KR102283927B1 - Task vehicle control system - Google Patents

Abstract

The positional information acquisition unit 62 is configured to provide positional information of the robot tractor 1 that autonomously travels along a predetermined travel route, and the robot tractor 1 that travels on the subsequent side of the robot tractor 1 and cooperates with the robot tractor 1 . The position information of the manned tractor 1X which performs an operation|work is acquired. The separation distance specifying unit 63 specifies the separation distance between the robot tractor 1 and the manned tractor 1X. The emergency stop unit 65 stops the engine of the robot tractor 1 and makes the robot tractor 1 emergency stop when the separation distance exceeds the first threshold value. The separation distance adjustment unit 66 is configured to decelerate the robot tractor 1 or stop the engine when the separation distance is equal to or greater than a second threshold value smaller than the first threshold value and less than or equal to the first threshold value. to pause.

Description

Task vehicle control system

The present invention relates to a work vehicle control system for controlling the running of the work vehicle. Specifically, it relates to a work vehicle control system for controlling a separation distance between a first work vehicle and a second work vehicle.

BACKGROUND ART Conventionally, a vehicle control system for controlling a distance between two traveling vehicles is known. Patent Document 1 discloses a vehicle control system that is a system of this type.

The vehicle control system of Patent Document 1 includes a distance sensor mounted on a host vehicle to detect an inter-vehicle distance between the host vehicle and another vehicle, and within a preset inter-vehicle distance based on the inter-vehicle distance obtained by the distance sensor. an inter-vehicle distance determining unit for determining whether another vehicle has approached, wherein the inter-vehicle distance determining unit forcibly operates an inter-vehicle distance control device of the approaching vehicle when determining that the vehicle approaches within a preset inter-vehicle distance distance is ensured.

In Patent Document 1, according to this configuration, when another vehicle is traveling behind the host vehicle, even when the driver of the other vehicle performs reckless driving or drowsy driving, it can be controlled to be separated from the other vehicle by a sufficient distance. make it possible

Japanese Laid-Open Patent Publication No. 2006-24118

By the way, for example, in order to increase work efficiency in the case of performing agricultural work on a field, two or more work vehicles may cooperate with each other in one travel area to carry out work. For example, while autonomous driving (unmanned driving) is performed on the first working vehicle serving as the preceding side, the user manually driving the second working vehicle serving as the following side (manned driving), and using two working vehicles Methods of carrying out the work cooperatively are considered. In this example, wireless communication is enabled between the first work vehicle and the second work vehicle, and a user riding in the second work vehicle starts/stops autonomous driving with respect to the first work vehicle. It is designed to be directed.

In this case, if the separation distance (inter-vehicle distance) between the first work vehicle and the second work vehicle becomes too large, wireless communication between the first work vehicle and the second work vehicle is cut off, causing the first work vehicle to come to an emergency stop, or There is a possibility that the monitoring of the first work vehicle by a user who operates on the second work vehicle may not be sufficiently extended to every corner. In this respect, since the configuration of Patent Document 1 can only perform control to increase the inter-vehicle distance, the above problem cannot be solved.

The present invention has been made in view of the above circumstances, and a potential object thereof is to prevent the separation distance between the first work vehicle and the second work vehicle from becoming excessively large, thereby effectively preventing a situation in which the first work vehicle comes to an emergency stop. It is to provide a working vehicle control system that can

The problems to be solved by the present invention are as described above, and means for solving the problems and their effects will be described next.

According to an aspect of the present invention, there is provided a work vehicle control system having the following configuration. That is, this work vehicle control system includes a position information acquisition unit, a separation distance specifying unit, an emergency stop unit, and a separation distance adjustment unit. The location information acquisition unit includes location information of a first work vehicle that autonomously travels along a predetermined travel route, and performs work in cooperation with the first work vehicle while traveling on a subsequent side of the first work vehicle. The positional information of the second work vehicle is acquired. The separation distance specification information specifies a separation distance between the first work vehicle and the second work vehicle. The emergency stop unit makes an emergency stop of the first work vehicle when the separation distance exceeds a first threshold value. The separation distance adjusting unit is configured to decelerate the first work vehicle or to decelerate the first work vehicle when the separation distance is equal to or greater than a second threshold value smaller than the first threshold value and less than or equal to the first threshold value. to pause.

Thus, for example, by making the first threshold value a limit distance for wireless communication and setting the second threshold value to a distance slightly smaller than that, the separation distance between the first work vehicle and the second work vehicle is the limit distance for wireless communication. , the first work vehicle is stopped urgently, and the first work vehicle may be decelerated or temporarily stopped when the separation distance is increased to a certain extent, although not to the extent of emergency stop. Accordingly, it is possible to prevent the separation distance between the first work vehicle and the second work vehicle from becoming excessively large, to effectively prevent an emergency stop, and to improve work efficiency.

The above working vehicle control system preferably has the following configuration. That is, the separation distance adjusting unit is configured to temporarily set the first work vehicle when the separation distance is greater than or equal to a third threshold value greater than the second threshold value and smaller than the first threshold value and less than or equal to the first threshold value. stop Further, when the separation distance is equal to or greater than the second threshold value and less than the third threshold value, the separation distance adjusting unit decelerates the first work vehicle.

Accordingly, when the separation distance between the first work vehicle and the second work vehicle is not large enough to temporarily stop the first work vehicle, but is increased to a certain extent, the first work vehicle can be decelerated to, for example, continue the work. . Therefore, since the situation which becomes a temporary stop can be effectively prevented, damage to a packaging can be suppressed and work efficiency can be improved.

In the above work vehicle system, it is preferable to have the following configuration. That is, the work vehicle system includes a travel direction information acquisition unit configured to obtain travel direction information of the second work vehicle. When the first work vehicle is located on the opposite side of the traveling direction of the second work vehicle as viewed from the second work vehicle, the first work vehicle is set as the second threshold value when the traveling directions of both vehicles are the same. A second value smaller than the value is set as the second threshold value.

Thereby, the following advantages are conceivable. That is, in the process of carrying out work in cooperation, after the first work vehicle and the second work vehicle traveling in opposite directions intersect each other, the first work vehicle is viewed from the second work vehicle on the opposite side of the traveling direction of the second work vehicle. This location may occur. In this positional relationship, it becomes difficult for the first work vehicle to enter the field of view of a user riding on the second work vehicle. Therefore, in such a case, by decelerating or temporarily stopping the first work vehicle at a time when the separation distance becomes smaller than in the normal case, the user's monitoring of the first work vehicle is easily extended to every corner, so that smooth cooperative work is performed. can be realized

The above working vehicle control system preferably has the following configuration. That is, the travel path includes a plurality of work paths on which work is performed by the first work vehicle and a connection path for connecting the work paths. The separation distance adjusting unit may temporarily stop the first work vehicle on the connection path regardless of the separation distance when the traveling mode of the first work vehicle on the work route is a special mode. do.

Thereby, the following advantages are conceivable. That is, when the running mode of the first work vehicle is a special aspect different from normal, it is difficult for the second work vehicle to smoothly follow the first work vehicle. Therefore, in such a case, by temporarily stopping the first work vehicle on the connection path after, for example, traveling in the special mode is finished, confusion in keeping the first work vehicle and the second work vehicle in sync is prevented. can do.

