JP2021132591A - Route creation management system - Google Patents

Abstract

To provide a travel route setting system capable of easily setting work routes for different types of work in an identical field.SOLUTION: In a route creation management system having a route management control section 51 installed on a tractor (first work vehicle) 1 performing first work with a low priority and a route management control section 71 installed on a rice planter (second work vehicle) 30 performing second work with a high priority, the route management control section (second control section) 71 collectively creates a first work route L1 and a second work route L2 with reference to second work with a high priority and transmits the same to a management server 80 and the other management control section (first control section) 51 receives the first work route L1 through the management server 80.SELECTED DRAWING: Figure 3

Description

The present invention relates to a route creation management system for creating a travel route of a work vehicle such as a tractor or a rice transplanter.

For example, when planting seedlings with a rice transplanter in one field, if the tractor has been used for puddling (cultivation) in advance, the ruts that occur along the tractor's travel path will cause the rice to be planted afterwards. The straight running performance of the traveling machine may be affected when working on the machine.

Conventionally, in order to deal with such a problem, another work vehicle or the same work vehicle is obtained along the past travel route set based on the past travel route by acquiring the past travel route traveled by the traveling body of the work vehicle. A traveling route setting system for automatically traveling the vehicle has been proposed (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2019-4816

In general, the work performed in the same field includes tractor scraping work, rice transplanter seedling work, combine harvesting work, etc., and there are various past travel routes that are the basis for setting travel routes. do. Therefore, the automatic steering device described in Patent Document 1 has a problem that the work of specifying and managing the past traveling route becomes complicated.

Therefore, an object of the present invention is to provide a traveling route setting system capable of easily setting work routes for different works in the same field.

The present invention has a first work vehicle (1) having a first control unit (51) and performing the first work along a first work path (L1), and a second control unit (71). A second work vehicle (30) that performs a second work having a higher priority than the first work along the work path (L2) is provided.
Either one of the first control unit (51) and the second control unit (71) collectively sets the first work path (L1) and the second work path (L2) based on the second work. Create and send to server (80)
Either one of the first control unit (51) and the second control unit (72) is at least one of the first work path (L1) and the second work path (L2) via the server (80). Receive one,
It is in the route creation management system that is characterized by this.

For example, referring to FIG. 4, one of the first control unit (51) and the second control unit (71) has the first working path (L1) having a plurality of first linear paths (L1a). And the second working path (L2) having a plurality of second straight paths (L2a) intersecting the plurality of first straight paths (L1a) are collectively created.

Further, for example, referring to FIG. 3, the first work vehicle (1) is a tractor, and the second work vehicle (30) is a rice transplanter.

The reference numerals in parentheses are for comparison with the drawings, but do not affect the description of the claims.

According to the invention of claim 1, one of the control units individually provided for the two types of work vehicles has a first work path and a second work path based on the second work in which the priority of the different work is the second work. And are collectively created and transmitted to the server, and the other control unit receives at least one of the first work route and the second work route via the server, so that the past travel route can be specified and managed. It is not necessary to do the work, and it is possible to easily set the work route of two types of work vehicles that are performed before and after in the same field.

According to the invention of claim 2, since the first straight path and the second straight path are set to intersect each other, the work vehicle to be worked on later travels in the direction of crossing the rut, and the traveling wheel. It is possible to prevent the wheel from getting stuck in the rut and deteriorating the straight running performance.

According to the invention of claim 3, since the work vehicle that performs the first work is a tractor and the work vehicle that performs the second work, which has a higher priority than the first work, is a rice transplanter, the tractor is a substitute scraping work or the like. It is possible to efficiently plant seedlings with high priority by the rice transplanter without being affected by the ruts generated during the planting.

A side view of a tractor to which the present invention is applied. A side view of a rice transplanter to which the present invention is applied. The block diagram of the route creation management system which concerns on embodiment of this invention. Explanatory drawing of the 1st work path and the 2nd work path.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a tractor 1 as a first work vehicle. The tractor 1 has a traveling machine body 4 having a pair of left and right front wheels 2 and rear wheels 3, and an elevating link 5 behind the traveling machine body 4. It is provided with a working machine 6 which is connected so as to be able to move up and down via. The traveling machine body 4 includes a body frame 7 supported by the front wheels 2 and the rear wheels 3, a bonnet 8 covering the upper surface side of an engine (not shown) installed on the front side of the body frame 7, and the bonnet 8. The configuration is provided with a cabin 10 installed at the rear and provided with a driver's seat 9 on which an operator (operator) can board and operate. The engine drives the front wheels 2 and the rear wheels 3 via a transmission mechanism (not shown), and supplies a driving force to the working machine 6 via a PTO shaft (not shown).

