JP5859912B2 - Control device for work machine and control method for work machine - Google Patents

Description

  The present invention relates to, for example, a control device for a work machine such as a spraying device that performs a spraying work of various agricultural materials used in farm work and a control method for the work machine.

  A spraying device (work machine) that sprays granular or liquid agricultural materials such as fertilizers and chemicals used in farm work is pulled by a vehicle such as a tractor, and the agricultural material is applied at a spraying amount according to the traveling speed of this vehicle. It is known that the spraying operation is controlled so that the spraying operation of the agricultural material automatically stops when the vehicle travels backward.

  In the spraying device described in Patent Literature 1 below, the main control device on the vehicle side has information about the rotational speed of the rotating shaft on the vehicle side that is rotated by power, information on the reverse shift state of the vehicle, and the rear wheels (drive wheels) of the vehicle The travel speed and travel direction are calculated on the basis of the outer diameter information of the sprayer, and a spraying device (implement) control signal is output to the control device on the spraying device side based on the calculation result. Upon receiving the signal, the control device on the side of the spreading device discriminates the traveling speed and the traveling direction, so that the agricultural material is sprayed at the amount of spraying according to the traveling speed, and the agricultural material is spread when traveling backward. The operation is stopped.

Japanese Patent No. 4568346

  According to the prior art of Patent Document 1, even if the traveling speed and the traveling direction change, uniform spraying is performed by discriminating the traveling speed and reverse of the vehicle by the control device on the scattering device side that receives the signal for controlling the scattering device. be able to.

  However, since the prior art of Patent Document 1 calculates the traveling speed of the vehicle based on the rotational speed of the rotating shaft on the vehicle side and the input wheel outer diameter, if the wheel slips due to slip during traveling, The rotation speed of the rotating shaft does not synchronize with the actual speed of the vehicle, and the amount corresponding to the rotating speed of the rotating shaft that is different from the actual traveling speed of the vehicle is more than the amount sprayed at the actual traveling speed of the vehicle There was a problem that materials for use would be scattered. Even if the vehicle is not able to run due to slipping (stopped), it is determined that the vehicle is moving forward due to the rotation of the rotating shaft, and unexpected agricultural materials are sprayed at the position where the vehicle is stopped. There was a problem of being broken. Furthermore, even when the backward movement or forward movement is repeated in order to escape from the slip, there is a problem that the agricultural material is sprayed during the forward movement and backward movement.

  This invention makes it an example of a subject to cope with such a problem. That is, the object of the present invention is to be able to determine the direction only with the positioning system, to control various working machines without obtaining a control signal from the vehicle, and without requiring a manual operation. It is.

  In order to achieve such an object, the present invention comprises at least the following configuration.

  A control device for a working machine that performs different operations depending on each state of forward / reverse / stop of the vehicle, and interlocks with each state of the vehicle, based on the position information of the vehicle obtained by the positioning system, Based on the travel direction detection unit that detects the travel direction of the vehicle, the travel speed detection unit that detects the travel speed of the vehicle from the travel distance and travel time of the vehicle based on the position information, and the position information A current position detector that detects the current position of the vehicle that changes every predetermined time; a travel direction detected immediately before the stop position of the vehicle based on the position information; and the stop position of the vehicle An angle detection unit that detects an angle formed with a traveling direction detected when the traveling is resumed, and a traveling direction of the vehicle when the traveling direction is detected immediately before the stop position based on the position information When the vehicle is moving forward and the angle detected when resuming traveling from the stop position of the vehicle is equal to or less than a predetermined angle, it is determined that the vehicle is moving backward, and the travel direction is detected immediately before the stop position. A traveling direction determination unit that determines that the vehicle is traveling forward when the traveling direction of the vehicle is backward and the angle detected when resuming traveling from the stop position of the vehicle is equal to or less than a predetermined angle; The forward and reverse states are detected on the basis of the determination result of the traveling direction determination unit.

  The predetermined angle is 90 ° or less.

  Based on the detected current position and the traveling direction, a distance between a forward traveling locus set when the vehicle moves forward and a forward traveling locus set when the vehicle resumes traveling from backward to forward is detected. And a predetermined distance determining unit that determines whether or not the detected distance is a predetermined distance, and detecting the predetermined distance based on a determination result of the predetermined distance determining unit. And

  The predetermined distance is a distance in which a part or more of the work range of the work implement overlaps between the forward travel trajectories.

  The working machine is a spraying device for agricultural work materials, and the spraying device has a detection result that the detection result of the traveling speed detection unit is 0 m / s and the determination result of the traveling direction determination unit is reverse. Based on the above, the spraying operation is controlled to stop.

