System and method for controlling agricultural tractor

Abstract

The present invention relates to technology for controlling the travelling of an agricultural tractor. The present invention provides a control system of the agricultural tractor, in which: a brake device is controlled to operate in either a first mode or a second mode; in the first mode, at least one of the first brake or the second brake in the brake device operates according to manipulation information input by a user manipulation; and in the second mode, at least one of the first brake or the second brake in the brake device operates on the basis of a predefined control algorithm. The present invention has the effect of ensuring that control is appropriately performed according to the work environment and guaranteeing high-precision control.

Description

Control system and control method for agricultural tractors

[0001] The present invention relates to an agricultural tractor and to a control technology for an agricultural tractor.

[0002] Agricultural tractors can perform a variety of agricultural tasks, including tilling, spraying fertilizers and pesticides, harvesting, and transporting.

[0003] Agricultural tractors drive around the work site and perform agricultural work.

[0004] During the course of agricultural work, agricultural tractors drive in a straight line as well as making frequent turns depending on the work environment (e.g., area of ​​the work site, terrain, road surface conditions, etc.).

[0005] When performing agricultural work with an agricultural tractor, if the intended work area is immediately adjacent to the previously completed work area, a 180-degree turn is required. In narrow work areas or narrow farm roads, a large turn angle may be required to change direction.

[0006] The turning radius of an agricultural tractor is one of the factors that determines work efficiency.

[0007] Farm work using agricultural tractors is mostly done in small work areas due to the relatively high-density agricultural environment in Korea compared to the large-scale agricultural environment in the United States.

[0008] Considering work efficiency in our country, agricultural tractors need to be driven with a minimum turning radius.

[0009] Most agricultural tractors are equipped with a single brake function that controls the brakes on the left and right rear wheels to operate individually in order to minimize the turning radius.

[0010] When the one-way brake function is activated, the agricultural tractor turns with the one wheel on which the brake is activated as the approximate center of rotation.

[0011] Conventional single-brake functions are operated by the user selectively operating two brake operating means to brake different wheels, respectively.

[0012] In order to properly use this manual operation type of single-brake function, the user's attention was required every time because the pedals included in each of the two brake operating means had to be selectively pressed in addition to the steering wheel operation.

[0013] In particular, in order to turn the agricultural tractor to the intended turning radius in a narrow work area, the user had to repeatedly operate the handle and step on the pedal, which also caused considerable fatigue to the user.

[0014] The manual operation of the brake function is limited to the level of operation based on the user's intuition, so not only is the work efficiency dependent on the user's skill level, but the risk of safety accidents cannot be ruled out.

[0015] As part of a technology to solve the problems associated with manually operating the bias brake function, a technology to automate the bias brake function has been proposed.

[0016] Refer to Korean Patent Publication No. 10-2011-0108828 (Application date: 2010.03.30, Publication date: 2011.10.06., Automatic bias brake device for tractor, hereinafter referred to as “prior art”).

[0017] Figure 1 is a conceptual diagram for explaining the operation of the prior art.

[0018] Referring to Fig. 1, the prior art includes a steering sensing unit (1), a position sensing unit (2), and a controller (3).

[0019] The steering sensing unit (1) is installed on the handle of the tractor and detects the steering direction of the handle.

[0020] The position sensing unit (2) detects the rotation angle of the final reduction gear connected between the motor shaft of the drive motor (M) installed in the transmission and the reduction gear (not shown).

[0021] The controller (3) controls the overall operation of the bias brake by appropriately driving the drive motor (M) installed in the tractor's transmission through an electrical signal (voltage change) according to the detection of each sensing unit (1,2).

[0022] The prior art has proposed an automatic operation of the bias brake function according to the steering direction of an agricultural tractor.

[0023] Conventional technology simply operates the automatic braking function, making it difficult to respond flexibly when unpredictable situations arise.

[0024] Agricultural tractors may encounter unexpected situations due to road conditions during farming operations.

[0025] The automatic bias brake function proposed in the prior art measures the rotation speed of the wheel through a wheel sensor (4) that measures the number of rotations of the wheel, and uses this as an input variable when controlling the bias brake.

[0026] When faced with an unexpected situation, the biased brake function is automatically activated based on the measurement values ​​measured by each sensing unit. However, the predicted driving situation of the agricultural tractor controlled according to the measurement values ​​and the actual driving situation of the agricultural tractor may differ from each other.