Although not shown, a steering handle, a forward / backward switching lever, an elevating lever for operating the elevating operation of the work equipment 6, and the like are arranged in front of the driver's seat 9 in the cabin 10, and the operator manually operates the steering wheel. When the steering handle is turned by operation, the steering shaft steers the front wheels 2 via the all-hydraulic power steering unit.

A GNSS antenna unit 11 which is a position information acquisition device is attached to the top surface of the cabin 10. The GNSS antenna unit 11 can acquire position information on the earth at predetermined intervals by acquiring GNSS (Global Navigation Satellite System) coordinates at regular time intervals with the receiving antenna. Although the details will be described later, the tractor 1 includes not only manual steering in which the operator turns the steering wheel to travel, but also an automatic steering device 40 (see FIG. 3) that automatically travels along a target work path. There is.

FIG. 2 is a side view of a rice transplanter 30 as a second work vehicle to which the present invention is applied. The rice transplanter 30 includes a traveling machine 14 having a pair of left and right front wheels 12 and rear wheels 13, and the traveling machine 30. A work machine 16 connected to the rear of the machine body 14 so as to be able to move up and down via an elevating link 15 is provided. The traveling machine body 14 includes a body frame 17 supported by the front wheels 12 and the rear wheels 13, a bonnet 18 covering the upper surface side of an engine (not shown) installed on the front side of the body frame 17, and an operator. It is configured to include a driver's seat 19 for crowded maneuvering and the like. The engine drives the front wheels 12 and the rear wheels 13 via a transmission mechanism (not shown), and supplies the driving force to the working machine 16 via the PTO shaft (not shown).

A steering handle 20 is arranged in front of the driver's seat 19, and when the operator manually turns the steering handle 20, the steering shaft steers the front wheels 12 via the all-hydraulic power steering unit. ing. Further, a speed change lever 21 is arranged in the vicinity of the steering handle 20, and the speed change lever 21 enables the speed change device to be operated from the neutral position to the forward side and the reverse side.

A support frame 22 is provided at the front portion of the traveling machine body 14, and a reserve seedling mounting table 23 is supported by the support frame 22. Further, a GNSS antenna unit 24 is attached to the central portion of the upper end of the support frame 22, and similarly to the GNSS antenna unit 11 provided in the tractor 1, this GNSS antenna unit 24 uses a receiving antenna to obtain GNSS coordinates at regular time intervals. By acquiring, the position information on the earth can be acquired at predetermined intervals. The rice transplanter 30 includes not only manual steering in which the operator turns the steering handle 20 to travel, but also an automatic steering device 60 (see FIG. 3) that automatically travels along a target work path.

FIG. 3 is a block diagram of a route creation management system according to an embodiment of the present invention. As shown in FIG. 3, the automatic steering device 40 on the tractor 1 side and the automatic steering device 60 on the rice transplanter 30 side are communicably connected to the management server 80 on the Internet, and the personal computer 90 and the like at the service base are also connected. It is communicably connected to the management server 80 on the Internet.

The automatic steering device 40 of the tractor 1 includes a GNSS side control unit 41 and a steering unit side control unit 42, and these GNSS side control unit 41 and the steering unit side control unit 42 have a communication unit 43. The GNSS antenna unit 11 and the IMU unit (inertial measurement unit) 44 are connected to the input side of the GNSS side control unit 41, and the display device 45 is connected to the output side of the GNSS side control unit 41. The IMU unit 44 includes a 3-axis gyro and a 3-direction accelerometer, and the GNSS side control unit 41 acquires the attitude information of the tractor 1 from the IMU unit 44. An operation switch 46 is connected to the input side of the steering unit side control unit 42, and a stepping motor 47 is connected to the output side of the steering unit side control unit 42.

The automatic steering device 40 of the tractor 1 includes a mobile information terminal 50, and when the automatic steering control of the tractor 1 is started, the route management control unit 51 of the mobile information terminal 50 starts from the GNSS antenna unit 11 and the IMU unit 44. Acquire the required position information and attitude information of the tractor 1. Then, the route management control unit 51 calculates the steering amount so that the front wheels 2 travel along the work route set in the portable information terminal 50 based on the acquired position information and attitude information of the tractor 1. The calculated steering amount is transmitted to the steering unit side control unit 42. The steering unit side control unit 42 rotates the stepping motor 47 in the forward and reverse directions so that the steering amount of the front wheels 2 becomes the instructed steering amount, and the steering shaft is rotated by the rotation of the stepping motor 47, so that the front wheels 2 are finally finalized. The steering amount is steered to the instruction amount via the all-hydraulic power steering unit.