  The working machine is a spraying device for agricultural work materials, and the spraying device has a detection result that the detection result of the traveling speed detection unit is 0 m / s and the determination result of the traveling direction determination unit is reverse. Is controlled such that the spraying operation is stopped, and the determination result of the predetermined distance determination unit is a distance at which a part or more of the spraying range of the agricultural material sprayed on the forward travel locus overlaps. Based on the detection result, the control is performed so as to hold the stop of the spraying operation.

  A control method for a working machine that performs different operations depending on each state of forward / reverse / stop of the vehicle, and interlocks with each state of the vehicle, based on the position information of the vehicle obtained by the positioning system, Based on the travel direction detection step of detecting the travel direction of the vehicle, the travel speed detection step of detecting the travel speed of the vehicle from the travel distance and travel time of the vehicle based on the position information, and the position information A current position detecting step for detecting a current position of the vehicle that changes every predetermined time, a traveling direction detected immediately before the stop position of the vehicle based on the position information, and the stop position of the vehicle An angle detection step of detecting an angle formed with the travel direction detected when the travel is resumed, and based on the position information, the vehicle at the time of the travel direction detection immediately before the stop position It is determined that the vehicle is moving backward when the vehicle travels forward and the angle detected when the vehicle restarts from the stop position is equal to or less than a predetermined angle, and the travel direction is detected immediately before the stop position. A traveling direction determination step for determining that the vehicle is moving forward when the traveling direction of the vehicle is backward and the angle detected when resuming traveling from the stop position of the vehicle is equal to or less than a predetermined angle; And a detection step of detecting each of the forward and reverse states of the vehicle based on the determination result in the traveling direction determination step.

  By having such characteristics, the present invention has the following effects. That is, based on the angle formed between the travel direction detected based on the vehicle position information obtained by the positioning system and the travel direction detected when the vehicle resumes traveling from the stop position, Since it is determined to determine reverse, and each of the forward and reverse states is controlled based on the determination result, the direction can be determined only by the positioning system, and without obtaining a control signal from the vehicle, In addition, the work implement can be controlled without requiring a human operation.

It is a block diagram which shows the structure of the control apparatus for working machines of 1st Embodiment which concerns on this invention. It is a running map of vehicles of a 1st embodiment concerning the present invention. It is a flowchart of the computer program which shows the control method for working machines of 1st Embodiment which concerns on this invention. It is a block diagram which shows the structure of the control apparatus for working machines of 2nd Embodiment which concerns on this invention. It is a travel map of the vehicle of 2nd Embodiment which concerns on this invention. It is a flowchart of the computer program which shows the control method for working machines of 2nd Embodiment which concerns on this invention.

  The vehicle described below has a traveling performance corresponding to the work of the work machine, and when the work machine is used for farm work, a tractor capable of towing or providing the work machine and traveling on the farm field is provided. Can be mentioned.

  The working machine described below is towed or provided on a vehicle and performs various work as the vehicle travels. When this working machine is used for farm work, a spraying device used for farm work Can be mentioned.

  The agricultural materials described below are fertilizers, drugs, seeds, and the like, and the fertilizers and drugs include granular or powdery, and liquid materials. This agricultural material spraying device sprays fertilizer, chemicals or seeds.

  A spraying device described below is towed or provided on a vehicle such as a tractor, and sprays the above-mentioned agricultural material while traveling integrally with the vehicle. For example, a broadcaster, a boom sprayer, a manual Includes spreaders.

  The traveling direction of the vehicle described below is a traveling direction regardless of the traveling direction (forward / reverse) of the vehicle.

  Hereinafter, the control apparatus 1 of 1st Embodiment which concerns on this invention is demonstrated based on FIG.1 and FIG.2. Each embodiment described below does not limit the present invention.

  FIG. 1 is a block diagram including the configuration of the control device 1. The control device 1 is connected to a controller 10 disposed in the vehicle A and a spraying device A ′ which is an example of a work machine, and is configured to perform various settings and start / stop of the spraying device A ′ by operating the controller 10. ing.

  The control device 1 includes a position information detection unit B, a calculation / storage unit C, a travel direction detection unit 1A, a travel speed detection unit 1B, a current position detection unit 1C, an angle detection unit 1D, a travel direction determination unit 1E, and a forward / backward detection. The unit 1F is provided, and controls various operations of the spraying device A ′ based on the detection result, the calculation result, and the determination result.

  FIG. 2 is a diagram illustrating the traveling direction of the vehicle A and the spraying state / spraying stop state, in which the solid line arrows indicate the forward traveling A1 and the scattering state of the vehicle A, and the broken line arrows indicate the backward traveling of the vehicle A. A2 and the spraying stop state are shown. A circle between forward travel A1 and reverse travel A2 indicates stop position P10 where vehicle A has stopped. Further, the circles on the forward travel A1 and the reverse travel A2 indicate the travel direction detection points PS set to the passing points P1 to P4 set during the traveling of the vehicle A and the latest passing point P4 immediately before the stop position P10. ing.