The above working vehicle control system preferably has the following configuration. That is, the temporary stop is a stop mode in which travel and work of the first work vehicle can be resumed without requiring a predetermined initialization work. The emergency stop is a stop mode in which it is impossible to resume running and work of the first work vehicle unless the predetermined initialization work is performed.

In this way, it is possible to avoid as much as possible a situation in which an emergency stop in which the travel and work of the first work vehicle cannot be resumed unless the predetermined initialization work is performed. Therefore, work efficiency can be improved.

1 is a side view showing a robot tractor controlled by a work vehicle control system according to an embodiment of the present disclosure, and a manned tractor that performs work in cooperation with the robot tractor;
Figure 2 is a side view showing the overall configuration of the robot tractor.
3 is a plan view of the robot tractor;
Fig. 4 is a diagram showing a wireless communication terminal operated by a user and capable of wireless communication with a robot tractor;
Fig. 5 is a block diagram showing the main electrical configurations of a robot tractor, a manned tractor, and a wireless communication terminal;
Fig. 6 is a view showing a state in which a robot tractor and a manned tractor cooperate to perform work;
Fig. 7 is a flowchart showing the processing performed by the work vehicle control system in order to control the separation distance between the robot tractor and the manned tractor;
Fig. 8 is an explanatory diagram showing a relationship between a separation distance between a robot tractor and a manned tractor and control performed according to the separation distance;
It is a schematic diagram which shows the example of the direction and positional relationship of a robot tractor and a manned tractor.

Next, with reference to drawings, embodiment of this indication is described. Below, in each figure of a figure, the same code|symbol is attached|subjected to the same member, and overlapping description may be abbreviate|omitted. Moreover, the names of members etc. corresponding to the same code|symbol may be briefly rephrased, or may be rephrased with the name of a higher level concept or a lower level concept.

The present invention relates to a work vehicle control system for controlling the running of a work vehicle when a plurality of work vehicles are driven in a predetermined pavement to perform all or part of agricultural work in the pavement. In this embodiment, a tractor is described as an example as a work vehicle. However, as a work vehicle, in addition to a tractor, a rice transplanter, a combine, a civil engineering/construction work apparatus, a snow plow, etc., in addition to a passenger type work machine, a walking type work machine can also be used. Included. In this specification, autonomous driving means that the configuration related to the driving of the tractor is controlled by a control unit (ECU) included in the tractor and the tractor runs along a predetermined route, and autonomous operation means that the tractor is equipped with It means that the configuration related to the operation of the tractor is controlled by the control unit, and the tractor performs the operation along a predetermined route. On the other hand, manual travel and manual operation mean that each configuration included in the tractor is operated by the user, and travel and operation are performed.

In the following description, a tractor that operates autonomously and works autonomously is sometimes called an “unmanned (unmanned) tractor” or a “robot tractor”, and a tractor that is driven or operated manually is sometimes called a “manned tractor”. there is. When a part of the agricultural work in the field is performed by the unmanned tractor, the remaining agricultural work is performed by the manned tractor. Agricultural work in a single pavement is sometimes called cooperative work, tracking work, accompanying work, etc. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of operation by a user, and each structure shall be basically common. That is, even in an unmanned tractor, it is possible for a user to board (ride) and operate it (that is, it can be used as a manned tractor), or even a manned tractor, it is possible for the user to get off and perform autonomous driving and autonomous work (ie, as an unmanned tractor) can be used). In addition, as cooperative work of agricultural work, in addition to "executing agricultural work in a single pavement by an unmanned vehicle and a manned vehicle", "agricultural work in different pavements, such as adjacent pavements, execution by an unmanned vehicle or a manned vehicle” may be included.

Next, with reference to drawings, embodiment of this indication is described. 1 is a side view showing a robot tractor 1 controlled by a work vehicle control system 60 according to an embodiment of the present disclosure, and a manned tractor 1X that performs work in cooperation therewith. FIG. 2 is a side view showing the overall configuration of the robot tractor 1 . 3 is a plan view of the robot tractor 1 . 4 : is a figure which shows the radio|wireless communication terminal 46 which is operated by a user, and can communicate with the robot tractor 1 wirelessly. 5 is a block diagram showing the main electrical configurations of the robot tractor 1, the manned tractor 1X, and the radio communication terminal 46. As shown in FIG.

A work vehicle control system 60 according to an embodiment of the present disclosure controls the travel of the robot tractor 1 so as to adjust the separation distance L between the robot tractor 1 and the manned tractor 1X shown in FIG. 1 . is to control Each configuration of the work vehicle control system 60 is mainly provided in the robot tractor 1 as shown in FIG. 5 .

First, the robot tractor (hereinafter, simply referred to as "tractor") (1) will be mainly described with reference to FIGS. 2 and 3 .

The tractor 1 is provided with the traveling body 2 as a vehicle body part which autonomously travels in the inside of a pavement area. The working machine 3 shown in FIGS. 2 and 3 is detachably attached to the traveling body 2 . Examples of the work machine 3 include various work machines such as a tiller (manager), a plow, a fertilizing machine, a mower, and a planter. can be installed The traveling body 2 is configured such that the height and posture of the mounted work machine 3 can be changed.

The configuration of the tractor 1 will be described with reference to FIGS. 2 and 3 . As shown in FIG. 1, the traveling body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels 7 and 7, and the rear part has a pair of left and right rear wheels 8 and 8. is supported by

A bonnet 9 is disposed at the front of the traveling body 2 . In this bonnet 9, the engine 10, the fuel tank (not shown), etc. which are a drive source of the tractor 1 are accommodated. Although this engine 10 can be comprised, for example with a diesel engine, it is not limited to this, For example, you may comprise with a gasoline engine. Moreover, you may employ|adopt an electric motor as a drive source in addition to, or instead of the engine 10.

The cabin 11 for a user to board is arrange|positioned behind the bonnet 9. As shown in FIG. Inside this cabin 11, the steering handle 12 for a user to perform a steering operation, the seat 13 in which a user can sit, and various operation devices for performing various operations are mainly provided. However, the work vehicle is not limited to the one with the cabin 11 , and does not need to include the cabin 11 .

As said operation apparatus, the monitor apparatus 14 shown in FIG. 3, the throttle lever 15, the main gear lever 27, the some hydraulic operation lever 16, the PTO switch 17, the PTO shift lever 18 , the auxiliary transmission lever 19, and the work machine lifting switch 28, etc. are mentioned as examples. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering wheel 12 .

The monitor apparatus 14 is comprised so that various information of the tractor 1 can be displayed. The throttle lever 15 is an operation tool for setting the output rotation speed of the engine 10 . The main gear lever 27 is an operation tool for steplessly changing the traveling speed of the tractor 1 . The hydraulic operation lever 16 is an operation tool for switching operation of the hydraulic external blow-out valve which abbreviate|omitted illustration. The PTO switch 17 is an operation tool for switching operation of transmission/disconnection of power to a PTO shaft (power transmission shaft) not shown, protruding from the rear end of the transmission 22 . That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft, and the working machine 3 is driven, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is Blocked, the PTO shaft does not rotate, and the working machine 3 is stopped. The PTO shift lever 18 is an operation tool for changing the motive power input to the work machine 3 , specifically, for changing the rotation speed of the PTO shaft. The auxiliary transmission lever 19 is an operation tool for switching the speed ratio of the traveling auxiliary transmission gear mechanism in the transmission 22 . The work machine raising/lowering switch 28 is an operation tool for raising/lowering the height of the work machine 3 attached to the traveling body 2 within a predetermined range.

