, and calculates the set value and the second detection If the actual attitude of the working device 2 detected by the unit 64b does not correspond, the warning units 63 and 52 output a warning, and the working device is adjusted so that the set value and the actual elevation height correspond to each other. Change the posture of 2.
- the attitude of the working device 2 can correspond to the set value. , it is possible to prevent the user from being confused when operating the posture of the working device 2 using the first operating portion 62b. In addition, it is possible to prevent the work device 2 from taking a posture not intended by the user. Furthermore, when the posture of the work device 2 is automatically changed to correspond to the set value, the warning units 63 and 52 output a warning to prevent the user from operating the work device 2 in an unintended posture. to prevent user confusion.
- the control device 60 changes the operation position of the first operation unit 62b detected by the third detection unit 64c.
- a set value of the attitude of the working device 2 corresponding to the response is calculated, and if the set value does not correspond to the actual attitude of the working device 2 detected by the second detection unit 64b, automatic operation of the agricultural machine 1 is started. don't run
- the working device 2 is prevented from taking a posture unintended by the user. User confusion can be prevented.
- farm work can be stably performed with the working device 2 in the posture intended by the user.
- the control device 60 transmits the actual attitude of the working device 2 detected by the second detection unit 64b through the communication device 66, and the terminal device 50 receives the actual attitude of the working device 2. and a display unit (display operation unit) 52 for displaying the actual attitude and the input value of the attitude of the work device 2 according to the operation of the second operation parts B28 and B29.
- the user can operate the second operating unit while viewing the actual posture of the working device 2 displayed on the display unit 52 and the input value of the posture of the working device 2 corresponding to the operation of the second operating units B28 and B29.
- B28 and B29 make it possible to easily and reliably operate the working device 2, thereby improving convenience.
- the coupling device 8 raises and lowers the working device 2 to vary the elevation height as the posture of the working device 2, and the first operation unit 62b changes the elevation height of the working device 2.
- the operating member (elevating operation lever 62b) is operated by the user on the agricultural machine 1 and holds an operating position corresponding to the operation. It is provided on the terminal device 50 and includes operation keys (elevating operation keys B28 and B29) operated to change the elevation height of the working device 2.
- the operation member 62b of the agricultural machine 1 can be used to operate the lifting height of the working device 2, and when the user is not on the agricultural machine 1, With the terminal device 50 moved to an arbitrary position, the operation keys B28 and B29 can be used to operate the elevation height of the work device 2, and convenience can be improved. Further, when the user operates the elevation height of the working device 2 with the operation member 62b or the operation keys B28 and B29, the working device 2 is prevented from moving to an elevation height not intended by the user, thereby causing confusion for the user. can be prevented.
- the agricultural machine 1 includes a communication device 66 that wirelessly communicates with the terminal device 50, and a second detection section 64b that detects the actual attitude of the work device 2.
- the posture of the work device 2 is varied, and the control device 60, while the first detection section 64a detects the non-riding state, transmits from the terminal device 50 in response to the operation of the second operation sections B28 and B29.
- the operation signal is received by the communication device 66, the input value of the posture of the work device 2 corresponding to the operation of the second operation units B28 and B29 included in the operation signal, and the work device 2 detected by the second detection unit 64b.
- the agricultural machine 1 includes the third detection section 64c that detects the operating position of the first operation section 62b.
- the control device 60 calculates a set value of the attitude of the working device 2 according to the operation position of the first operation unit 62b detected by the third detection unit 64c, and detects the setting value and the second detection unit 64b. If the actual posture of the working device 2 that has been detected does not correspond, the warning units 63 and 52 output a warning, and the coupling device 8 adjusts the working device 2 so that the set value and the actual elevation height correspond to each other. change the posture of
- the attitude of the working device 2 can correspond to the set value.
- the warning units 63 and 52 output a warning. Therefore, it is possible to prevent the user from being confused when manipulating the posture of the work device 2 using the first operation unit 62b and from taking the posture of the work device 2 not intended by the user.