  For starting and stopping control of the control device 1 related to the spraying operation of the spraying device A ′, it is possible to adopt means that performs an instruction by an operation of the controller 10. When a control start instruction is issued from the controller 10, the position information detection unit B, the calculation / storage unit C, the traveling direction detection unit 1A, the traveling speed detection unit 1B, the current position detection unit 1C, the angle detection unit 1D, the traveling direction Various controls including an input / output operation, a detection operation, a calculation operation, and a determination operation of the determination unit 1E are started.

  The spraying device A ′ is towed or integrated with the vehicle A, sprays agricultural materials while traveling along a field (not shown) together with the vehicle A, and sprays agricultural materials according to the traveling speed. The amount is to be controlled.

  It is effective to use the driving force transmitted from the vehicle A as the power of the spraying operation of the spraying device A ′. As a means for using such driving force, for example, the driving force transmitted from the vehicle A is connected to a PTO (Power Take Off) shaft of the vehicle A via a necessary power transmission system (not shown). Means can be employed.

  After the control start instruction from the controller 10, the control device 1 controls the vehicle A to start spraying agricultural materials by causing the vehicle A to travel forward A1, and to stop spraying agricultural materials when the vehicle A stops traveling. In addition, after spraying start instruction, unless spraying stop instruction is issued, the control of spraying agricultural materials by the forward travel A1 of the vehicle A is continued. When the spraying stop instruction is issued, the vehicle A travels forward A1. Also, control is performed so that the spraying stop state of the agricultural material is maintained.

  Further, the control device 1 performs control so as to stop the spraying operation of the spraying device A ′ based on the detection result that the travel speed of the vehicle A is 0 m / s by the travel speed detection unit 1B, and determines the traveling direction. A determination result that the vehicle A by the unit 1E is the reverse travel A2 is detected, and control is performed to stop the spraying operation of the spraying device A ′ based on the detection result.

  Further, the control device 1 performs control so as to start the spraying operation of the spraying device A ′ based on the detection result that the travel speed of the vehicle A exceeds 0 m / s by the travel speed detection unit 1B, and determines the traveling direction. A determination result that the vehicle A by the unit 1E is traveling forward A1 is detected, and based on this detection result, the spraying operation of the spraying device A ′ is started.

  The traveling speed of the vehicle A detected by the traveling speed detection unit 1B is based on the position information detected by the position information detection unit B. Therefore, even when the vehicle A becomes unable to travel due to slipping of the drive wheels, the traveling speed can be detected as zero. Therefore, the spraying operation of the spraying device A ′ can be stopped when the vehicle A is in a stopped state (travel speed is 0 m / s) regardless of the rotation of the drive wheels.

  The amount of the agricultural material sprayed by the spraying device A ′ is controlled to be a spray amount corresponding to the traveling speed based on the traveling speed detected by the traveling speed detection unit 1B. Therefore, the agricultural material can be sprayed at a spraying amount corresponding to the speed change during the traveling of the vehicle A, whereby the agricultural material can be sprayed uniformly.

  The position information detector B receives the position information of the vehicle A transmitted from the positioning system (hereinafter referred to as GPS) 2, detects the current position of the vehicle A, and calculates and stores the detected position information. It is controlled to transmit to C.

  The calculation / storage unit C is a ROM (not shown) storing various programs executed by a CPU (not shown), various application programs, various data, etc., position information, various detection information, various setting information, calculation A RAM (not shown) for temporarily storing results and the like is provided. Then, from the ROM and RAM, various programs and various data are transferred in and out based on various requests such as control start and stop by the controller 10, various detection and determination start and stop, transmission and reception of various detection results and determination results, and these various requests. It is controlled so that the calculation based on

  The traveling direction detection unit 1A detects the traveling direction of the vehicle A based on the position information of the vehicle A stored in the calculation / storage unit C, and controls to input the detected traveling direction information to the calculation / storage unit C. Has been. The input traveling direction information is sequentially stored in the calculation / storage unit C and controlled to be updated (overwritten), so that the latest traveling direction information is always obtained.

  The travel speed detection unit 1B detects the travel speed of the vehicle A calculated from the travel distance and travel time of the vehicle A based on the position information of the vehicle A input to the calculation / storage unit C, and this travel speed. Control is performed so that information is input to the calculation / storage unit C. The input travel speed information is sequentially stored in the calculation / storage unit C and controlled to be updated (overwritten), so that the latest travel speed information is always obtained.