As shown in FIG. 2 , the chassis 20 of the tractor 1 is provided under the traveling body 2 . The chassis 20 includes a body frame 21 , a transmission 22 , a front axle 23 , a rear axle 24 , and the like.

The body frame 21 is a support member in the front part of the tractor 1, and is supporting the engine 10 directly or via a vibration-proof member. The transmission 22 changes power from the engine 10 and transmits it to the front axle 23 and the rear axle 24 . The front axle 23 is configured to transmit power input from the transmission 22 to the front wheels 7 . The rear axle 24 is configured to transmit power input from the transmission 22 to the rear wheels 8 .

As shown in FIG. 5 , the tractor 1 is a control unit for controlling the operation of the traveling body 2 (forward, backward, stopping, turning, etc.) and the operation of the work machine 3 (elevating, driving, stopping, etc.) (4) is provided. The control unit 4 is configured with a CPU, ROM, RAM, I/O, etc. (not shown), and the CPU can read and output various programs and the like from the ROM and execute them. The control unit 4 includes a controller for controlling each configuration (for example, the engine 10, etc.) included in the tractor 1, and a radio communication unit 40 capable of radio communication with other radio communication devices, respectively. electrically connected.

As the controller, the tractor 1 includes at least an engine controller, a vehicle speed controller, a steering controller, and an elevation controller (not shown). Each controller can control each configuration of the tractor 1 according to an electric signal from the control unit 4 .

The engine controller controls the rotation speed of the engine 10 and the like. The governor apparatus 41 provided with the actuator which abbreviate|omits illustration which changes the rotation speed of the said engine 10 specifically, is provided in the engine 10. As shown in FIG. The engine controller can control the rotation speed of the engine 10 by controlling the governor device 41 . Moreover, the fuel injection device 52 which adjusts the injection timing and injection amount of the fuel injected (supplied) in the combustion chamber of the engine 10 is attached to the engine 10. As shown in FIG. By controlling the fuel injection device 52 , the engine controller can stop supply of fuel to the engine 10 , and stop the drive of the engine 10 .

The vehicle speed controller controls the vehicle speed of the tractor 1 . Specifically, the transmission 22 is provided with a transmission 42 which is a hydraulic continuously variable transmission of a movable swash plate type, for example. The vehicle speed controller can change the speed ratio of the transmission 22 by changing the angle of the swash plate of the transmission 42 by an actuator (not shown), thereby realizing a desired vehicle speed.

The steering controller controls the rotation angle of the steering handle 12 . Specifically, the steering actuator 43 is formed in the midway part of the rotating shaft (steering shaft) of the steering handle 12. As shown in FIG. In this configuration, when the tractor 1 travels (as an unmanned tractor) on a predetermined path, the control unit 4 calculates an appropriate rotation angle of the steering wheel 12 so that the tractor 1 travels along the path. and output a control signal to the steering controller to obtain the obtained rotation angle. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4 to control the rotation angle of the steering handle 12 .

The raising/lowering controller controls raising/lowering of the work machine 3 . Specifically, the tractor 1 is provided with a lifting actuator 44 made of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism connecting the work machine 3 to the traveling body 2 . In this configuration, the lifting controller drives the lifting actuator 44 based on a control signal input from the control unit 4 to appropriately lift and lower the work machine 3, thereby performing agricultural work with the work machine 3 at a desired height. can be carried out. By this control, the working machine 3 can be supported at desired heights, such as a evacuation height (a height at which agricultural work is not performed) and a working height (a height at which agricultural work is performed).

In addition, since the plurality of controllers not shown above control each unit such as the engine 10 based on the signal input from the control unit 4, the control unit 4 substantially controls each unit. can figure out

As for the tractor 1 provided with the control part 4 as mentioned above, each part (traveling body) of the tractor 1 by the said control part 4 by a user boarding in the cabin 11 and performing various operations. 2), the work machine 3 etc.) are controlled, and it is comprised so that agricultural work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be autonomously driven and operated autonomously by a predetermined control signal output from the wireless communication terminal 46 without the user riding on the tractor 1, there is.

As specifically, shown in FIG. 5 etc., the tractor 1 is equipped with various structures for enabling autonomous driving and autonomous operation. For example, the tractor 1 is provided with the structure of the positioning antenna 6 etc. which are necessary in order to acquire the positional information of itself (traveling body 2) based on a positioning system. With such a structure, the tractor 1 acquires its own positional information based on a positioning system, and it becomes possible to drive|work autonomously on a pavement.

Next, in order to enable autonomous driving, the structure with which the tractor 1 is equipped is demonstrated in detail with reference to FIG. 5 etc. FIG. Specifically, the tractor 1 of the present embodiment includes an antenna 6 for positioning, an antenna 48 for radio communication, a storage unit 55 , and the like. Moreover, in addition to these, the tractor 1 is equipped with the inertia measurement unit (IMU) abbreviate|omitted from illustration which can specify the attitude|position (roll angle, pitch angle, yaw angle) of the traveling body 2 .

The positioning antenna 6 receives signals from positioning satellites constituting positioning systems, such as a satellite positioning system (GNSS), for example. As shown in FIG. 2, the antenna 6 for positioning is arrange|positioned on the upper surface of the roof 92 with which the cabin 11 of the tractor 1 is equipped. The positioning signal received by the positioning antenna 6 is input to the positional information calculating unit 49 shown in FIG. 5 . The positional information calculation unit 49 calculates the positional information of the traveling body 2 (strictly, the positioning antenna 6) of the tractor 1 as latitude/longitude information, for example. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous driving.

In addition, although the high-precision satellite positioning system using the GNSS-RTK method is used in this embodiment, it is not limited to this, Another positioning system may be used as long as high-accuracy position coordinates are obtained. For example, one may consider using a relative positioning scheme (DGPS), or a geostationary satellite navigation augmentation system (SBAS).

The radio communication antenna 48 receives a signal from the radio communication terminal 46 operated by the user or transmits a signal to the radio communication terminal 46 . As shown in FIG. 2, the antenna 48 for radio|wireless communication is arrange|positioned on the upper surface of the roof 92 with which the cabin 11 of the tractor 1 is equipped. The signal from the radio communication terminal 46 received by the radio communication antenna 48 is signal-processed by the radio communication unit 40 shown in FIG. 5 and input to the control unit 4 . Further, the signal transmitted from the control unit 4 to the radio communication terminal 46 is signal-processed by the radio communication unit 40 , and then transmitted from the radio communication antenna 48 and received at the radio communication terminal 46 .

The storage unit 55 includes a linear or broken line work path (a path for performing agricultural work) P1 that is a path for autonomously driving the tractor 1, and an arc-shaped connection path P2 for turning. It is a memory for storing a travel route (path) P formed by being connected alternately, or for storing a transition (travel trajectory) of the position of the tractor 1 (strictly, the positioning antenna 6) during autonomous driving. . In addition, the memory|storage part 55 memorize|stores various information required in order to make the tractor 1 self-driving/autonomous work.