The personal digital assistant (PDA) 50 is composed of a portable electronic device such as a tablet terminal having a display unit, and includes a route management control unit 51 and a communication unit 52. The route management control unit 51 as the first control unit is composed of a processing unit having a CPU or the like and a storage unit composed of a ROM, a RAM, or the like, and has its own work route and work of another vehicle (rice transplanter 30). The route is collectively created and transmitted to the management server 80, or the process of receiving the own work route created by another vehicle from the management server 80 is executed.

On the other hand, the automatic steering device 60 of the rice transplanter 30 includes a GNSS side control unit 61 and a steering unit side control unit 62, and a communication unit 63 is connected to these GNSS side control unit 61 and the steering unit side control unit 62, respectively. Has been done. The GNSS antenna unit 24 and the IMU unit 64 are connected to the input side of the GNSS side control unit 61, and the display device 65 is connected to the output side of the GNSS side control unit 61. An operation switch 66 is connected to the input side of the steering unit side control unit 62, and a stepping motor 67 is connected to the output side of the steering unit side control unit 62.

The automatic steering device 60 of the rice transplanter 30 includes a mobile information terminal 70, and when the automatic steering control of the rice transplanter 30 is started, the route management control unit 71 of the mobile information terminal 70 has a GNSS antenna unit 24 and an IMU unit. The position information and the attitude information of the rice transplanter 30 obtained from 64 are acquired. Then, the route management control unit 71 calculates the steering amount so that the front wheels 12 travel along the work route set in the portable information terminal 70 based on the acquired position information and attitude information of the rice transplanter 30. The calculated steering amount is transmitted to the steering unit side control unit 62. The steering unit side control unit 62 rotates the stepping motor 67 forward and reverse so that the steering amount of the front wheels 12 becomes the instructed steering amount, and the steering shaft is rotated by the rotation of the stepping motor 67, so that the front wheels 12 are finally finalized. The steering amount is steered to the instruction amount via the all-hydraulic power steering unit.

The personal digital assistant (PDA) 70 is composed of a portable electronic device such as a tablet terminal having a display unit, and includes a route management control unit 71 and a communication unit 72. The route management control unit 71 as the second control unit is composed of a processing unit having a CPU or the like and a storage unit composed of a ROM, a RAM, or the like, and has its own work path and a work path of another vehicle (tractor 1). Are collectively created and transmitted to the management server 80, or a process of receiving the own work route created by another vehicle from the management server 80 is executed.

Here, in the route creation management system according to the present embodiment, of the tractor 1 and the rice transplanter 30, the one performing the first work having a lower priority is set as the first work vehicle, and the priority is higher than the first work. When the person performing the higher second work is designated as the second work vehicle, for example, the route management control unit of the mobile information terminal provided on the second work vehicle side performs the first work based on the second work having a higher priority. The first work route of the work vehicle and the second work route of the second work vehicle are collectively created and transmitted to the management server 80, and the route management control of another mobile information terminal provided on the first work vehicle side. The unit receives the first work route via the management server 80.

For example, when the rice transplanter 30 is used to plant seedlings after the tractor 1 is used for puddling, it is necessary to set a replenishment area for adding seedlings and supplying fertilizer at a predetermined shore in the field. Therefore, the work of planting seedlings by the rice transplanter 30 has a higher priority than the work of scraping the tractor 1 which does not require such a replenishment area. Therefore, in this case, the tractor 1 is the first work vehicle that performs the first work with a low priority, and the rice transplanter 30 is the second work vehicle that performs the second work with a high priority, in preparation for the rice transplanter 30. The route management control unit 71 of the mobile information terminal 70 collectively creates the first work route of the tractor 1 and the second work route of the rice transplanter 30 based on the second work of the rice transplanter 30, and manages the server. The route management control unit 51 of the mobile information terminal 50 provided in the tractor 1 transmits to the 80 and receives the first work route of the tractor 1 via the management server 80. Since the route management control unit 71 collectively creates these first work routes and second work routes, it is not necessary to specify and manage past travel routes, and the work routes of the two work vehicles can be set. It can be set easily.