[0027] When a slip phenomenon occurs, the position of the agricultural tractor hardly moves and only the wheels spin, so it is difficult to predict the actual driving speed of the agricultural tractor using the rotational speed of the wheels.

[0028] The agricultural tractor could be driven in a manner contrary to the user's intention due to the automatic braking function that was activated only based on the measurement values ​​from each sensing unit.

[0029] The automatic braking function according to conventional technology has limitations in commonly applying it to different work environments.

[0030] [Prior Art Literature]

[0031] [Patent Document]

[0032] (Patent Document 1) Republic of Korea Patent Publication No. 10-2011-0108828

[0033] (Patent Document 2) Republic of Korea Patent Publication No. 10-2002-0066146

[0034] The present invention was conceived from consideration of a control technology for an agricultural tractor that can be flexibly applied according to the working environment.

[0035] In order to achieve this purpose, a control system for an agricultural tractor according to one embodiment of the present invention includes a brake device (150) for applying a stopping force to at least one of a first driving wheel (121c) and a second driving wheel (121d) of the agricultural tractor; a detection unit (200) for detecting a driving state of the agricultural tractor; and an integrated control unit (500) for controlling the operation of the brake device according to the driving state of the agricultural tractor detected by the detection unit (200); wherein the brake device (150) includes: a first brake operating means (151) for operating a first brake (151b) connected to the first driving wheel (121c); and a second brake operating means (152) for operating a second brake (152b) connected to the second driving wheel (121d). , and the integrated control unit (500) controls the brake device (150) to operate in a first mode or a second mode, and the brake device (150) operates at least one of the first brake (151b) and the second brake (152b) according to operation information input by a user's operation in the first mode, and the brake device (150) can operate at least one of the first brake (151b) and the second brake (152b) based on a predefined control algorithm in the second mode.

[0036] The above brake device (150) further includes a differential lock means (153) for regulating the first brake operating means (151) and the second brake operating means (152) to operate in conjunction with each other; and the integrated control unit (500) can activate a partial brake function for selectively operating the first brake (151b) or the second brake (152b) when the regulation of the differential lock means (153) is released.

[0037] The above detection unit (200) generates detection information that detects the driving status of the agricultural tractor, and the detection information may include at least one of the location information, steering information, speed information, driving direction information, turning radius information, and brake pressure information of the agricultural tractor.

[0038] The above driving direction information includes the driving status of the agricultural tractor for forward driving or backward driving, and the integrated control unit (500) determines whether to activate the one-sided brake function according to the driving direction information, and the integrated control unit (500) can activate the one-sided brake function to selectively operate the first brake (151b) or the second brake (152b) when the agricultural tractor is driving forward.

[0039] The above integrated control unit (500) includes a collection section (510) that collects the operation information and the detection information as learning data in the first mode; a learning section (520) that learns the learning data and updates a predefined control algorithm in an optimized form; and a storage section (530) that stores the control algorithm updated through learning in the learning section (520); wherein the learning section (520) optimizes and updates the control algorithm stored in the storage section (530) at the previous point in time through learning at each time point when the learning data is collected by the collection section (510), and the control algorithm can derive a control command for controlling the operation of the brake device (150) according to the driving conditions of the agricultural tractor.

[0040] It may further include a setting unit (300) for setting the above driving conditions.

[0041] The above driving conditions may include the turning radius of the agricultural tractor.

[0042] The above integrated control unit (500) may further include a slip determination unit (540) that determines slip from the detection information; and a compensation control unit (550) that controls the operation of the agricultural tractor to compensate for the slip error determined by the slip determination unit (540).

[0043] A selection unit (400) for selecting an operation mode of the brake device (150) is further included, and the integrated control unit (500) can control the brake device (150) to operate in a first mode or a second mode according to the operation mode of the brake device (150) selected by the selection unit (400).

[0044] Meanwhile, in order to achieve this purpose, a method for controlling an agricultural tractor using a control system for an agricultural tractor according to an embodiment of the present invention comprises: a monitoring step (S100) for monitoring detection information detecting the driving status of the agricultural tractor; an activation decision step (S200) for determining whether to activate a partial brake function for selectively operating a first brake (151b) and a second brake (152b) configured in a brake device (150); a brake control step (S300) for controlling the brake device (150) to operate in a first mode or a second mode when the partial brake function is activated in the activation decision step (S200); Including, in the brake control step (S300), when the brake device (150) operates in the first mode, the operation of the brake device (150) is controlled to perform the partial brake function according to the operation information input by the user's operation, and in the brake control step (S300), when the brake device (150) operates in the second mode, the operation of the brake device (150) is controlled to perform the partial brake function based on a predefined control algorithm, and the control algorithm can be updated in an optimized form by learning the detection information and the operation information collected at the time when the brake device (150) operates in the first mode.

