Outdoor work vehicle

Abstract

To prevent an autonomous outdoor work vehicle from causing an accident due to a change in weather.SOLUTION: An outdoor work vehicle autonomously travels in farm fields 9 for work and travels between farm fields 9 for movement while recognizing a position of a machine body on a map with a positioning device 61. In the case where travel or work is difficult on the basis of weather forecast for a scheduled date and time of work from weather information obtained from outside based on date and time information of a timer 42 incorporated in a control device 30 and via a communication device 63, the outdoor work vehicle provides a notification to a remote operation terminal 7 carried by a manager of a work machine 1.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an outdoor work vehicle that travels under automatic control in outdoor fields and the like. [Background technology]

[0002] Japanese Patent Publication No. 2022-32803 describes a work vehicle that performs agricultural work in a field by autonomous driving, and when the agricultural work in that field is finished, moves to another field by autonomous driving to continue the agricultural work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-32803 Summary of the Invention [Problem to be solved by the invention]

[0004] The outdoor work vehicles described above can perform labor-saving agricultural work by driving automatically without the need for a manager to operate them, but because the roads connecting the fields are unpaved farm roads, they can collapse due to rain, and automatic driving can be difficult due to thick fog.

[0005] An object of the present invention is to prevent accidents caused by changes in weather when using an autonomous outdoor work vehicle. [Means for solving the problem]

[0006] The above-mentioned object of the present invention is achieved by the following technical means.

[0007] The invention of claim 1 is an outdoor work vehicle that automatically travels to work in fields 9 and between fields 9 while recognizing the vehicle's position on a map using a positioning device 61, and is characterized in that if it is difficult to travel or work based on the weather forecast for the scheduled work date and time using date and time information from a timer 42 built into the control device 30 and a weather forecast obtained from outside using a communication device 63, it notifies the remote control terminal 7 held by the manager of the work vehicle 1.

[0008] The invention of claim 2 is the outdoor work vehicle according to claim 1, characterized in that if the weather forecast predicts rain and the amount of predicted rainfall is equal to or greater than a predetermined limit, a notice is given that travel is not permitted.

[0009] The invention of claim 3 is the outdoor work vehicle of claim 1, which is capable of low-speed automatic traveling when the predicted amount of rainfall is equal to or less than a first rainfall amount that is equal to or less than a predetermined limit.

[0010] The invention of claim 4 is the outdoor work vehicle according to claim 1, characterized in that the weather forecast is wind speed, and if the wind speed forecast is equal to or higher than a predetermined limit wind speed, a notice is given that travel is not permitted.

[0011] The invention of claim 5 is the outdoor work vehicle according to claim 1, which is capable of automatic low-speed travel when the wind speed forecast is a first wind speed that is equal to or lower than a predetermined limit wind speed. [Effects of the Invention]

[0012] In the invention of claim 1, when the manager inputs the scheduled date and time of travel into the control device 30 of the work vehicle 1, the control device 30 obtains the weather forecast for the scheduled date and time from outside using the communication device 63 and notifies the remote control terminal 7 of the manager of the work vehicle 1 whether travel or work is possible, so the manager will not wastefully run the outdoor work vehicle in bad weather or suspend the work travel of the outdoor work vehicle due to changes in weather.

[0013] The invention of claim 2 eliminates the need to stop travel due to excessive rainfall on the scheduled travel date and time.

[0014] According to the invention of claim 3, if the amount of rainfall predicted for the scheduled travel date and time is equal to or less than a first low rainfall amount, the vehicle travels safely at a low speed, preventing a dangerous situation.

[0015] The invention of claim 4 can prevent the body of the outdoor work vehicle from becoming unstable due to strong winds exceeding a predetermined limit wind speed on the scheduled date and time of travel.

[0016] According to the invention of claim 5, if the wind forecast for the scheduled date and time of travel is weak and the first wind speed is below a predetermined limit wind speed, the outdoor work vehicle can be traveled at a safe low speed, preventing the vehicle from getting into a dangerous state. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a right side view of a tractor as an outdoor work vehicle according to an embodiment of the present invention. [Figure 2] FIG. 1 is a block diagram of an automatic control system. [Figure 3] FIG. 2 is a plan view showing movement of the outdoor work vehicle in a field. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0019] As shown in Figures 1 and 2, the control system for the outdoor work vehicle according to this embodiment has a positioning device 61, a communication device 63, and an automatic driving control unit 34 that controls automatic driving and work operations, and performs control that enables the outdoor work vehicle 1 to work in a field 9 and travel between fields. This control system also has a remote control terminal 7 that can operate the outdoor work vehicle 1 through information communication. Here, travel between fields means travel from one field 9 to another field 9.