The radio communication terminal 46 is configured as a tablet-type personal computer as shown in FIG. 4 . In the present embodiment, the user who operates the manned tractor 1X has the radio communication terminal 46 and boards the manned tractor 1X, and for example, the radio communication terminal 46 is properly installed in the manned tractor 1X. Set and operate on the support of The user can confirm with reference to information displayed on the display 37 of the wireless communication terminal 46 (for example, information from various sensors mounted on the robot tractor 1). In addition, the user operates a hardware key 38 arranged in the vicinity of the display 37 and a touch panel (not shown) arranged so as to cover the display 37 to the control unit 4 of the tractor 1, It is possible to transmit a control signal for controlling the tractor 1 . In addition, as the control signal output from the wireless communication terminal 46 to the control unit 4, a signal related to the route of autonomous driving/autonomous work, a start signal, a stop signal, an end signal, and an emergency stop signal for autonomous driving/autonomous work. , a pause signal, and a resume signal after pause, but is not limited thereto.

The wireless communication terminal 46 includes a display control unit 31 that controls to appropriately switch the screen displayed on the display 37, a route generator 47 that generates a travel route, and a user-registered pavement and travel A storage unit 32 or the like is provided for storing area information and travel path information generated by the path generating unit 47 .

In addition, the radio|wireless communication terminal 46 is not limited to a tablet-type personal computer, It can replace with this, and it can also be comprised with a notebook-type personal computer, for example. Alternatively, the monitor device mounted on the manned tractor 1X that cooperates with the robot tractor 1 can also be used as a wireless communication terminal.

The tractor 1 configured in this way can perform agricultural work with the work machine 3 while traveling along a path on the pavement based on a user's instruction using the wireless communication terminal 46 .

Specifically, the user can generate the travel route (path) P as shown in FIG. 6 by the route generating unit 47 by performing various settings using the wireless communication terminal 46 . This travel route P connects the straight or broken-line work path (the path on which the tractor 1 performs agricultural work) P1 on which agricultural work is performed, and the ends of the work route. It is comprised as a series of paths which connected the circular arc-shaped connection path|route (path in which the tractor 1 turns) P2 alternately. Then, the information of the travel route P generated in this way is stored in the storage unit 32 and then input (transferred) to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 . Then, by performing a predetermined operation, the control unit 4 controls the tractor 1, and the work machine 3 can autonomously operate the tractor 1 while autonomously traveling along the travel path P.

As shown in FIG. 6 , in the present embodiment, a manned tractor (second work vehicle) cooperates with a robot tractor (first work vehicle) 1 that performs autonomous driving and autonomous work along the travel route P. ) (1X) performs manual driving and manual operation. 6 : is a figure which shows a mode that the robot tractor 1 and the manned tractor 1X cooperate and perform an operation|work. Specifically, in the present embodiment, among the two adjacent working paths P1, the robot tractor 1 is on one working path P1 and the manned tractor 1X is on the other working path P1, respectively. Do the work while driving.

In this cooperative operation, the robot tractor 1 travels the preceding side, and the manned tractor 1X travels the following side so that the user riding on the manned tractor 1X can visually recognize the robot tractor 1 directly. do. In other words, the manned tractor 1X travels behind the robot tractor 1 obliquely to the right or obliquely to the left. A user riding on the manned tractor 1X performs manual travel and manual work, monitors the robot tractor 1 on the preceding side, operates the radio communication terminal 46 as necessary, and operates the robot tractor 1 ) for autonomous driving.

In the present embodiment, as shown in Fig. 5, also in the manned tractor 1X, the positioning antenna 6, the position information calculation unit 49, the radio communication unit 40, the radio communication antenna 48, etc. It is available. Moreover, the manned tractor 1X is equipped with the positional information output part 58 which can output the positional information acquired by the positional information calculation part 49 to the robot tractor 1 side. With this configuration, the manned tractor 1X can acquire the position of itself (traveling body 2) based on the positioning system, and transmit the position to the robot tractor 1 by wireless communication.

And, in the robot tractor 1 of this embodiment, as shown in FIG. 5, the work vehicle for controlling the traveling of the robot tractor 1 so that the separation distance (inter-vehicle distance) between it and the manned tractor 1X may be adjusted. A control system 60 is provided. When the separation distance between the robot tractor 1 and the manned tractor 1X becomes excessively large, the work vehicle control system 60 controls not to increase the separation distance anymore or to reduce it.

Hereinafter, the configuration of the work vehicle control system 60 will be described in detail with reference to FIG. 5 . The work vehicle control system 60 includes a position information acquisition unit 62 , a separation distance specifying unit 63 , a deceleration stop determination unit 64 , an emergency stop unit 65 , a separation distance adjustment unit 66 , and a traveling direction. An information acquisition unit 67 and the like are provided.

The control unit 4 of the robot tractor 1 is configured as a computer as described above, and includes a CPU, ROM, RAM, and the like. Moreover, in the said ROM, the appropriate program etc. for making the robot tractor 1 autonomously run are memorize|stored. Through this software and hardware cooperation, the position information acquisition unit 62, the separation distance specifying unit 63, the deceleration stop determination unit 64, the emergency stop unit 65, the separation distance adjustment unit 66, and the traveling direction An information acquisition unit 67 and the like are configured.

The positional information acquisition part 62 shown in FIG. 5 acquires the positional information of the robot tractor 1 and the manned tractor 1X. The position information acquisition unit 62 acquires the position information of the robot tractor 1 calculated by the position information calculation unit 49 of the robot tractor 1 through the control unit 4 . Further, the position information acquisition unit 62 transmits the position information of the manned tractor 1X calculated by the position information calculation unit 49 of the manned tractor 1X to the position information output unit 58 and the antenna 48 for radio communication. ), the wireless communication unit 40, the control unit 4, and the like.

The separation distance specifying unit 63 specifies the separation distance (inter-vehicle distance) between the robot tractor 1 and the manned tractor 1X. The separation distance specifying unit 63 is a separation distance between the robot tractor 1 and the manned tractor 1X based on the position information of the robot tractor 1 and the manned tractor 1X acquired by the positional information acquisition unit 62 . is obtained (specified) by calculation.

The traveling direction information acquisition unit 67 acquires traveling direction information of the robot tractor 1 and the manned tractor 1X. The traveling direction information acquisition unit 67 calculates the traveling direction of the robot tractor 1 based on the transition of the position of the robot tractor 1 acquired by the positional information acquisition unit 62 . Moreover, the traveling direction information acquisition part 67 calculates the traveling direction of the manned tractor 1X based on the transition of the position of the manned tractor 1X acquired by the positional information acquisition part 62. FIG.

The deceleration stop determination unit 64 determines whether control to make an emergency stop of the robot tractor 1 is performed, control to temporarily stop, control to decelerate, or neither control of them is to judge Here, the temporary stop refers to a stop mode in which travel and work of the robot tractor 1 can be resumed without requiring a predetermined initialization work. On the other hand, the emergency stop refers to a stop mode in which it is impossible to restart the traveling and work of the robot tractor 1 unless a predetermined initialization operation is performed.

The deceleration stop determination unit 64 includes the separation distance between the robot tractor 1 and the manned tractor 1X obtained from the separation distance specifying unit 63, and the robot tractor 1 obtained from the traveling direction information acquisition unit 67, and Based on the traveling direction information of the manned tractor 1X, whether to perform the control to make an emergency stop of the robot tractor 1, to perform the control to temporarily stop, or to perform the control to decelerate, or any of those control diagrams Decide whether or not to do it.