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Abstract
Description
2 作業装置
2A 耕うん装置(作業装置)
3 走行車体
8 連結装置
50 携帯型端末装置(携帯端末)
52 表示操作部(警告部、表示部)
53 記憶部
60 制御装置
62b 昇降操作レバー(第1操作部)
63 警報装置(警告部)
64a シートスイッチ(第1検出部)
64b 昇降高さ検出器(第2検出部)
64c 昇降操作検出器(第3検出部)
66 通信装置
100 農作業支援システム
B28、B29 昇降操作キー(第2操作部)
Claims (15)
- 農業機械に作業装置を連結する連結装置と、
農業機械の走行又は操舵を自動で行いながら、前記作業装置により圃場に対して農作業を行う制御装置と、
前記農業機械に設けられ且つ前記作業装置を動作させるために操作される第1操作部と、
前記農業機械の外部で前記作業装置を動作させるために操作可能な第2操作部と、
前記農業機械へのユーザの乗車状態と非乗車状態とを検出する第1検出部と、を備え、
前記第1検出部が前記乗車状態を検出しているときに、前記第1操作部の操作に応じて前記作業装置が動作可能で且つ前記第2操作部の操作が無効になり、
前記第1検出部が前記非乗車状態を検出しているときに、前記第2操作部の操作に応じて前記作業装置が動作可能で且つ前記第1操作部の操作が無効になる農作業支援システム。 - 前記第1操作部及び前記第2操作部は、前記作業装置の姿勢を変えるために操作され、
前記制御装置は、前記農業機械を走行させながら前記作業装置により前記農作業を行う自動運転の実行中に、前記第1検出部の検出結果に応じて、前記第1操作部の操作と前記第2操作部の操作のうち、一方の操作に応じて前記作業装置の姿勢を変更し、他方の操作に応じて前記作業装置の姿勢を変更しない請求項1に記載の農作業支援システム。 - 前記農業機械に設けられ且つ端末装置と無線で通信する通信装置を備え、
前記第2操作部は、前記端末装置に設けられ、
前記連結装置は、前記作業装置の姿勢を可変し、
前記第1検出部が前記非乗車状態を検出しているときに、
前記端末装置は、前記第2操作部の操作に応じた操作信号を送信し、
前記制御装置は、前記操作信号を前記通信装置により受信して、当該操作信号に基づいて前記連結装置により前記作業装置の姿勢を変更し、
前記第1検出部が前記乗車状態を検出しているときに、
前記端末装置は、前記第2操作部が操作されても、当該操作に応じた操作信号を送信せず、又は前記制御装置は、前記操作信号を受け付けない請求項1又は2に記載の農作業支援システム。 - 前記農業機械に設けられ且つ端末装置と無線で通信する通信装置を備え、
前記第2操作部は、前記端末装置に設けられ、
前記第1検出部が前記非乗車状態から前記乗車状態への遷移を検出した場合、
前記制御装置は、前記第2操作部の操作を無効にする旨を示した無効通知を前記通信装置により送信し、
前記端末装置は、前記無効通知を受信すると、前記第2操作部の操作を不可能にする請求項1~3のいずれか1項に記載の農作業支援システム。 - 前記作業装置の実際の姿勢を検出する第2検出部を備え、
前記第1検出部が前記非乗車状態を検出しているときに、
前記端末装置は、前記第2操作部が操作されると、当該操作に応じた前記作業装置の姿勢の入力値を演算して、当該入力値を含む操作信号を送信し、
前記制御装置は、前記通信装置により前記操作信号を受信すると、当該操作信号に含まれる前記入力値と、前記第2検出部により検出された前記作業装置の実際の姿勢とが対応するように、前記作業装置の姿勢を変更する請求項3又は4に記載の農作業支援システム。 - 前記作業装置の実際の姿勢を検出する第2検出部と、
前記第1操作部の操作位置を検出する第3検出部と、を備え、
前記第1検出部が前記乗車状態を検出しているときに、
前記制御装置は、前記第1操作部が操作されると、前記第3検出部により検出された前記第1操作部の操作位置に応じた前記作業装置の姿勢の設定値を演算して、当該設定値と、前記第2検出部により検出された前記作業装置の実際の姿勢とが対応するように、前記作業装置の姿勢を変更する請求項2~5のいずれか1項に記載の農作業支援システム。 - 前記第1検出部が前記非乗車状態を検出しているときに、