  The current position detection unit 1C detects the changing current position of the vehicle A every predetermined time based on the position information of the vehicle A stored in the calculation / storage unit C, and calculates and stores the detected current position information. It is controlled to input to C. The input current position information is sequentially stored in the calculation / storage unit C and is controlled to be updated (overwritten), so that the latest current position information is always obtained.

  Further, as shown in FIG. 2, on the basis of the current position information of the vehicle A stored in the calculation / storage unit C, the passing points P1 to P4 are sequentially set while the vehicle A is traveling, and the set passing point P1 is set. ... P4 is controlled to be input to the calculation / storage unit C.

  Here, the predetermined time may be any time that can be set so that the passing points P1 to P4 can determine whether the vehicle A is moving forward or backward, but specifically, it is preferably about 1 second to several seconds.

  At this time, the calculation / storage unit C counts the passing points P1 to P4 that are input, and based on this count information, the count number is a fixed number (in this embodiment, four, but not limited to this number). ), The oldest passing point is controlled to be deleted.

  Further, when the vehicle A stops traveling, the latest passing point P4 of the passing points P1 to P4 is set as the traveling direction detection point PS of the vehicle A, and the set traveling direction detection point PS is input to the calculation / storage unit C. It is controlled.

  Note that the passing points P1 to P4 set as described above are counted, and the passing point set during the travel control of the vehicle A is not limited to the control for deleting the oldest passing point, and the passing point is not counted. The points P1 to P4 may not be deleted until the travel control ends.

  The angle detection unit 1D is detected based on the position information from the stop position P10 of the vehicle A detected based on the position information stored in the calculation / storage unit C, and the traveling direction set immediately before the stop position P10. The angle θ formed between the traveling direction L1 of the vehicle A detected in the range extending over the detection point PS and the traveling direction L2 of the vehicle A detected when the traveling from the stop position P10 of the vehicle A is resumed is detected. Control is performed so that information is input to the calculation / storage unit C.

  As shown in FIG. 2, the traveling direction determination unit 1 </ b> E restarts traveling from the stop position P <b> 10 when the traveling direction of the vehicle A in the traveling direction L <b> 1 from the stop position P <b> 10 to the travel direction detection point PS is forward travel A <b> 1. When the detected angle θ is sometimes less than or equal to a predetermined angle, it is determined that the vehicle is traveling backward A2, and the determined backward information is input to the calculation / storage unit C.

  Further, as shown in FIG. 2, the traveling direction determination unit 1E is configured such that the traveling direction of the vehicle A in the traveling direction L1 extending from the stop position P10 to the traveling direction detection point PS is the backward traveling A2, and from the stop position P10. When the angle θ detected at the time of resuming the traveling is equal to or less than the predetermined angle, it is determined that the traveling is forward traveling A1, and the determined forward traveling information is input to the calculation / storage unit C.

  Further, the traveling direction determination unit 1E detects the angle detected when the traveling direction of the vehicle A in the traveling direction L1 from the stop position P10 to the traveling direction detection point PS is the forward traveling A1, and when the traveling from the stop position P10 is resumed. When θ exceeds a predetermined angle, it is determined that the vehicle is traveling forward A1, and the determined forward information is controlled to be input to the calculation / storage unit C.

  In addition, the traveling direction determination unit 1E detects the angle detected when the traveling direction of the vehicle A in the traveling direction L1 from the stop position P10 to the traveling direction detection point PS is the backward traveling A2, and when the traveling from the stop position P10 is resumed. When θ exceeds a predetermined angle, it is determined that the vehicle is traveling backward A2, and the determined backward information is input to the calculation / storage unit C.

  The forward / reverse detection unit 1F detects each state of the forward travel A1 and the reverse travel A2 of the vehicle A based on the traveling direction information stored in the calculation / storage unit C, and calculates the detected forward information and backward information. It is controlled to input to the storage unit C.

  Then, as shown in FIG. 2, when the vehicle A is traveling backward A2 based on the detected forward travel information and reverse travel information, control is performed to stop the spraying operation of the spraying device A ′, and the vehicle A When traveling forward A1, control is performed to start the spraying operation of the spraying device A ′.

  According to the control device 1 configured as described above, the vehicle A is determined to move forward and backward based on each detection result based on the position information by the GPS 2 and each setting result based on the detection result. It is possible to control to start the spraying operation and stop the spraying operation when moving backward. Therefore, the spraying operation of the spraying device A 'can be stopped when the vehicle A is in the reverse drive state regardless of the drive rotation of the PTO shaft or the rotation of the drive wheels.

  The forward / reverse determination of the vehicle A may be started when the traveling speed slightly exceeds 0 m / s, or overspread of agricultural materials is prevented by an erroneous operation such as a forward operation of the reverse operation. In order to do so, the vehicle A may be determined to move forward or backward when the vehicle A reaches a preset traveling speed from the start of traveling.