An example of the procedure for creating such a work route will be described with reference to FIG. 4. First, the worker manually steers the rice transplanter 30 that performs the second work having a high priority to perform the teaching run. In this teaching run, the rice transplanter 30 reaches the entrance / exit of the field and the replenishment area after displaying the current position of the rice transplanter 30, a compass for displaying the direction, the working distance and the area, etc. on the display unit of the mobile information terminal 70. At that time, the operator inputs a button or a switch to acquire the start point and end point of the work, the position information of the replenishment area, and the like. This input operation can be performed on either the mobile information terminal 70 side or the automatic steering device 60 side.

When the teaching run of the rice transplanter 30 is completed in this way, the route management control unit 71 of the mobile information terminal 70 has a high priority based on the above-mentioned start point and end point of the work, the position information of the replenishment area, and the like. The second work path L2 of the rice transplanter 30 that performs the second work and the first work path L1 of the tractor 1 that performs the first work having a low priority are collectively created (calculated), and the second work path L2 is created. Is stored in the storage unit, and the first work path L1 is transmitted from the communication unit 72 to the management server 80 via the Internet. On the other hand, in the tractor 1 that performs the first work having a low priority, the route management control unit 51 of the mobile information terminal 50 receives the first work route L1 transmitted to the management server 80 from the communication unit 52 via the Internet. The received first work path L1 is stored in the storage unit of the route management control unit 51.

Here, the direction of the linear path of the first working path L1 is set by rotating the direction of the linear path of the second working path L2 by 90 degrees. The direction of the linear path of the first working path L1 and the direction of the linear path of the second working path L2 may be arbitrarily set as long as they are set so as to intersect each other. As shown in FIG. 4A, the second working path L2 has a plurality of second straight paths L2a set to be parallel to each other at predetermined intervals. As shown in FIG. 4B, the first working path L1 has a plurality of first straight paths L1a extending in the direction orthogonal to the second straight path L2a of the second working path L2. The plurality of first straight paths L1a are set so as to be parallel to each other at predetermined intervals.

After the first work path L1 and the second work path L2 are collectively created in this way, the first work such as the puddling work is performed while the tractor 1 is automatically driven along the first work path L1. In this case, when the operation switch 46 is turned on to start the automatic steering control, the route management control unit 51 of the portable information terminal 50 is based on the position information and the attitude information of the tractor 1 obtained from the GNSS antenna unit 11 and the IMU unit 44. Then, the steering amount is calculated so that the front wheels 2 travel along the first work path L1 stored in the storage unit of the route management control unit 51, and the steering unit side control unit 42 rotates the stepping motor 47 in the forward and reverse directions. Since the steering amount of the front wheels 2 is controlled to be the instructed steering amount, the tractor 1 can be automatically driven along the first work path L1.

Then, after the first work (scraping work, etc.) by the tractor 1 is completed, the rice transplanter 30 is automatically run along the second work path L2 to perform the second work of planting seedlings having a high priority. In this case, when the operation switch 66 is turned on to start the automatic steering control, the route management control unit 71 of the portable information terminal 70 obtains the position information and attitude information of the rice planting machine 30 obtained from the GNSS antenna unit 24 and the IMU unit 64. Based on this, the steering amount is calculated so that the front wheels 12 travel along the second work path L2 stored in the storage unit of the route management control unit 71, and the steering unit side control unit 62 rotates the stepping motor 67 in the forward and reverse directions. Then, since the steering amount of the front wheels 12 is controlled to be the instructed steering amount, the rice planting machine 30 can be automatically driven along the second work path L2.

At that time, since the second straight path L2a of the second work path L2 is set to intersect (orthogonally) the first straight path L1a of the first work path L1, the tractor 1 first performs the first work. The front wheels 12 and the rear wheels 13 of the rice transplanter 30, which will perform the second operation later in the same field, will travel in the direction of crossing the ruts. Therefore, the front wheels 12 and the rear wheels 13 of the rice transplanter 30 are less likely to fit into the ruts, and the straight running performance when the rice transplanter 30 is automatically steered can be improved.