[0020] An example of the outdoor work vehicle 1 to which this control system is applied is a tractor 10. In this embodiment, the tractor 10 is capable of automatic driving and operation (automatic driving mode), as well as manual driving and operation by a driver (manual driving mode), and can be switched between the automatic driving mode and the manual driving mode by operating a driving mode selector switch 59 (FIG. 2).

[0021] As shown in Fig. 1, the tractor 10 is fitted with a work implement 27 at the rear of its travelling body for performing required work in the field 9. In Fig. 1, the work implement 27 is shown as a rotary tiller that is attached so as to be able to rise and fall via a three-point linkage mechanism 28 or the like. The work implement 27 is not limited to this, and may be any work implement that can be attached to the tractor 10 and used for work in the field 9, such as a seed sower or mower.

[0022] 1, tractor 10 has front wheels 11 that function as steering wheels at the front of the vehicle body, rear wheels 12 that function as drive wheels at the rear of the vehicle body, and an engine 14 mounted in an engine room (space) covered by a hood 13 at the front of the vehicle body. Tractor 10 is configured so that the rotational power of engine 14 is mainly reduced appropriately by a speed change device 16 in a transmission case 15 and then transmitted to rear wheels 12, which are an example of drive wheels, via a transmission shaft (drive axle) 17, while also transmitting a portion of the rotational power to work implement 27 via a PTO shaft 18 that protrudes from the rear end of transmission case 15.

[0023] The tractor 10 also has a cabin 20 provided on top of the traveling vehicle body. A driver's seat 21 is disposed inside the cabin 20, and a steering wheel 22 is disposed in front of the driver's seat 21. Various operating levers such as a forward / reverse selector lever 23, various switches (not shown), a display panel that displays necessary information, etc. are disposed near the driver's seat 21 and the steering wheel 22. Furthermore, various pedals such as a clutch pedal 24a, a brake pedal 24b, and an accelerator pedal (not shown) are disposed at the bottom inside the cabin 20.

[0024] Furthermore, the tractor 10 is equipped with a control device 30 that comprehensively controls the operation of the tractor 10 and the operation of the work implement 27, as shown in FIG.

[0025] The control device 30 is composed of a computer including a processing device such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a HDD (Hard Disk Drive), an input device, etc., and the processing device processes information based on the control program, data, and detection information stored in the memory unit 31 of the ROM or HDD, thereby transmitting control information to the required control target.

[0026] In addition, the control device 30 has, as its control functions, a vehicle control unit 32 that controls the operation of the vehicle body of the tractor 10, a work machine control unit 33 that controls the operation of the work machine 27 in the tractor 10, and an automatic driving control unit 34 which is an example of an automatic driving control device that controls each operation of automatic driving and automatic work (automatic driving) involving the tractor 10 and the work machine 27.

[0027] Of these, the vehicle control unit 32 is configured, for example, by a vehicle ECU (Electronic Control Unit) that controls the operation of the engine 14 and the driving operation. The vehicle ECU may be configured separately as an engine ECU that exclusively controls the operation of the engine 14 and a driving ECU that exclusively controls the driving operation.

[0028] 2, the vehicle control unit 32 controls a vehicle control drive unit 40 connected to the control device 30. Examples of the vehicle control drive unit 40 include an operation adjustment device for the engine 14, a change device for changing the number of gears in the transmission 16 or changing forward / reverse travel, a control device for automatically operating the steering device 19 that changes the steering direction (turn angle) of the front wheels 11, and an operation unit for a clutch device or an operation unit for a brake device (not shown).

[0029] The vehicle control unit 32 controls the operation of the vehicle control drive unit 40 while acquiring detection information detected by various sensors 50 on the vehicle side that detect conditions necessary for the control. The various sensors 50 on the vehicle side are a plurality of sensors that detect the conditions of, for example, the number of revolutions of the engine 14, the traveling speed, the turning angle of the steering wheel 22, the steering direction of the steering device 19, the operation lever, the operation pedal, the inclination of the traveling vehicle body, the remaining fuel sensor 52, etc.

[0030] Next, the work implement control unit 33 is composed of, for example, a work implement ECU. The work implement ECU is mounted on the work implement 27 that is compatible with ISOBUS, a communication standard for agricultural machinery. As shown in FIG. 2, the work implement control unit 33 controls a work implement control drive unit 48 that is connected to the control device 30. The work implement control drive unit 48 includes, for example, a switching device and a speed change device for the PTO shaft 18, a lifting device 49 for the work implement 27, an electric motor, etc.

[0031] The work implement control unit 33 controls the operation of the work implement control drive unit 48 while acquiring detection information detected by various sensors 57 on the work implement side that detect conditions necessary for control. The various sensors 57 on the work implement side are multiple sensors that detect conditions such as the rotation speed of the PTO shaft 18, the elevation position of the work implement 27, the drive speed, and the tilling depth.