  In the latter case, even if an erroneous operation such as a reverse operation is performed forward, the spraying operation is not performed immediately thereafter. Can be prevented.

  Although the travel speed at which the determination of the forward / backward travel of the vehicle A is started is not limited, any travel speed may be used as long as the travel distance of the travel speed does not affect the distribution of agricultural materials.

  The vehicle A used for farm work such as tractors is difficult to turn, and when traveling in the field in a zigzag manner and spraying agricultural materials, simply turning in a circular arc shape is too much and has already been spread. Sometimes it is not possible to move from a sprayed course to an adjacent course to be sprayed. Therefore, the vehicle A is moved backward to perform switching and turn so that the vehicle A moves from the sprayed course to the adjacent course to be sprayed.

  The switching of the vehicle A is performed by changing the direction of the vehicle A at a right angle when the vehicle A turns in an arc shape from the sprayed course and is positioned orthogonally on the adjacent course to be sprayed. Although it is the most efficient to place A on the planned spraying course and in parallel with the planned spraying course, such cut-back is practically impossible.

  Therefore, if the predetermined angle is set to 90 ° or less, it is possible to reliably determine whether the vehicle A is moving forward and backward, thereby reliably controlling the start / stop of the spraying operation of the spraying device A ′. it can.

  As described above, the spraying operation of the spraying device A ′ is controlled so as to be performed only in the forward travel A1 of the vehicle A, but in the traveling direction for the forward travel A1 of the vehicle A to spray agricultural materials. Therefore, the vehicle A may not always be in the same direction as the actual traveling direction. In this case, regardless of the actual traveling direction of the vehicle A, after the control start instruction of the vehicle A, the traveling direction of the vehicle A when the agricultural material is sprayed may be defined to be the forward traveling A1.

  For this reason, a forward regulating operation unit (not shown) that regulates the travel after the control start operation of the vehicle A to be the forward traveling A1 is provided, and a control start instruction of the forward regulating operation unit is given before the vehicle A travels. Thus, it is preferable to perform control that defines the traveling direction of the vehicle A traveling immediately after this instruction as the forward traveling A1.

  According to such control, regardless of the traveling direction of the vehicle A, the traveling direction of the vehicle A after the control start instruction to the forward defining operation unit can be defined as the forward traveling A1. After this regulation, by the above-described various controls relating to the spraying operation of the spraying device A ′, the spraying operation of the spraying device A ′ is started when the vehicle A moves forward, and when the vehicle A stops and travels backward A2 The spraying operation of the spraying device A ′ can be stopped.

  Further, as another control that defines the traveling direction after the control start operation of the vehicle A as the forward traveling A1, the traveling direction immediately before stopping at the stop position P10 by the operation of the forward defining operation unit is the forward traveling A1. Further, it is possible to set the passing point P4 and set the passing point P4 as the traveling direction detection point PS at the stop position P10 at which the forward regulating operation unit is operated.

  According to such control, it is set that the traveling direction of the vehicle A immediately before stopping at the stop position P10 is the forward travel A1, and the travel direction detection point PS is set at the stop position P10. When the angle θ when the vehicle A travels from the point PS is equal to or less than a predetermined angle, it is determined that the vehicle travels backward A2, and the spraying operation of the spraying device A ′ can be stopped based on the determination result.

  FIG. 3 is a flowchart of a computer program including a control method for the spraying device A ′ controlled by the control device 1. This program is a program activated by a control start instruction from the controller 10 (step S1), and detection of the traveling direction of the vehicle A is started after the program is activated (step S2).

  After the above-described control start instruction, the above-described forward regulating operation unit is operated to define that the traveling direction of the vehicle A immediately after this operation is the forward traveling A1, so that the traveling of the vehicle A immediately after that is the forward traveling It is set as A1 (step S3).

  The spraying operation of the spraying device A ′ is started by the forward travel A1 of the vehicle A after step S3 (step S4). When the vehicle A is traveling forward A1, the traveling speed detector 1B starts to calculate the traveling speed of the vehicle A from the traveling distance and traveling time of the vehicle A based on the position information of the vehicle A, and the spreading device A ′. The spraying operation starts. At this time, the spraying device A 'is controlled so as to have a spraying amount corresponding to the calculated traveling speed, and by this control, the agricultural material can be sprayed uniformly during traveling.