[0045] As described above, according to the present invention, the following effects can be obtained.

[0046] First, since the bias brake function is automatically controlled based on a control algorithm that has learned the user's operating information, a certain level of work efficiency can be guaranteed.

[0047] Second, it is possible to perform timely and appropriate control depending on the work environment.

[0048] Third, since the error between the target driving path and the actual driving path is automatically corrected, high control precision can be guaranteed.

[0049] Figure 1 is a reference diagram for explaining prior art.

[0050] Figure 2 is a block diagram for explaining a control system of an agricultural tractor according to one embodiment of the present invention.

[0051] Figure 3 is a reference diagram for explaining a control system of an agricultural tractor according to one embodiment of the present invention.

[0052] Figure 4 is a flowchart illustrating a method for controlling an agricultural tractor using a control system for an agricultural tractor according to one embodiment of the present invention.

[0053] Figures 5 to 7 are conceptual diagrams for explaining a method for controlling an agricultural tractor using a control system for an agricultural tractor according to one embodiment of the present invention.

[0054] A preferred embodiment according to the present invention is described with reference to the attached drawings, but for the sake of brevity, descriptions of well-known components are omitted or compressed as much as possible.

[0055] Description of the agricultural tractor control system

[0056] Figure 2 is a block diagram for explaining a control system of an agricultural tractor according to one embodiment of the present invention, and Figure 3 is a reference diagram for explaining a control system of an agricultural tractor according to one embodiment of the present invention.

[0057] Referring to FIGS. 2 and 3, a control system (10) of an agricultural tractor according to one embodiment of the present invention includes a driving unit (100), a detection unit (200), a setting unit (300), a selection unit (400), and an integrated control unit (500).

[0058] The driving unit (100) is configured to drive an agricultural tractor.

[0059] Components related to the driving of the agricultural tractor are mounted on the driving unit (100).

[0060] The driving unit (100) includes a driving source (110), a driving mechanism (120), a steering mechanism (130), a transmission (140), and a brake device (150).

[0061] The driving source (110) generates driving force.

[0062] The driving force generated by the driving source (110) can be used as driving power by the driving machine (120) or as working power by the working machine.

[0063] As the driving source (110), at least one of an engine or a battery-driven driving motor can be applied.

[0064] The driving device (120) is provided for driving the agricultural tractor.

[0065] The driving device (120) is driven by the driving force of the driving source (110).

[0066] The driving device (120) has a plurality of driving wheels (121a, 121b, 121c, 121d).

[0067] A plurality of drive wheels (121a, 121b, 121c, 121d) are configured to drive the work target, and can be divided into front wheels (FW) and rear wheels (RW).

[0068] The drive wheels (121a, 121b) arranged on the front wheels (FW) function as steering wheels for changing the driving direction. The remaining drive wheels (121c, 121d) are arranged on the rear wheels (RW).

[0069] The steering device (130) is configured to change the steering direction of the driving device (120).

[0070] The steering wheel (130) includes a steering handle (131), a steering valve (132), and a steering control part (133).

[0071] The steering handle (131) is provided in the form of a steering wheel.

[0072] The steering wheel (131) can be operated by the user.

[0073] The steering valve (132) adjusts the steering angle of the front wheel (FW).

[0074] The steering valve (132) may be a proportional control valve that can be electronically controlled.

[0075] The steering control section (133) is configured to control the steering valve (132).

[0076] The steering control unit (133) communicates with at least one of the sensing unit (200) and the setting unit (300) and can control the steering valve (132).

[0077] The steering control unit (133) communicates with the detection unit (200) and can receive detection information including steering information.

[0078] Steering information can be obtained from a steering sensor (not shown) for detecting the amount of rotation of the steering wheel (131).

[0079] The steering control unit (133) controls the operation of the steering valve (132) by referring to the detection information provided from the detection unit (200). The steering valve (132) steers the front wheel (FW) by an amount corresponding to the rotation amount of the steering wheel (131).

[0080] The steering control section (133) communicates with the setting section (300) and can control the operation of the steering valve (132) by referring to the preset driving conditions.