[0032] Next, the automatic driving control unit 34 is a part that functions as part of the control function of the control device 30 to control each operation during automatic driving or automatic work involving the tractor 10 and work implement 27 based on programs, various data, etc. The automatic driving control unit 34 is actually configured to execute control in cooperation with the vehicle control unit 32 and work implement control unit 33. The automatic driving control unit 34 operates based on detection information that the operation mode selector switch 59 in the tractor 10 has been switched to automatic driving mode. Details of this automatic driving control unit 34 will be described later.

[0033] In addition, since the tractor 10 has an automatic driving control unit 34, it is equipped with a positioning device 61, a communication device 63, an obstacle sensor 65, a camera 66, a display device 67, a buzzer 68, an audio playback device 69, etc., as shown in Figures 1 and 2.

[0034] The positioning device 61 is a device that determines the self-position of the tractor 10, which is the work vehicle 1, and acquires this as position information. This positioning device 61 is configured, for example, as a device that uses the NSS (Global Navigation Satellite System), and is configured to receive radio waves from navigation satellites using a receiving antenna 62, individually acquire GNSS coordinates at predetermined time intervals, and acquire position information on the Earth. The receiving antenna 62 is provided at a predetermined location on the work vehicle 1, and in the tractor 10 of this embodiment, is provided on the top surface of each cabin 20, for example. The positioning device 61 may also be configured to acquire more accurate position information by installing a base station (for example, an RTK-GNSS (Real Time Kinematic-GNSS) base station) at a required location, such as near the field 9.

[0035] The communication device 63 is a device capable of communicating data with devices such as the remote control terminal 7. As a communication method, for example, a communication network such as the Internet or a short-range wireless communication technology such as Bluetooth (registered trademark) is applied. Devices other than the remote control terminal 7 that perform data communication may be computers (servers) installed in locations such as a remote management center or a field management building. Furthermore, the communication device 63 may be configured to relay communications by installing a base station in a required location such as near the field 9.

[0036] The obstacle sensor 65 is a sensor that detects obstacles that exist around the tractor 10 while it is traveling, and is composed of, for example, an ultrasonic sensor, an infrared sensor, etc. The camera 66 is capable of taking video images that enable the surroundings and the state of the tractor 10 to be confirmed while it is traveling. The obstacle sensor 65 and the camera 66 are not limited to being placed in only one location on the traveling vehicle body, but are placed in multiple locations where it is necessary to detect and photograph obstacles.

[0037] The display device 67 displays necessary information to be conveyed to the operator sitting in the driver's seat 21, and is configured, for example, by a liquid crystal display panel, etc. The buzzer 68 mainly emits an alarm sound to alert people in the vicinity of the tractor 10. The audio playback device 69 mainly plays a sound to notify people around the tractor 10 that automatic driving or work is being performed, and is configured, for example, by a sound generator, speaker, etc.

[0038] As shown in Figure 2, the automatic driving control unit 34 has an automatic work control mode 35 that controls the tractor 10 to perform automatic work in the field 9 while preventing it from deviating from the shape of the field 9 by stopping its travel, an inter-field movement control mode 36 that controls the tractor 10 to deviate from part of the shape of the field 9 where it will perform automatic work and move to another field 9 by automatic travel, and an information acquisition unit 37 that acquires field information including information on the position, shape, entrances and exits 91, etc. of the field 9 to be worked on, work information in the field 9, and route information for moving within and between fields 9.

[0039] The information acquisition unit 37 is configured to acquire information necessary for controlling automatic driving, such as the field information and work information of the field 9 where work is scheduled to be performed, and the route information, via information acquisition means such as the communication device 63. The information acquired by the information acquisition unit 37 is temporarily stored in the memory unit 31. The field information, work information, and route information used are information stored in or created on the remote control terminal 7. In addition, this information may be information stored in or created on a server installed in a facility such as a support management center that supports and manages the operation of work vehicles 1 such as tractors 10.

[0040] The route information for traveling between fields 9 is, for example, configured with roads (mainly farm roads) 95 connecting field 9a to destination field 9b via travel route R shown by a dotted line in Fig. 3. In Fig. 3, the section between each field 9 is the road (farm road) 95. There are boundaries such as ridges between adjacent fields 9.

[0041] The automatic work control mode 35 is a function that controls the operation of the tractor 10 when it automatically works in the field 9 where work is scheduled to be performed. Strictly speaking, automatic work operation includes automatic driving operation. In the automatic driving control unit 34, when the driving mode selector switch 59 (Fig. 2) is switched to the automatic driving mode, the automatic work control mode 35 is selected as the initial setting.