  While the vehicle A is traveling, the current position of the vehicle A where the current position detection unit 1C changes is detected every predetermined time (step S5), and the passing points P1 to P1 are detected while the vehicle A is traveling based on the detection result. P4 is sequentially set (step S6). At this time, the passing points P1 to P4 are counted, and based on this count information, when the count number exceeds 4 (5 counts) (step S7), the oldest passing point P1 is deleted (step S8). . Then, when the forward travel A1 of the vehicle A is stopped (step S9), the spraying operation of the spraying device A 'is stopped. (Step S10) At this time, the stop position P10 is set at the position where the vehicle A stops (Step S11), and the latest passing point P4 immediately before the stop position P10 is set as the travel direction detection point PS of the vehicle A. (Step S12). Furthermore, the traveling direction L1 of the vehicle A detected in the range from the stop position P10 and the travel direction detection point PS set immediately before the stop position P10 is set (step S13).

  Steps S5 to S13 are performed in the reverse travel A2 of the vehicle A in the same manner as the forward travel A1.

  When the vehicle A resumes traveling from the stop position P10 (step S14), the travel direction L2 detected when the vehicle A resumes travel from the stop position P10 is set (step S15), and the travel direction L1 and the travel direction L2 are performed. The angle θ is detected (step S16). It is determined whether or not the detected angle θ is equal to or smaller than a predetermined angle. If the angle θ is equal to or smaller than the predetermined angle (step S17), it is determined that the vehicle A at the time of resuming traveling is the reverse traveling A2 (step S17). S18) If the detected angle θ exceeds the predetermined angle, it is determined that the vehicle A at the time of resumption of travel is forward travel A1 (step S19).

  The traveling direction of the vehicle A set in step S19 is detected (step S20), and if the traveling direction of the vehicle A is detected to be reverse traveling A2 (step S21), the spraying operation of the spraying device A ′ is stopped. (Step S22) When it is detected that the vehicle A is traveling forward A1 (Step S23), the spraying operation of the spraying device A ′ is started (Step S24).

  In addition, after step S22, the same steps as steps S5 to S22 are performed through steps S23 and S24 until the end of spraying of the agricultural material, and the control stop operation is performed at the end of spraying of the agricultural material of the spraying device A ′. This program will be terminated.

  With such a spraying method, the vehicle A is determined to move forward and backward based on each detection result based on the position information by the GPS 2 and each setting result based on this detection result, and based on this determination result, the spraying operation is performed when moving forward. It can be controlled to start and stop the spraying operation when going backwards. Therefore, the spraying operation of the spraying device A 'can be stopped when the vehicle A is in the reverse drive state regardless of the drive rotation of the PTO shaft or the rotation of the drive wheels.

  In order to perform the work by the work machine more efficiently, it is preferable to perform the work so that the work range that has already been worked and the work range that is to be newly worked do not overlap.

  For example, when the working machine is a spraying device A ′ for spraying agricultural materials and the agricultural materials are fertilizers or seeds, when the agricultural materials are scattered in a zigzag manner in the field, Agricultural materials are averaged in the field by ensuring that the spraying range (worked work range) spread during travel does not overlap with the spraying range (new work range) sprayed when traveling in the other direction. Can be sprayed.

  Controlling the spraying device A 'so as to achieve such a spraying operation can be achieved by the control device 1' according to the second embodiment of the present invention described below. Hereinafter, the control device 1 ′ will be described with reference to FIGS. 4 and 5. In addition, description about the part which overlaps with the control apparatus 1 of 1st Embodiment is abbreviate | omitted by attaching | subjecting a same sign.

  FIG. 4 is a block diagram including the configuration of the control device 1 ′. The control device 1 ′ is connected to a controller 10 and a spraying device A ′ disposed in the vehicle A, and is configured to perform various settings and start / stop of the spraying device A ′ by operating the controller 10.

  The spreading width of the spreading device A ′ is set in advance. Basically, from the start of spreading to the end of spreading, the spreading width is the same as long as the setting is not changed, and this spreading width is the spreading range shown in FIG. W1 and W2.

  The control device 1 ′ includes a forward travel locus L30 that is set during forward travel A1 of the vehicle A during the spraying operation of the spray device A ′, and a new forward travel locus that is set when the vehicle A resumes traveling from backward to forward. A distance detection unit 1G that detects the distance W to L31, a predetermined distance determination unit 1H that determines whether the detected distance is a predetermined distance, and a predetermined value based on the determination results of the predetermined distance determination unit 1H And a predetermined distance detector 1I for detecting the distance.

  Here, the predetermined distance is a distance W in which the spraying range W2 of the agricultural material sprayed in the forward travel locus L31 overlaps the spraying range W1 of the agricultural material sprayed in the forward travel track L30.

  The forward travel loci L30 and L31 are set along the passing points P1 to P4 set during the forward travel A1 of the vehicle A based on the current position information of the vehicle A stored in the calculation / storage unit C. These are sequentially set during forward travel A1 of the vehicle A and are input to the calculation / storage unit C.