The emergency stop unit 65 performs control to emergency stop the running of the robot tractor 1 . Specifically, the emergency stop unit 65 of the present embodiment adjusts the angle of the swash plate by controlling the transmission 42 by the control unit 4, and sets the vehicle speed to zero, thereby causing the robot tractor 1 to travel. to stop At approximately the same time as this, the emergency stop section 65 cuts off the transmission of power to the PTO shaft of the robot tractor 1 . Therefore, in the present embodiment, when the robot tractor 1 is suddenly stopped by the control of the emergency stop unit 65, the user moves to the place where the robot tractor 1 stopped, and the PTO switch 17 Unless the initialization operation (predetermined initialization operation) which makes it possible to resume transmission of power to the PTO shaft by operating the back is not performed, the traveling and operation of the robot tractor 1 cannot be resumed.

The separation distance adjustment unit 66 performs control to decelerate the traveling speed of the robot tractor 1 or temporarily stop the traveling. Specifically, the separation distance adjusting unit 66 of the present embodiment adjusts the angle of the swash plate by controlling the transmission 42 by the control unit 4, and changes the speed ratio to the deceleration side or to zero. In addition, at this time, the separation distance adjustment part 66 does not block transmission of the motive power with respect to the PTO axis|shaft of the robot tractor 1 . Therefore, in the present embodiment, when the robot tractor 1 is temporarily stopped under the control of the separation distance adjustment unit 66, the user operates the radio communication terminal 46 without performing the above-described initialization operation. By outputting the work restart signal to the control unit 4 , the traveling and work of the robot tractor 1 can be easily resumed.

Next, the flow of processing performed by the work vehicle control system 60 or the like in order to prevent the separation distance between the robot tractor 1 and the manned tractor 1X from becoming too large is described in detail with reference to FIGS. 7 to 9 . explain in detail 7 is a flowchart showing the processing performed by the work vehicle control system 60 to control the separation distance L between the robot tractor 1 and the manned tractor 1X. 8 : is explanatory drawing which shows the relationship between the separation distance of the robot tractor 1 and the manned tractor 1X, and the control performed according to the said separation distance. 9 : is a schematic diagram which shows the example of the direction and positional relationship of the robot tractor 1 and the manned tractor 1X.

First, in step S101 shown in FIG. 7 , the work vehicle control system 60 determines whether at least one of the robot tractor 1 or the manned tractor 1X is located on the connection path (turning circuit) P2. decide whether

When either or both of the robot tractor 1 or the manned tractor 1X are located on the connection path P2 (step S101, yes), the progress of at least one of the robot tractor 1 and the manned tractor 1X Since the direction is highly likely to change largely after a short time, the significance of adjusting the separation distance between the robot tractor 1 and the manned tractor 1X is insufficient. So, in this case, the working vehicle control system 60 does not perform adjustment control of the separation distance, and until both the robot tractor 1 and the manned tractor 1X are positioned on the working path P1. wait

On the other hand, as a result of the determination in step S101, when neither the robot tractor 1 nor the manned tractor 1X is located on the connection path P2 (step S101, NO), the work vehicle control system 60: The processing after step S102 is performed.

In step S102, the work vehicle control system 60 determines whether the robot tractor 1 is traveling in a special mode. Running in a special mode means running in an aspect different from normal, and as a specific example, when a dummy run run in which a work route is run without performing agricultural work is performed, the work route is run every few columns A case in which the number of skips indicating whether or not the vehicle is running is changed from normal, and a case in which the vehicle travels on a path bypassing the obstacle in order to avoid the obstacle is considered. Specifically, the work vehicle control system 60 acquires, through the control unit 4 , the operating state of the lifting actuator 44 , the transition of position information of the robot tractor 1 , and the like, thereby driving in a special mode. Determine whether this is being done or not.

As a result of the determination in step S102, if the robot tractor 1 is traveling in a special mode (step S102, YES), the work vehicle control system 60 sends the robot tractor 1 to the next It is temporarily stopped at the end point of the connection path P2 (that is, the starting point of the work path P1 at which the next operation is performed) (step S103). Specifically, the separation distance adjusting unit 66 of the work vehicle control system 60 is configured to temporarily stop at the end point of the connection path P2 to which the robot tractor 1 arrives next, via the control unit 4 , the transmission device. (42) to change the speed ratio to 0 in a timely manner. As a result, even if the manned tractor 1X following the robot tractor 1 traveling in a special manner does not proceed smoothly, the robot tractor 1 temporarily stops at the end point of the connection path P2 and waits. (1X) can overtake the robot tractor (1). In addition, in this embodiment, since the robot tractor 1 temporarily stops at the starting point of the work path P1 for starting the work next, the user of the manned tractor 1X can select which work path P1 next. You can easily figure out whether the work is being done. The user outputs a work resume signal to the control unit 4 by operating the radio communication terminal 46 at an appropriate timing to resume running and work of the robot tractor 1 .

On the other hand, as a result of the determination in step S102, when the robot tractor 1 is not in a special mode and is running normally (step S102, NO), the work vehicle control system 60 is configured to cooperate with the robot tractor 1 In order to control the traveling of the robot tractor 1 according to the separation distance and the traveling direction of the manned tractor 1X, the processing shifts to the processing after step S104.

In step S104 , the traveling direction information acquisition unit 67 of the work vehicle control system 60 determines whether the traveling direction of the robot tractor 1 and the traveling direction of the manned tractor 1X are the same.

As a result of the determination in step S104, when the traveling directions of the robot tractor 1 and the manned tractor 1X are the same as in FIG. 9(a) (step S104, yes), in step S105, the work vehicle control system 60 The separation distance specifying unit 63 of , based on the position information of the robot tractor 1 and the manned tractor 1X acquired by the positional information acquisition unit 62, the separation between the robot tractor 1 and the manned tractor 1X The distance L is specified (calculated) and acquired.

In step S106 , the deceleration stop determination unit 64 of the work vehicle control system 60 determines whether the separation distance L exceeds a first threshold value. In this embodiment, as shown in FIG. 8, as a 1st threshold value, if the distance further increases, the wireless communication limit distance between the robot tractor 1 and the manned tractor 1X may be cut off. (for example, 100 m) is set.

When the separation distance L exceeds the first threshold in the determination of step S106 (step S106, YES), the emergency stop unit 65 of the work vehicle control system 60 is configured to operate the robot tractor 1 . control to emergency stop is performed (step S107). Specifically, the emergency stop unit 65 controls the transmission 42 via the control unit 4 to set the vehicle speed to zero and immediately stop the traveling of the robot tractor 1 . Thereby, when the separation distance L between the robot tractor 1 and the manned tractor 1X exceeds the limit distance of wireless communication, since the robot tractor 1 can be immediately stopped immediately, the manned tractor 1X It is possible to prevent the communication with the user from being cut off or the user's monitoring from reaching every nook and cranny. Also, at this time, the working vehicle control system 60 transmits a signal to the display control unit 31 of the wireless communication terminal 46, and displays the signal on the display 37 of the wireless communication terminal 46, for example, “ A notification message such as "The robot tractor has stopped urgently because the distance between vehicles is too large" may be displayed. In addition, after the robot tractor 1 is urgently stopped, in order to resume running and work, the user gets off the manned tractor 1X, moves to the place where the robot tractor 1 is arranged, and performs the above initialization work. There is a need.

On the other hand, in the determination of step S106, when the separation distance L is equal to or less than the first threshold value (NO in step S106), the deceleration stop determination unit 64 of the work vehicle control system 60 determines the separation distance L It is determined whether or not is equal to or greater than the third threshold and less than or equal to the first threshold (step S108).