前記端末装置は、前記第2操作部が操作されると、当該操作に応じた前記作業装置の姿勢の入力値を演算して、当該入力値を記憶部に記憶させ、
前記第1検出部が前記乗車状態から前記非乗車状態への遷移を検出した場合、
前記制御装置は、前記第3検出部により検出された前記第1操作部の操作位置に応じた前記作業装置の姿勢の設定値を演算して、当該設定値を前記通信装置により送信し、
前記端末装置は、前記作業装置の姿勢の設定値を受信すると、当該設定値と対応するように、前記記憶部に記憶された前記作業装置の姿勢の前記入力値を変更する請求項6に記載の農作業支援システム。 - 警告を出力する警告部を備え、
前記第1検出部が前記非乗車状態から前記乗車状態への遷移を検出した場合、
前記制御装置は、前記第3検出部により検出された前記第1操作部の操作位置に応じた前記作業装置の姿勢の設定値を演算し、当該設定値と、前記第2検出部により検出された前記作業装置の実際の姿勢とが対応していなければ、前記警告部により警告を出力し且つ、前記設定値と前記実際の昇降高さとが対応するように、前記作業装置の姿勢を変更する請求項6又は7に記載の農作業支援システム。 - 前記第1検出部が前記非乗車状態から前記乗車状態への遷移を検出した場合、
前記制御装置は、前記第3検出部により検出された前記第1操作部の操作位置に応じた前記作業装置の姿勢の設定値を演算し、当該設定値と、前記第2検出部により検出された前記作業装置の実際の姿勢とが対応していなければ、前記農業機械の自動運転を実行しない請求項6~8のいずれか1項に記載の農作業支援システム。 - 前記制御装置は、前記第2検出部により検出された前記作業装置の実際の姿勢を前記通信装置により送信し、
前記端末装置は、前記作業装置の実際の姿勢を受信し、当該実際の姿勢と前記第2操作部の操作に応じた前記作業装置の姿勢の入力値とを表示する表示部を有する請求項5~9のいずれか1項に記載の農作業支援システム。 - 前記連結装置は、前記作業装置を昇降させて、前記作業装置の姿勢として昇降高さを可変し、
前記第1操作部は、前記作業装置の昇降高さを変更するために、前記農業機械に乗車したユーザにより操作されて、当該操作に応じた操作位置を保持する操作部材から構成され、
前記第2操作部は、前記ユーザにより携帯される端末装置に設けられ、前記作業装置の昇降高さを変更するために操作される操作キーから構成されている請求項1~9のいずれか1項に記載の農作業支援システム。 - 走行可能な走行車体と、
前記走行車体に作業装置を連結する連結装置と、
前記走行車体の走行又は操舵を自動で行いながら、前記作業装置により圃場に対して農作業を行う制御装置と、
前記作業装置を動作させるために操作される第1操作部と、
前記走行車体へのユーザの乗車状態と非乗車状態とを検出する第1検出部と、を備えた農業機械であって、
前記制御装置は、
前記第1検出部が前記乗車状態を検出しているときに、前記第1操作部の操作に応じて前記作業装置を動作させることが可能で且つ、当該農業機械の外部で前記作業装置を動作させるための第2操作部の操作を無効にし、
前記第1検出部が前記非乗車状態を検出しているときに、前記第2操作部の操作に応じて前記作業装置を動作させることが可能で且つ、前記第1操作部の操作を無効にする農業機械。 - 前記第1操作部は、前記作業装置の姿勢を変更するために、前記農業機械に乗車したユーザにより操作されて、当該操作に応じた操作位置を保持する操作部材から構成され、
前記第2操作部は、前記ユーザにより携帯される端末装置に設けられ、前記作業装置の姿勢を変更するために操作され、
前記制御装置は、前記走行車体を走行させながら前記作業装置により前記農作業を行う自動運転の実行中に、前記第1検出部の検出結果に応じて、前記第1操作部の操作と前記第2操作部の操作のうち、一方の操作に応じて前記作業装置の姿勢を変更し、他方の操作に応じて前記作業装置の姿勢を変更しない請求項12に記載の農業機械。 - 前記端末装置と無線で通信する通信装置と、
前記作業装置の実際の姿勢を検出する第2検出部と、を備え、
前記連結装置は、前記作業装置の姿勢を可変し、
前記制御装置は、
前記第1検出部が前記非乗車状態を検出しているときに、