[0081] The turning radius of the agricultural tractor may be included as an operating condition for controlling the operation of the steering valve (132).

[0082] The steering control unit (133) communicates with the integrated control unit (500), and it is also possible to receive detection information or driving conditions from the integrated control unit (500).

[0083] The steering angle of the front wheel (FW) can be adjusted according to the user's intention as the steering valve (132) is appropriately controlled by the steering control part (133).

[0084] The transmission (140) transmits the driving force of the drive source (110) to the driving mechanism (120).

[0085] The transmission (140) can perform gear shifting of the driving unit (120) in the process of transmitting driving force to the driving unit (120).

[0086] The transmission (140) can be electronically controlled.

[0087] The transmission (140) may include an operating part (141) and a shifting execution part (142).

[0088] The operating section (141) is configured to command gear change through user operation.

[0089] The operating part (141) may include a forward / reverse operating means (141a) and a gear shift operating means (142b).

[0090] A user command for forward or reverse driving of the agricultural tractor can be input by operating the forward / reverse driving means (not shown).

[0091] A user command to change the driving speed of the driving device (120) can be input by operating the gear shift operation means (not shown).

[0092] The forward / reverse operation means and the gear shift operation means may each be provided with a gear shift lever (not shown) and a gear shift pedal (not shown).

[0093] It is also possible for both the forward / reverse operation means and the gear shift operation means to be provided as gear shift pedals (not shown). In this case, the operating section (141) may be provided with multiple gear shift pedals for commanding forward and reverse gear shifts, respectively.

[0094] The gear shift execution part (142) is configured to execute gear shifting according to a user command coming through the operating part (141).

[0095] When a user command for forward or reverse driving of the agricultural tractor is input through the operating section (141), the transmission execution section (142) transmits the driving force of the driving source (110) to the driving unit (120) so that the rotation direction of the driving wheels (121a, 121b, 121c, 121d) is switched to forward rotation (forward) or reverse rotation (backward).

[0096] When a user command regarding the driving speed of the agricultural tractor is input through the operating section (141), the transmission execution section (142) transmits the driving force of the driving source (110) corresponding to the driving speed to the driving unit (120).

[0097] Since the driving speed is proportional to the pressure of the shift pedal, the shift execution part (142) executes the shift in an amount corresponding to the pressure of the shift pedal.

[0098] The gear shifting execution part (142) can be controlled by the integrated control unit (500).

[0099] The integrated control unit (500) communicates with at least one of the detection unit (200) and the setting unit (300) and can control the gear shift execution unit (142).

[0100] The integrated control unit (500) communicates with the detection unit (200) and can receive detection information including driving direction information and gear shift information.

[0101] Driving direction information includes the driving status of the agricultural tractor, whether it is driving forward or backward.

[0102] Driving direction information can be obtained from a detection sensor (not shown) for detecting operation of the forward / reverse operation means.

[0103] The shift information can be obtained from a pedal sensor (not shown) for detecting the amount of pressure on the shift pedal.

[0104] The integrated control unit (500) controls the operation of the gear shift execution unit (142) by referring to the detection information provided from the detection unit (200).

[0105] The integrated control unit (500) communicates with the setting unit (300) and can control the operation of the gear shift execution unit (142) by referring to the preset operating conditions.

[0106] The driving direction and speed of the agricultural tractor may be included as driving conditions for controlling the operation of the transmission execution part (142).

[0107] As the driving gear (120) is appropriately shifted by the transmission control unit (142), at least one of the driving direction and driving speed of the agricultural tractor can be adjusted according to the user's intention.

[0108] The brake device (150) is configured to brake the driving device (120).

[0109] The brake device (150) includes a first brake operating means (151), a second brake operating means (152), a differential locking means (153), and a brake valve (154).

[0110] The first brake operating means (151) is configured to apply stopping force to one of the plurality of driving wheels (121a, 121b, 121c, 121d) (hereinafter referred to as the ‘first driving wheel (121c)’).

[0111] The first brake operating means (151) includes a first brake pedal (151a) and a first brake (151b).

[0112] The first brake pedal (151a) is configured to command braking by user operation.

[0113] The first brake (151b) is configured to perform braking of the first drive wheel (121c) according to a user command coming through the first brake pedal (151a).

[0114] When a user steps on the first brake pedal (151a), the first brake (151b) is operated by the associated components, and the rotation of the first drive wheel (121c) placed on the rear wheel (RW) of the agricultural tractor can be stopped.