As a result of the determination in step S108, when the separation distance L is equal to or greater than the third threshold and equal to or less than the first threshold (step S108, YES), the separation distance adjusting unit 66 of the work vehicle control system 60 is configured to (1) is controlled to temporarily stop (step S109). Specifically, the separation distance adjusting unit 66 controls the transmission 42 via the control unit 4 to set the speed ratio to zero. Accordingly, in the present embodiment, when the distance L between the robot tractor 1 and the manned tractor 1X is not as much as the limit distance of wireless communication, but is increased to some extent (for example, 90 m or more and 100 m or less. That is, in the present embodiment, the third threshold value is set to 90 m.), the robot tractor 1 can be temporarily stopped, and the distance between the robot tractor 1 and the manned tractor 1X ( It is possible to prevent in advance the situation in which L) becomes larger and the robot tractor 1 has to be stopped in an emergency. Also, at this time, the working vehicle control system 60 transmits a signal to the display control unit 31 of the wireless communication terminal 46, and displays the signal on the display 37 of the wireless communication terminal 46, for example, “ A notification message such as "The robot tractor has stopped temporarily because the distance between vehicles is large" may be displayed. When the robot tractor 1 temporarily stops and then resumes traveling and work, it is sufficient that the user operates the wireless communication terminal 46 to output a work resume signal to the control unit 4 .

On the other hand, as a result of the determination of step S108, when the separation distance L is less than the third threshold (step S107, NO), in step S110, the deceleration stop determination unit 64 determines that the separation distance L is the second It is determined whether the threshold value is greater than or equal to the third threshold value. In the present embodiment, the second threshold value is set to an upper limit value (eg, 80 m) of an appropriate distance as the separation distance between the robot tractor 1 and the manned tractor 1X.

As a result of the determination in step S110, when the separation distance L is equal to or greater than the second threshold value and less than the third threshold value (step S110, YES), the deceleration stop determination unit 64 performs control to decelerate the robot tractor 1 carried out (step S111). Specifically, the separation distance adjusting unit 66 changes the speed ratio to the deceleration side by controlling the transmission 42 via the control unit 4 . Thereby, when the separation distance L between the robot tractor 1 and the manned tractor 1X is slightly large (though not enough to temporarily stop the robot tractor 1), the robot tractor 1 can be decelerated because , it can suppress that the separation distance L between the robot tractor 1 and the manned tractor 1X becomes large any longer. Also, at this time, the working vehicle control system 60 transmits a signal to the display control unit 31 of the wireless communication terminal 46, and displays the signal on the display 37 of the wireless communication terminal 46, for example, “ It is also possible to display a notification message such as "The robot tractor has decelerated because the distance between vehicles is slightly large."

On the other hand, as a result of the determination in step S110, when the separation distance L is less than the second threshold (step S110, NO), it is determined that the separation distance L between the robot tractor 1 and the manned tractor 1X is an appropriate size. it means. Accordingly, in this case, the working vehicle control system 60 does not cause the robot tractor 1 to decelerate or stop, and does not specifically give instructions to the emergency stop unit 65 or the separation distance adjustment unit 66, and It returns to the process of S101.

As a result of the determination in step S104, when the traveling directions of the robot tractor 1 and the manned tractor 1X are different (step S104, NO), the work vehicle control system 60, in step S112, the manned tractor 1X It is judged whether or not the robot tractor 1 is located on the opposite side (rear side) to the advancing direction of the said manned tractor 1X as seen from this.

As a result of the judgment in step S112, as shown in Fig. 9(c), when the robot tractor 1 is located on the opposite side of the traveling direction of the manned tractor 1X as viewed from the manned tractor 1X (Step S112, Yes) , it is difficult for the robot tractor 1 to enter the user's field of vision, and the distance between the vehicles of both vehicles is rapidly increased, and there is a fear that the user's monitoring may not reach every corner. So, in this case, the working vehicle control system 60 sets a value (second value. eg 5 m) smaller than the normal value (first value, eg, 80 m) as the second threshold value. set (step S113). As a result, the robot tractor 1 at the point in time when the distance between the vehicles of both vehicles is further apart by the distance L (for example, 5 m) smaller than when the traveling directions of the robot tractor 1 and the manned tractor 1X are in the same direction. ) can be decelerated, effectively preventing the user's monitoring from reaching every corner.

On the other hand, as a result of the judgment in step S112, when the robot tractor 1 is positioned in the traveling direction of the manned tractor 1X as viewed from the manned tractor 1X as shown in Fig. 9(b), the user can use the robot tractor ( 1) can be easily recognized, and it is difficult to assume that the inter-vehicle distance between the two vehicles becomes excessively large. Therefore, in this case, the work vehicle control system 60 does not perform control to adjust the separation distance, and returns to step S101.

In the present embodiment, by performing the above-described control by the work vehicle control system 60 , it is possible to prevent the separation distance between the robot tractor 1 and the manned tractor 1X from becoming too large. That is, as shown in FIG. 8, when the separation distance L between the robot tractor 1 and the manned tractor 1X becomes the limit distance of wireless communication (when the first threshold value is exceeded), the robot tractor 1 ) to make an emergency stop. On the other hand, if the separation distance L is not sufficient to cause an emergency stop, but is larger than the second threshold value and is less than or equal to the first threshold value, the robot tractor 1 is decelerated or temporarily stopped. . Thereby, while preventing the separation distance between the robot tractor 1 and the manned tractor 1X from becoming excessively large, it is possible to effectively prevent an emergency stop in which traveling and work cannot be resumed if the user does not perform a predetermined initialization operation. Therefore, work efficiency can be improved.

In addition, in the present embodiment, since the above-described control is performed by the work vehicle control system 60 , after the robot tractor 1 travels in a special mode, the robot tractor 1 operates It stops temporarily at the end point of the next connection route, waits for the user's instruction, and starts the next driving/work. Thereby, when the robot tractor 1 travels in a special mode, it does not progress smoothly because the user who operates the manned tractor 1X is clumsy, and until the manned tractor 1X approaches the robot tractor 1 . The robot tractor 1 can be temporarily stopped. Accordingly, it is possible to prevent confusion of keeping the robot tractor 1 and the manned tractor 1X from being confused, and to realize a smooth cooperative operation.

As described above, the working vehicle control system 60 of the present embodiment includes the position information acquisition unit 62 , the separation distance specifying unit 63 , the emergency stop unit 65 , and the separation distance adjustment unit 66 . ) is provided. The positional information acquisition unit 62 includes positional information of the robot tractor 1 that autonomously travels along a predetermined travel path P, and the robot tractor 1 traveling on the following side of the robot tractor 1 ) to acquire the position information of the manned tractor 1X that performs the work in cooperation with the . The separation distance specifying unit 63 specifies the separation distance L between the robot tractor 1 and the manned tractor 1X. The emergency stop part 65 makes the robot tractor 1 emergency stop, when the separation distance L exceeds a 1st threshold value. The separation distance adjustment unit 66 decelerates the robot tractor 1 or when the separation distance L is equal to or greater than a second threshold value smaller than the first threshold value and is less than or equal to the first threshold value, the robot tractor 1 or the robot tractor ( 1) is temporarily stopped.