As described above, in the route creation management system according to the present embodiment, the route management control unit 51 provided in the tractor (first work vehicle) 1 that performs the first work having a low priority has a high priority. Of the route management control units 71 provided in the rice transplanter (second work vehicle) 30 that performs the second work, one of the route management control units 71 is the first work based on the second work having a high priority. The route L1 and the second work route L2 are collectively created and transmitted to the management server 80, and the other route management control unit 51 uses at least one of the first work route L1 and the second work route L2 via the management server 80. Since one is received, the work routes of different work vehicles (tractor 1 and rice transplanter 30) performed before and after in the same field can be easily set. Then, the tractor 1 performs the first work having a low priority along the first work path L1 acquired via the management server 80, and the rice transplanter 30 performs the first work along the second work path L2 created by the route management control unit 71. Since the second work having a high priority is performed, the influence of ruts and the like caused by the traveling of the tractor 1 performed earlier can be reduced, and the second work of the rice transplanter 30 performed later can be efficiently performed. Further, since the created work route can be received via the management server 80, the first work route L1 of the other work vehicle (for example, the tractor 1) created by one work vehicle (for example, the rice transplanter 30) Can be easily acquired by the other work vehicle, and usability can be improved.

Further, one of the route management control units 71 has a first work path L1 having a plurality of first straight paths L1a and a second work path L2 having a plurality of second straight paths L2a intersecting the first straight paths L1a. In order to collectively create A plurality of first straight paths L1a included in the first work path L1 of the work can be easily created. As a result, the rice transplanter 30 performs the work in the direction orthogonal to the work direction of the tractor 1 to be performed first, and the rice transplanter 30 to perform the work later travels in the direction across the rut. It is possible to prevent the front wheels 12 and the rear wheels 13 of the above from being fitted into the ruts and the straight running performance being deteriorated.

Further, since the first work vehicle that performs the first work having a low priority is the tractor 1, and the second work vehicle that performs the second work having a high priority is the rice transplanter 30, the tractor 1 is a substitute scraping work. The seedling planting work and the like can be efficiently performed by the rice transplanter 30 without being affected by the ruts generated when such as.

Needless to say, the present invention is not limited to the above-described embodiment, and it goes without saying that any modification or addition is possible as long as it does not deviate from the scope of claims. For example, in the above embodiment, the route management control unit 71 of the rice transplanter 30 collectively creates the second work path L2 of the rice transplanter 30 and the first work path L1 of the tractor 1 and transmits the first work path L1 to the management server 80 to the tractor. The route management control unit 51 of 1 receives the first work route L1 via the management server 80, but contrary to the above, the route management control unit 51 of the tractor 1 receives the first work route of the tractor 1. L1 and the second work path L2 of the rice transplanter 30 are collectively created and transmitted to the management server 80, so that the route management control unit 71 of the rice transplanter 30 receives the second work path L2 via the management server 80. It may be configured as. Further, the work vehicle that receives the work route via the management server 80 may receive both the first work route L1 and the second work route L2.

Further, in the above embodiment, the case where the tractor 1 is the first work vehicle and the rice transplanter 30 is the second work vehicle has been described, but the present invention is not limited to this, and the two work vehicles that perform different work are not limited to this. It suffices if the first work vehicle having a lower priority is the first work vehicle and the second work vehicle having a higher priority is the second work vehicle. For example, the first work vehicle is a combine harvester. The work vehicle of 2 may be a rice transplanter.

Further, in the above embodiment, the case where the plurality of first straight paths L1a included in the first work path L1 and the plurality of second straight paths L2a included in the second work path L2 intersect with each other has been described. The linear paths L1a and L2a of L1 and the second working path L2 may extend in the same direction.

1 tractor (first work vehicle)
30 Rice transplanter (second work vehicle)
51 Route management control unit (first control unit)
71 Route management control unit (second control unit)
80 Management server (server)
L1 1st working path L1a 1st straight path L2 2nd working path L2a 2nd straight path

Claims (3)

A first work vehicle having a first control unit and performing the first work along the first work path, and a second work vehicle having a second control unit and performing the first work along the second work path have a higher priority than the first work. With a second work vehicle that performs the second work,
One of the first control unit and the second control unit collectively creates the first work route and the second work route based on the second work and transmits them to the server.
Either one of the first control unit and the second control unit receives at least one of the first work path and the second work path via the server.
A route creation management system characterized by this. One of the first control unit and the second control unit has the first work path having a plurality of first straight paths and a plurality of second straight paths intersecting the plurality of first straight paths. The second work route and the above-mentioned second work route are collectively created.
The route creation management system according to claim 1. The first work vehicle is a tractor, and the second work vehicle is a rice transplanter.
The route creation management system according to claim 1 or 2.

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