[0115] The second brake operating means (152) is configured to apply stopping force to one of the plurality of driving wheels (121a, 121b, 121c, 121d) (hereinafter referred to as the ‘second driving wheel (121d)’).

[0116] The second brake operating means (152) includes a second brake pedal (152a) and a second brake (152b).

[0117] The second brake pedal (152a) is configured to command braking by user operation.

[0118] The second brake (152b) is configured to perform braking of the second drive wheel (121d) according to a user command coming through the second brake pedal (152a).

[0119] When the user steps on the second brake pedal (152a), the second brake (152b) is operated by the associated components, and the rotation of the second drive wheel (121d) placed on the rear wheel (RW) of the agricultural tractor can be stopped.

[0120] The differential locking means (153) is configured to regulate the operation of the first brake operating means (151) and the second brake operating means (152) so that they operate in conjunction with each other.

[0121] When the operation of the first brake operating means (151) and the second brake operating means (152) is regulated by the differential lock means (153), the first brake operating means (151) and the second brake operating means (152) are operated together.

[0122] When the regulation of the first brake operating means (151) and the second brake operating means (152) by the differential lock means (153) is released, the first brake operating means (151) or the second brake operating means (152) of the brake device (150) can operate independently.

[0123] In this case, the brake device (150) functions as a partial brake that selectively applies stopping force to either the first driving wheel (121c) or the second driving wheel (121d).

[0124] When the brake device (150) functions as a single brake, the agricultural tractor turns with the driving wheel on one side to which stopping force is applied as the approximate center of rotation.

[0125] The brake valve (154) controls the stopping force provided to at least one of the first driving wheel (121c) and the second driving wheel (121d).

[0126] The brake valve (154) may be an electronically controlled electro-hydraulic brake valve.

[0127] The brake valve (154) can be controlled by the integrated control unit (500).

[0128] The integrated control unit (500) communicates with at least one of the detection unit (200) and the setting unit (300) and can control the operation of the brake valve (154).

[0129] The integrated control unit (500) communicates with the detection unit (200) and can receive detection information including braking information and brake pressure information.

[0130] Braking information can be obtained from a pedal sensor (not shown) for detecting the amount of pressure applied to the first brake pedal (151a) and the second brake pedal (152a).

[0131] Brake pressure information can be obtained from a detection sensor (not shown) for detecting brake pressure information applied to each driving wheel (121c, 121d) arranged on the rear wheel (RW).

[0132] The integrated control unit (500) controls the operation of the brake valve (154) by referring to the detection information provided from the detection unit (200).

[0133] The brake valve (154) applies stopping force to the first brake (151b) or the second brake (152b) corresponding to the amount of pressure applied to the first brake pedal (151a) or the second brake pedal (152a).

[0134] The integrated control unit (500) communicates with the setting unit (300) and can control the operation of the brake valve (154) by referring to the preset operating conditions.

[0135] The driving direction, speed, turning radius, etc. of the agricultural tractor can be referenced as driving conditions for controlling the operation of the brake valve (154).

[0136] As the brake valve (154) is appropriately controlled by the integrated control unit (500), the agricultural tractor turns at the turning radius intended by the user or the minimum turning radius.

[0137] The brake device (150) can be operated in the first mode or the second mode under the control of the integrated control unit (500).

[0138] In the first mode, the brake device (150) can operate at least one of the first brake (151b) and the second brake (152b) according to the operation information input by the user.

[0139] The first mode means that the brake device (150) is manually operated by the user, and the agricultural tractor turns as intended by the user.

[0140] In the second mode, the brake device (150) can operate at least one of the first brake (151b) and the second brake (152b) based on a predefined control algorithm.

[0141] The second mode means that the brake device (150) is automatically operated by the control of the integrated control unit (500) without the intervention of the user who operates the brake device (150).

[0142] In the second mode, the integrated control unit (500) supports the agricultural tractor to turn at a turning radius intended by the user or a minimum turning radius.

[0143] In addition, the driving unit (100) may include, as components related to work, a connecting device (not shown) for mechanical connection with a work machine, a work operation device (not shown) for manipulating the work motion of the work machine, etc.

[0144] The detection unit (200) generates detection information that detects the driving status of the agricultural tractor.

[0145] The detection information includes at least one of position information, steering information, speed information, driving direction information, turning radius information, braking information, brake pressure information, incline information, brake regulation information, and gear shift information of the agricultural tractor.