[0042] Furthermore, the control device 30 is provided with a timer 42 that keeps track of the date and time, and records the scheduled date and time of work sent from the remote control terminal 7. It also receives rainfall forecasts, wind forecasts, and dense fog forecasts from the weather forecast data 81 for that day, and if the rainfall forecast is above a predetermined limit of, for example, 3 mm, it is determined that driving is not permitted, and if it is below the predetermined limit, it is determined that driving is permitted at a low speed, and if the wind forecast is above a predetermined limit wind speed of 5 m, it is determined that driving is not permitted, and if it is below the predetermined limit, it is determined that driving is permitted at a low speed, and these are displayed on the display device 78 of the remote control terminal 7, and awaits the manager's decision.

[0043] Furthermore, if the outside air temperature forecast for the scheduled work date and time is low and there is a risk of freezing, the vehicle will be advised to drive at a slower speed, or drive at a slower speed in the early morning or at night, or to stop driving if there is a forecast of a disaster such as a landslide or river flooding.

[0044] On the other hand, the remote control terminal 7 is an equipment that can not only operate at least some of the operations of the tractor 10 through information communication, but also manage and control necessary information such as at least some of the operating conditions and operating status of the tractor 10 during its automatic driving and work.

[0045] 2, the remote control terminal 7 includes a management control device 71 configured from the above-mentioned computer or the like, a communication device 75 capable of communicating information with the communication device 63 in the tractor 10, an input device 76 such as a keyboard, touch panel, switch (SW), etc., a work date input switch 80, and a display device 78 such as a liquid crystal panel, lamp, etc. The management control device 71 has a memory unit 72 configured from a ROM, HDD, etc., and an information acquisition unit 73 that acquires necessary information from the tractor 10 via the communication device 75.

[0046] The management control device 71 has a processing unit in its computer that performs necessary information processing based on the programs and data stored in the memory unit 72 and information obtained by the communication device 75, and also transmits necessary control information to the tractor 10 that is the object of operation via the communication device 75. The memory unit 72 stores necessary information such as field information about the field 9 and route information about each route R for automatic travel and work. The memory unit 72 also stores a route generation program, etc., that generates a work travel route, etc. for the tractor 10 in the field 9 that will perform automatic work.

[0047] As shown in FIG. 2, the remote control terminal 7 also has, as part of the input device 76, an inter-field movement control mode transition switch 77a that is operated to forcibly transition the automatic driving control unit 34 of the control device 30 in the tractor 10 to the inter-field movement control mode 36, an inter-field movement resume switch 77b that resumes inter-field movement of the tractor 10 whose automatic driving during inter-field movement has been temporarily suspended, and an emergency stop switch (not shown) that forcibly stops the tractor 10 in an emergency.

[0048] Furthermore, the remote control terminal 7 receives weather data 81 from the Internet 82 .

[0049] Such a remote control terminal 7 is configured as a terminal device such as a tablet that is used by a user when causing the tractor 10 to automatically travel and work at a location away from the tractor 10. Note that this remote control terminal 7 may also be used by a driver who sits in the driver's seat 21 of the tractor 10 of the work vehicle 1 and controls the tractor 10 automatically or manually. Furthermore, this remote control terminal 7 may be installed and used in a facility such as a work management center or a work monitoring building. [Explanation of symbols]

[0050] 1 Work vehicle 7 Remote control terminal 9. Field 30 Control device 42 Timer 61 Positioning device 63 Communication Equipment

Claims

1. This outdoor work vehicle automatically travels to work in fields (9) and between fields (9) while recognizing the vehicle's position on a map using a positioning device (61), and is characterized in that if travel or work is difficult based on the weather forecast for the scheduled work date and time using date and time information from a timer (42) built into the control device (30) and weather forecasts obtained from outside using a communication device (63), it notifies a remote control terminal (7) held by a manager of the work vehicle (1).

2. 2. The outdoor work vehicle according to claim 1, wherein if the weather forecast predicts rainfall and the amount of rainfall is equal to or greater than a predetermined limit, a notice is given that travel is not permitted.

3. The outdoor work vehicle according to claim 1, wherein the outdoor work vehicle is capable of automatic low-speed traveling when the amount of predicted rainfall is equal to or less than a first rainfall amount that is equal to or less than a predetermined limit.

4. 2. The outdoor work vehicle according to claim 1, wherein the weather forecast is for wind speed, and if the forecast wind speed is equal to or greater than a predetermined limit wind speed, a notice is given that travel is not permitted.

5. 2. The outdoor work vehicle according to claim 1, wherein the outdoor work vehicle is capable of automatic low-speed travel when the wind speed forecast is a first wind speed that is equal to or lower than a predetermined limit wind speed.

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