  As shown in FIG. 5, the distance detector 1F detects and detects the distance W between the forward travel loci L30 and L31 based on the forward travel loci L30 and L31 stored in the calculation / storage unit C. The distance information is controlled to be input to the calculation / storage unit C. Further, the distance information input to the calculation / storage unit C is controlled to be updated (overwritten), so that the latest distance information is always obtained.

  The predetermined distance determination unit 1H is configured such that the detected distance W is a predetermined distance, that is, the agricultural material spraying range W2 sprayed in the forward travel locus L31 and the agricultural material spraying range W2 sprayed in the forward travel locus L31. It is controlled to determine whether or not the distance W overlaps, and to input the determination result information to the calculation / storage unit C. The determination result information input to the calculation / storage unit C is controlled to be updated (overwritten), so that the latest determination result information is always obtained.

  The predetermined distance detection unit 1I detects whether the determination result is a predetermined distance based on the determination result information stored in the calculation / storage unit C, and inputs the detected distance information to the calculation / storage unit C. Is controlled to do. Further, the distance information input to the calculation / storage unit C is controlled to be updated (overwritten), so that the latest distance information is always obtained.

  Then, as shown in FIG. 5, when the distance W is a predetermined distance based on the detected distance information, control is performed so that the spraying device A ′ holds the spraying operation stop, and the distance W is not the predetermined distance. Sometimes, the spraying device A ′ is controlled to start the spraying operation.

  According to such a control device 1 ′, when the traveling direction of the vehicle A changes from reverse to forward, the spraying operation of the spraying device A ′ is not immediately started, and the agricultural material sprayed in the forward travel locus L30 is started. The spraying operation of the spraying device A ′ can be started when the spraying range W2 of the agricultural material sprayed in the forward travel locus L31 is not overlapped with the spraying range W1.

  Therefore, it is possible to spray the agricultural material on the forward travel locus L31 without overlapping the spraying range W1 where the agricultural material has already been dispersed on the forward travel locus L30. As a result, the agricultural material can be sprayed on the field in average, and the waste of the agricultural material can be eliminated, so that the agricultural material can be sprayed efficiently.

  When the spraying operation of the spraying device A ′ is performed on the forward travel locus L31, the forward travel locus L31 is newly set as the forward travel locus L30, and after the newly set forward travel locus L30, the vehicle A Is set as the forward travel locus L31 when the vehicle travels from reverse.

  FIG. 6 is a flowchart of a computer program including a control method for the spraying device A ′ controlled by the control device 1 ′.

  In the flowchart shown in FIG. 6, the control for detecting the distance W between the spraying ranges W1 and W2 between step S23 and step S24 in the flowchart shown in FIG. 3, and the distance W overlaps the spraying ranges W1 and W2. This is related to the control for holding the spraying operation stop of the spraying device A ′ when it is a distance, and the control for starting the spraying operation of the spraying device A ′ when the distance W is a distance that the spraying ranges W1 and W2 do not overlap. Since this is a program and comprises the program of steps S1 to S24 in the flowchart shown in FIG. 3, the steps after step S23 are shown, and illustration and description of steps other than these steps are omitted.

  After detecting that the vehicle A is the forward travel A1 (step S23), the distance W between the forward travel locus L30 set during spraying of the agricultural material and the forward travel locus L31 sequentially set when the travel is resumed. Is detected (step S25). It is determined whether or not the detected distance W is a distance (predetermined distance) W where the spraying ranges W1 and W2 overlap (step S26). When this distance is detected as a predetermined distance (step S27), the spraying operation is stopped. If this distance is detected as a non-predetermined distance (step S29), the spraying operation of the spraying device A ′ is started (step S30 (step S24)).

  Steps S25 to S30 are continuously performed during the forward travel A1 of the vehicle A. In the forward travel A1 of the vehicle A during the spraying operation of the spraying device A ′, the distance W overlaps with the spraying ranges W1 and W2. In the case of the detection result that the distance W is equal, the spraying operation of the spraying device A ′ can be stopped. In addition, after stopping the spraying operation of the spraying device A ′ during the forward travel A1 of the vehicle A, when the distance W is a detection result that the spraying ranges W1 and W2 do not overlap, the spraying operation of the spraying device A ′ So that you can start.

  By such a spraying method, when the traveling direction of the vehicle A changes from the reverse travel A2 to the forward travel A1, the spraying operation of the spraying device A ′ is not immediately started, and the agricultural application sprayed in the forward travel locus L30 is performed. The spraying operation of the spraying device A ′ can be started when the spraying range W2 of the agricultural material sprayed in the forward travel locus L31 becomes a distance that does not overlap the material spraying range W1.