[0146] The detection unit (200) can generate the above detection information based on the detection values ​​detected from multiple detection means (not shown) installed on the agricultural tractor.

[0147] Examples of multiple detection means may include a location information acquisition section (210), a steering information acquisition section (220), etc.

[0148] In the location information acquisition section (210), a dual antenna and a receiver can be applied as a detection means for acquiring location information.

[0149] The location information acquisition section (210) can acquire real-time location information of an agricultural tractor, including latitude and longitude, by transmitting global navigation satellite system (GNSS) signals such as GPS, GLONASS, and BEIDOU, and RTK correction signals.

[0150] It goes without saying that not only location information but also speed information and driving direction information can be obtained through the detection value detected through the location information acquisition section (210).

[0151] The location information acquisition section (210) can have a location accuracy of ± 3 cm and a heading accuracy of within 0.08˚ through real-time location correction based on GNSS signals and RTK correction signals.

[0152] In the steering information acquisition section (220), a position sensor may be additionally applied in addition to the steering sensor mentioned above as a detection means for acquiring steering information.

[0153] In the case of a potential sensor, the steering angle of the front wheel (FW) can be measured, and steering information can be obtained from the measured value.

[0154] In addition, examples of multiple detection means may include a gyro sensor and an inertial measurement sensor (IMU sensor) that can obtain attitude information such as tilt information and direction information of an agricultural tractor.

[0155] The setting unit (300) is configured to set the operating conditions of an agricultural tractor.

[0156] The setting unit (300) is provided in the form of an operation panel that displays on a screen the overall status of the agricultural tractor as well as the driving and working conditions so that the user can monitor them, and input driving conditions for controlling the driving and working of the agricultural tractor through the screen.

[0157] The setting unit (300) can be provided as a human-machine interface (HMI) device.

[0158] For example, the driving condition input by the user into the setting unit (300) may be the turning radius of an agricultural tractor.

[0159] When a turning radius for a point on the work path of the work target is input as an operating condition through the setting unit (300), the integrated control unit (500) controls the operation of the driving unit (100) so that the agricultural tractor can perform turning operation at the turning radius intended by the user.

[0160] The integrated control unit (500) controls detailed requirements such as driving speed, brake pressure, and steering angle of the agricultural tractor to an appropriate level according to driving conditions.

[0161] The driving conditions input by the user into the setting section (300) are not limited to the turning radius, but may also include setting information on detailed requirements for controlling the driving and operation of the agricultural tractor, such as the setting of the working path, the width and position of the working equipment.

[0162] The selection unit (400) is configured to select the operating mode of the brake device (150).

[0163] The selection unit (400) is configured to command a change in operating mode by user operation.

[0164] The selection unit (400) may be provided as a switching switch capable of switching between the first mode or the second mode.

[0165] The selection unit (400) may be provided with an on / off switch that can turn the automatic bias brake function on / off.

[0166] The integrated control unit (500) controls the brake device (150) selected through the selection unit (400) to operate in the first mode or the second mode.

[0167] The integrated control unit (500) is configured to control the driving unit (100), detection unit (200), setting unit (300), and selection unit (400).

[0168] The integrated control unit (500) controls the brake device (150) to operate in the first mode or the second mode according to the detection result of the detection unit (200).

[0169] However, since the one-sided brake function of the brake device (150) is not always advantageous depending on the working environment, there is also a need to turn off the one-sided brake function depending on the situation.

[0170] The integrated control unit (500) determines whether to activate the bias brake function by considering the following conditions.

[0171] The integrated control unit (500) communicates with the detection unit (200) and can receive driving direction information that detects forward or backward driving of the agricultural tractor.

[0172] The integrated control unit (500) can determine whether to activate the bias brake function based on driving direction information.

[0173] The integrated control unit (500) controls the operation of the brake device (150) so that the bias brake function is activated when the agricultural tractor is moving forward.

[0174] The integrated control unit (500) controls the operation of the brake device (150) so that the bias brake function is activated when the regulation of the differential lock means (153) is released.

[0175] The integrated control unit (500) communicates with the detection unit (200) and may receive brake regulation information detecting whether the first brake operation means (151) and the second brake operation means (152) are regulated by the differential lock means (153).

[0176] When the integrated control unit (500) receives brake regulation information from the detection unit (200), it can determine whether to activate the bias brake function based on the brake regulation information.