前記第2操作部の操作に応じて前記端末装置から送信された操作信号を前記通信装置により受信すると、当該操作信号に含まれる前記第2操作部の操作に応じた前記作業装置の姿勢の入力値と、前記第2検出部により検出された前記作業装置の実際の姿勢とが対応するように、前記連結装置により前記作業装置の姿勢を変更する請求項13に記載の農業機械。 - 前記第1操作部の操作位置を検出する第3検出部と、
警告を出力する警告部と、を備え、
前記第1検出部が前記非乗車状態から前記乗車状態への遷移を検出した場合、
前記制御装置は、前記第3検出部により検出された前記第1操作部の操作位置に応じた前記作業装置の姿勢の設定値を演算し、当該設定値と、前記第2検出部により検出された前記作業装置の実際の姿勢とが対応していなければ、前記警告部により警告を出力し且つ、前記設定値と前記実際の昇降高さとが対応するように、前記連結装置により前記作業装置の姿勢を変更する請求項14に記載の農業機械。
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JPS6253281A (ja) * | 1985-09-02 | 1987-03-07 | Kubota Ltd | 遠隔操縦式作業車 |
JPS62236404A (ja) * | 1986-04-09 | 1987-10-16 | 株式会社クボタ | 自動耕深制御装置 |
JP2007252320A (ja) * | 2006-03-24 | 2007-10-04 | Iseki & Co Ltd | 乗用型苗植機 |
JP2018000156A (ja) * | 2016-07-07 | 2018-01-11 | 井関農機株式会社 | 作業車両 |
US20180338405A1 (en) * | 2017-05-26 | 2018-11-29 | Deere & Company | Autonomous or remote-controlled vehicle platform for spraying |
JP2019146544A (ja) * | 2018-02-28 | 2019-09-05 | 井関農機株式会社 | 作業車両 |
JP2020031565A (ja) | 2018-08-28 | 2020-03-05 | ヤンマー株式会社 | 作業車両用の自動走行システム |
-
2022
- 2022-10-27 WO PCT/JP2022/040138 patent/WO2023127268A1/ja active Application Filing
- 2022-10-27 CN CN202280073375.3A patent/CN118201481A/zh active Pending
- 2022-10-27 AU AU2022428247A patent/AU2022428247A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6253281A (ja) * | 1985-09-02 | 1987-03-07 | Kubota Ltd | 遠隔操縦式作業車 |
JPS62236404A (ja) * | 1986-04-09 | 1987-10-16 | 株式会社クボタ | 自動耕深制御装置 |
JP2007252320A (ja) * | 2006-03-24 | 2007-10-04 | Iseki & Co Ltd | 乗用型苗植機 |
JP2018000156A (ja) * | 2016-07-07 | 2018-01-11 | 井関農機株式会社 | 作業車両 |
US20180338405A1 (en) * | 2017-05-26 | 2018-11-29 | Deere & Company | Autonomous or remote-controlled vehicle platform for spraying |
JP2019146544A (ja) * | 2018-02-28 | 2019-09-05 | 井関農機株式会社 | 作業車両 |
JP2020031565A (ja) | 2018-08-28 | 2020-03-05 | ヤンマー株式会社 | 作業車両用の自動走行システム |
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