Thereby, for example, by making the first threshold the limit distance of wireless communication (eg 100 m) and the second threshold value at a distance slightly smaller than that (eg 80 m), the robot tractor When the distance L between (1) and the manned tractor 1X becomes the limit distance for wireless communication, the robot tractor 1 is stopped and the distance L is increased to some extent, although it is not enough to make an emergency stop. In this case, the robot tractor 1 can be decelerated or temporarily stopped. Therefore, while preventing the separation distance L between the robot tractor 1 and the manned tractor 1X from becoming too large, a predetermined initialization operation such as operation of the PTO switch 17 is required at the time of resumption of work. can be effectively prevented, so that work efficiency can be improved.

In addition, in the working vehicle control system 60 of the present embodiment, the separation distance adjusting unit 66 is configured such that the separation distance L is greater than or equal to a third threshold value greater than the second threshold value and smaller than the first threshold value, Moreover, when it is below a 1st threshold value, the robot tractor 1 is stopped temporarily. Moreover, the separation distance adjustment part 66 decelerates the robot tractor 1, when the separation distance L is less than a 3rd threshold value while being more than a 2nd threshold value.

Accordingly, when the distance L between the robot tractor 1 and the manned tractor 1X is not large enough to temporarily stop the robot tractor 1, but is increased to some extent (for example, 80 m or more and less than 90 m) ), the robot tractor 1 can be decelerated and, for example, the operation can be continued. Therefore, since the situation which becomes a temporary stop can be effectively prevented, a packaging can be prevented from being damaged, and work efficiency can be improved.

Moreover, the working vehicle control system 60 of this embodiment is provided with the traveling direction information acquisition part 67 which acquires traveling direction information of the manned tractor 1X. When the robot tractor 1 is positioned on the opposite side of the traveling direction of the manned tractor 1X as viewed from the manned tractor 1X, the working vehicle control system 60 is configured to detect when the traveling directions of both vehicles are the same. A second value (eg, 5 m) that is smaller than a first value (eg, 80 m) set as the second threshold is set as the second threshold.

Thereby, the following effect appears. That is, in the process of carrying out a work cooperatively, after the robot tractor 1 and the manned tractor 1X traveling in opposite directions cross each other, as shown in FIG.9(c), as seen from the manned tractor 1X, the manned tractor There is a case where the robot tractor 1 is located on the opposite side of the traveling direction of (1X). In this positional relationship, it becomes difficult for the robot tractor 1 to enter into the visual field of the user boarding the manned tractor 1X. Therefore, in such a case, by decelerating the robot tractor 1 when the separation distance becomes a smaller separation distance (5 m) than a normal case, the user's monitoring of the robot tractor 1 is easy to reach every corner. Therefore, smooth cooperative work can be realized.

In addition, in the work vehicle control system 60 of the present embodiment, the travel path P connects a plurality of work paths P1 in which work is performed by the robot tractor 1 and each work path P1. and a connection path P2. When the traveling mode of the robot tractor 1 on the working route P1 is a special mode, the separation distance adjustment unit 66 is configured to move the robot tractor (1) on the connection route (P2) regardless of the separation distance (L). It is possible to temporarily stop 1).

Thereby, the following effect appears. That is, when the traveling mode of the robot tractor 1 is a special mode different from normal, it is difficult for the manned tractor 1X to follow the robot tractor 1 smoothly. Therefore, in such a case, the robot tractor 1 is temporarily stopped on the connection path P2 after the traveling in the special mode is finished, for example, to assist the robot tractor 1 and the manned tractor 1X. It is possible to avoid confusion in fitting the .

In addition, in the work vehicle control system 60 of the present embodiment, the temporary stop is a stop mode in which travel and work of the robot tractor 1 can be resumed without requiring a predetermined initialization work. An emergency stop is a stop mode in which it is impossible to restart the traveling and operation|work of the robot tractor 1 unless a predetermined|prescribed initialization operation|work is performed.

Thereby, unless a predetermined initialization operation (manipulation of the PTO switch 17, etc.) is performed, the situation which becomes an emergency stop in which the traveling and operation|work of the robot tractor 1 cannot resume can be avoided as much as possible. Therefore, work efficiency can be improved.

Although preferred embodiment of this invention was described above, the said structure can be changed as follows, for example.

In the above embodiment, the work vehicle control system 60 is configured to, when the separation distance L between the robot tractor 1 and the manned tractor 1X is equal to or greater than the second threshold and less than the third threshold, the robot tractor 1 ) to decelerate (reduce the vehicle speed), but instead of this, even when the separation distance L is equal to or greater than the second threshold and less than the third threshold, the separation distance L is equal to or greater than the third threshold and Similar to the case where it is below the threshold value, it is good also as making the robot tractor 1 stop temporarily. Alternatively, instead of this, when the separation distance L is equal to or greater than the second threshold value and less than the third threshold value, only the notification informing the user of the message (message indicating that the inter-vehicle distance is slightly large) may be performed.

In the above embodiment, when the separation distance L becomes excessively large, the work vehicle control system 60 immediately stops the robot tractor 1 temporarily, makes an emergency stop, or the like. However, the present invention is not limited thereto, and when the deceleration stop determination unit 64 determines that the separation distance L has become too large, the robot tractor 1 is next on the connection path P2 to which the robot tractor 1 arrives. ) may be temporarily stopped or emergency stopped. When comprised in this way, it can be made so that the deterioration of the field accompanying having stopped the robot tractor 1, etc. do not affect the growth etc. of crops in a field. In addition, when the speed of at least one of the robot tractor 1 and the manned tractor 1X is taken into consideration, when the robot tractor 1 is driven to the connection path P2 to reach the next, the separation distance L of the wireless communication When it is expected that the limit distance (for example, 100 m) will be exceeded, the robot tractor immediately at the time when it is determined by the deceleration stop determination unit 64 that the separation distance L has become too large as in the above embodiment. (1) It is preferable to make an emergency stop.

In the above embodiment, the manned tractor 1X also, similarly to the robot tractor 1, the positioning antenna 6 for acquiring its own position by the positioning system, and positional information calculation for calculating its own position information. It is set that it is provided with the structure of the part 49 etc., and the positional information of the manned tractor 1X calculated by the said positional information calculating part 49 is acquired by the positional information acquiring part 62. As shown in FIG. However, it is not limited to this, and the manned tractor 1X does not need to be equipped with the structure for acquiring its own position by a positioning system. In that case, for example, the robot tractor 1 is configured to include a camera that captures images of its surroundings (front, rear, etc.), and the image of the manned tractor 1X reflected by the camera is transferred to the work vehicle control system ( 60), the positional information acquisition part 62 can acquire the relative positional information of the robot tractor 1 and the manned tractor 1X.

Alternatively, instead of this, the robot tractor 1 is provided with a distance sensor such as an infrared sensor or an ultrasonic sensor, and based on the detection result of the distance sensor, relative position information between the robot tractor 1 and the manned tractor 1X is obtained. It is good also as what the positional information acquisition part 62 acquires.

Alternatively, instead of this, the manned tractor 1X is configured to include a distance meter for acquiring its own travel distance, and the travel distance of the manned tractor 1X obtained by the distance meter and the robot obtained by the positioning system By comparing the travel distance of the robot tractor 1 acquired based on the travel trajectory of the tractor 1 or the vehicle speed setting, travel time, etc., the relative position information between the robot tractor 1 and the manned tractor 1X is obtained by the position information acquisition unit (62) may be acquired.

Alternatively, it is assumed that the user is carrying the radio communication terminal 46 in the vehicle of the manned tractor 1X, and the position information obtained by using the positioning function of the radio communication terminal 46 is used in the position information acquisition unit 62 . may be acquired and handled as positional information of the manned tractor 1X.