  Therefore, it is possible to spray the agricultural material on the forward travel locus L31 without overlapping the spraying range W1 where the agricultural material has already been dispersed on the forward travel locus L30. As a result, the agricultural material can be sprayed on the field in average, and the waste of the agricultural material can be eliminated, so that the agricultural material can be sprayed efficiently.

A: Vehicle A ′: Scattering device (work machine) 1: Control device 1 ′: Control device 2: GPS (satellite positioning system) 1A: Traveling direction detection unit 1B: Traveling speed detection unit 1C: Current position detection unit 1D: Angle Detection unit 1E: Traveling direction determination unit L1: Start line L2: Radial radius θ: Angle P10: Stop position PS: Traveling direction detection point W1: Scattering range W2: Scattering range 1F: Distance detection unit L30: Forward travel locus L31: Forward Traveling trajectory

Claims (7)

A control device for a working machine that performs different operations depending on each state of forward / reverse / stop of the vehicle, and interlocks with each of the states of the vehicle,
Based on the vehicle position information obtained by the positioning system, a traveling direction detector that detects the traveling direction of the vehicle;
A travel speed detector that detects the travel speed of the vehicle from the travel distance and travel time of the vehicle based on the position information;
A current position detector for detecting the current position of the vehicle that changes based on the position information at predetermined time intervals;
An angle detection unit that detects an angle formed by a traveling direction detected immediately before the stop position of the vehicle based on the position information and a traveling direction detected when the vehicle is restarted from the stop position;
Based on the position information, the traveling direction of the vehicle at the time of detection of the traveling direction immediately before the stop position is forward, and the angle detected when the vehicle resumes traveling from the stop position is predetermined. It is determined that the vehicle is moving backward when the angle is equal to or smaller than the angle, and is detected when the traveling direction of the vehicle is backward when detecting the traveling direction immediately before the stop position and when the traveling is resumed from the stop position of the vehicle. A traveling direction determination unit that determines that the vehicle is moving forward when the angle is equal to or smaller than a predetermined angle;
With
A control device for a work machine, wherein each of the forward and reverse states of the vehicle is detected based on a determination result of the traveling direction determination unit.   The control device for a working machine according to claim 1, wherein the predetermined angle is 90 ° or less.   Based on the detected current position and the traveling direction, a distance between a forward traveling locus set when the vehicle moves forward and a forward traveling locus set when the vehicle resumes traveling from backward to forward is detected. And a predetermined distance determining unit that determines whether or not the detected distance is a predetermined distance, and detecting the predetermined distance based on a determination result of the predetermined distance determining unit. The control device for a working machine according to claim 1 or 2.   4. The work machine control device according to claim 3, wherein the predetermined distance is a distance in which a part or more of a work range of the work machine overlaps between the forward travel trajectories.   The working machine is a spraying device for agricultural work materials, and the spraying device has a detection result that the detection result of the traveling speed detection unit is 0 m / s and the determination result of the traveling direction determination unit is reverse. The control device for a working machine according to claim 1, wherein the spraying operation is controlled to stop based on the control.   The working machine is a spraying device for agricultural work materials, and the spraying device has a detection result that the detection result of the traveling speed detection unit is 0 m / s and the determination result of the traveling direction determination unit is reverse. Is controlled such that the spraying operation is stopped, and the determination result of the predetermined distance determination unit is a distance at which a part or more of the spraying range of the agricultural material sprayed on the forward travel locus overlaps. The control device for a working machine according to any one of claims 1 to 4, wherein the control device is controlled so as to hold the operation stop of the spraying operation based on a detection result that the operation is performed.   A control method for a working machine that performs different operations depending on each state of forward / reverse / stop of the vehicle, and interlocks with each state of the vehicle, based on the position information of the vehicle obtained by the positioning system, Based on the travel direction detection step of detecting the travel direction of the vehicle, the travel speed detection step of detecting the travel speed of the vehicle from the travel distance and travel time of the vehicle based on the position information, and the position information A current position detecting step for detecting a current position of the vehicle that changes every predetermined time, a traveling direction detected immediately before the stop position of the vehicle based on the position information, and the stop position of the vehicle An angle detection step of detecting an angle formed with the travel direction detected when the travel is restarted, and the vehicle at the time of detection of the travel direction immediately before the stop position based on the position information When the traveling direction is forward and the angle detected when the vehicle restarts from the stop position is less than or equal to a predetermined angle, it is determined that the vehicle is moving backward, and the travel direction immediately before the stop position is determined. A traveling direction determination step for determining that the vehicle is moving forward when the traveling direction of the vehicle at the time of detection is backward and the angle detected when resuming traveling from the stop position of the vehicle is equal to or less than a predetermined angle; A control method for a working machine, comprising: a detection step of detecting each of the forward and reverse states of the vehicle based on a determination result in the traveling direction determination step.

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