In the above embodiment, the work vehicle control system 60 controls to decelerate or stop the robot tractor 1 when the separation distance L between the robot tractor 1 and the manned tractor 1X is too large. However, in addition to this, when the separation distance L is too small, the robot tractor 1 is accelerated (increased the vehicle speed) to increase the inter-vehicle distance and control to issue a warning may also be performed. .

In the above embodiment, the work vehicle control system 60 controls to decelerate or stop the robot tractor 1 according to the separation distance between the robot tractor 1 and the manned tractor 1X. In addition or instead of this, it is good also as performing control which implements a different notification according to the separation distance L of the robot tractor 1 and the manned tractor 1X. As the "different notification", for example, a warning sound emitted when the separation distance L is too small, an alarm sound emitted when the separation distance L is large but not enough to make an emergency stop, and the separation distance L is It is conceivable to make a different beep sound when it is too loud to make an emergency stop.

In the said embodiment, when at least either one of the robot tractor 1 or the manned tractor 1X is located on the connection path|route P2, the separation distance L was not adjusted. However, instead of this, for example, when both the robot tractor 1 and the manned tractor 1X are located on the connection path P2, a fourth threshold value (eg, 5 m) is set and when the separation distance specifying unit 63 specifies that the separation distance L is less than the fourth threshold, the deceleration stop determination unit 64 determines that a temporary stop of the robot tractor 1 is necessary, It is good also as making the robot tractor 1 temporarily stop. Thereby, it can prevent that the robot tractor 1 and the manned tractor 1X approach too much in the connection path P2.

In the above embodiment, when the traveling mode of the robot tractor 1 on the running work path P1 is a special mode, the separation distance adjusting unit 66 is configured to: The robot tractor 1 was temporarily stopped at the end point of the reaching|attaining connection path P2. However, it is not necessarily limited to this, For example, you may make the robot tractor 1 temporarily stop in the middle part of the connection path P2 which the robot tractor 1 arrives next.

In the process of step S113 of FIG. 7, it may comprise so that a value smaller than usual may be set not only for the 2nd threshold value but also for the 3rd threshold value.

As shown in Fig. 6, instead of the robot tractor 1 and the manned tractor 1X traveling along different traveling paths P and performing cooperative work, they travel along the same traveling path P and cooperative work. may be carried out. In this case, the robot tractor 1 and the manned tractor 1X may perform the same operation|work, and may implement a different operation|work.

In the above embodiment, each part constituting the working vehicle control system 60 is provided in the robot tractor 1, but it is not necessarily limited to this. For example, instead of this, the working vehicle control system 60 ), a part or all of the parts constituting the tractor 1X or the radio communication terminal 46 of the manned tractor may be provided.

In parallel with the control for adjusting the separation distance between the robot tractor 1 and the manned tractor 1X described above, the vehicle speeds of the robot tractor 1 and the manned tractor 1X are automatically adjusted on the outgoing and homecoming routes of the travel route P. Control to change may be performed. Specifically, for example, the pitch angle of the traveling body 2 is acquired based on the detection result of the inertia measurement unit, and when traveling and working on the uphill work path P1, and when traveling and downhill The vehicle speed can be changed while driving and working on the work path (P1) of Alternatively, on the basis of the altitude information of the pavement obtained from the calculation result in the position information calculation unit 49, the working path P1 of the uphill road and the working path P1 of the downhill road are calculated, and the vehicle speed is different in each. possible. Thereby, it becomes possible to make the finishing of agricultural work uniform.

In the above embodiment, when the robot tractor 1 is temporarily stopped, the transmission of power to the PTO shaft is not blocked, while when the robot tractor 1 is emergency stopped, the transmission of power to the PTO shaft is blocked. it was made However, it is not necessarily limited to this, for example, instead of this, in the case of temporarily stopping the robot tractor 1, the driving of the engine 10 is not stopped, while the robot tractor 1 is emergency stopped. In this case, the driving of the engine 10 may be stopped. In that case, the "predetermined initialization work" refers to the work for starting the engine 10 .

In the said embodiment, the 1st threshold value was made into the limit distance of radio|wireless communication, and 100 m was exemplified as the limit distance of radio|wireless communication. This means that when the distance exceeds 100 m, the wireless communication may exceed the limit, in other words, there is a risk that the wireless communication between the first work vehicle and the second work vehicle will be cut off. ) is not determined as a specific value, but varies depending on various factors such as the strength of radio waves (transmission power), and the external environment (eg, presence of obstacles, weather, etc.). In other words, depending on the situation, even if the separation distance is less than 100 m, even if the distance is 90 m, wireless communication may not be possible and the first work vehicle may be suddenly stopped. In such a case, even if 90 m is set as a 3rd threshold value like the said embodiment, an emergency stop is given priority, and a temporary stop is not made|formed.

In this regard, the third threshold value for temporarily stopping may be determined with sufficient margin relative to the first threshold value, but it is also possible to configure the control unit 4 to change the third threshold value according to the situation. Specifically, by comparing the separation distance Lx between the first work vehicle and the second work vehicle when the wireless communication between the first work vehicle and the second work vehicle is cut off with a first threshold, the separation distance ( When Lx) is smaller than the first threshold value by a predetermined value or more, the third threshold value may be changed to a new value. The third threshold value after the change needs to satisfy at least the following equation (1), but it is preferable to satisfy the equation (2) in addition to this.

(Third threshold value after change) < (separation distance (Lx) at the time of wireless disconnection)... (Equation 1)

(Third threshold value after change) < (Third threshold value before change) - Value D ... (Equation 2)

In addition, the value D is a value which satisfies the value D ≥ the first threshold value - the separation distance Lx. Moreover, it is good also as the control part 4 changing the 1st threshold value to the value same as the said separation distance Lx with a change of the said 3rd threshold value.

60: work vehicle control system
62: location information acquisition unit
63: separation distance specific part
65: emergency stop
66: separation distance adjustment unit
L: separation distance
P: travel route

Claims (3)

Position information of a first work vehicle that autonomously travels along a predetermined travel route, and a position of a second work vehicle that travels on a subsequent side of the first work vehicle and performs work in cooperation with the first work vehicle a location information acquisition unit for acquiring information;
a separation distance specifying unit for specifying a separation distance between the first work vehicle and the second work vehicle;
an emergency stop unit for emergency stop of the first work vehicle based on the separation distance specified by the separation distance specifying unit;
a work control system comprising a separation distance adjusting unit for decelerating or temporarily stopping the first work vehicle based on the separation distance specified by the separation distance specifying unit;
A separation distance for decelerating the first work vehicle or temporarily stopping the first work vehicle when the separation distance is equal to or greater than a second threshold value smaller than the first threshold value and less than or equal to the first threshold value A work vehicle control system comprising an adjustment unit. The method of claim 1,
The travel path includes a plurality of work paths on which work is performed by the first work vehicle, and a connection path connecting each work path,
The separation distance adjustment unit,
A work vehicle characterized in that when the traveling mode of the first work vehicle on the work path is a special aspect, it is possible to temporarily stop the first work vehicle on the connection path regardless of the separation distance. control system. 3. The method according to claim 1 or 2,
The temporary stop is a stop mode in which running and work of the first work vehicle can be resumed without requiring a predetermined initialization work,
The work vehicle control system according to claim 1, wherein the emergency stop is a stop mode in which it is impossible to resume running and work of the first work vehicle unless the predetermined initialization work is performed.

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