[0177] A detailed description of the detailed configuration of the integrated control unit (500) will be provided later.

[0178] <Description of the Integrated Control Unit>

[0179] Referring to FIG. 2 again, in the control system (10) of an agricultural tractor according to one embodiment of the present invention, the integrated control unit (500) includes a collection unit (510), a learning unit (520), a storage unit (530), a slip determination unit (540), and a compensation control unit (550).

[0180] The collection section (510) is configured to collect operation information of the brake device (150) operated by the user in the first mode.

[0181] The operation information collected in the collection section (510) may be operation information of components directly operated by the user. The operation information may include the rotation amount of the steering wheel (131), the brake pedal (151a, 152a) operated by the user, the response value of the operated brake pedal (151a, 152a), operation information of the brake valve (153), etc.

[0182] In the collection section (510), detection information generated by the detection section (200) at the time when the operation information is generated is also collected.

[0183] The collection section (510) processes and collects all information about the user's method of operating the agricultural tractor and the driving status of the agricultural tractor operated accordingly as learning data.

[0184] The learning part (520) learns learning data and updates the predefined control algorithm in an optimized form.

[0185] The learning section (520) inputs the learning data processed in the collection section (510) into a predefined control algorithm to learn, thereby deriving a new control algorithm that will replace the control algorithm of the previous point in time.

[0186] The control algorithm defined in the learning section (520) may be composed of machine learning-based neural networks.

[0187] The learning component (520) can also learn user-manipulated operation information based on location information. A control algorithm learned based on location information can enable easier control of the agricultural tractor operation without user intervention during future farming operations at the same work site.

[0188] As learning by the learning part (520) is repeated, the driving control method of an agricultural tractor based on a control algorithm can become similar to the driving control method by user operation.

[0189] The greater the user's driving skill, the more precise the control algorithm can be. Applying a control algorithm that reflects the work habits of a skilled user to control the driving of an agricultural tractor in various working environments can ensure a certain level of operational efficiency.

[0190] The control algorithm updated by the learning section (520) is stored in the storage section (530).

[0191] The control algorithm stored in the storage section (530) is applied as a control algorithm for automatically controlling the operation of the brake device (150) when the brake device (150) operates in the second mode.

[0192] The slip judgment part (540) judges slip from detection information.

[0193] The slip judgment part (540) can refer to location information and speed information as detection information for judging slip.

[0194] The slip judgment part (540) can determine that slip has occurred when the wheel speed of the driving wheels (121a, 121b, 121c, 121d) is sufficient to perform the turning movement intended by the user, but there is no change in the position of the agricultural tractor while it is in motion.

[0195] The slip determination part (540) can determine that slip has occurred even when the wheel speed of the driving wheels (121a, 121b, 121c, 121d) is sufficient to perform the turning operation intended by the user, or when there is a difference between the driving speed of the agricultural tractor predicted from the wheel speed and the actual driving speed of the agricultural tractor.

[0196] Since this is only one example, it is obvious that the slip judgment part (540) can perform the slip judgment by referring to the above-mentioned variables and other variables among the detection information.

[0197] The slip judgment section (540) can calculate the slip error in addition to the slip judgment.

[0198] The slip error can be determined from the difference between the driving path of the agricultural tractor at the time of judgment, i.e., the actual driving path, and the target driving path determined by the optimized algorithm or the driving conditions set by the user.

[0199] The compensation control section (550) controls the operation of the driving section (100) to compensate for the slip error determined by the slip determination section (540).

[0200] For example, the compensation control section (550) can variably apply stopping force, i.e., brake pressure, to the driving wheel in which slipping has occurred among the first driving wheel (121c) and the second driving wheel (121d) in order to compensate for the slip error.

[0201] This is just one example, so it goes without saying that compensation measures for slip errors are not limited to this.

[0202] The control system (10) of an agricultural tractor proposed by the present invention can reduce the difference between the target driving path of the agricultural tractor and the actual driving path by compensating for slip error.

[0203] By controlling the slip error compensation, it is possible to flexibly deal with unexpected path errors that may occur due to the working environment during agricultural work of an agricultural tractor, and thus high control precision can be ensured in controlling the operation of the agricultural tractor, especially turning operation.

[0204] Below, with reference to the drawing, a method for controlling an agricultural tractor using a control system (10) of an agricultural tractor will be conceptually explained.

[0205] <Description of agricultural tractor control method>

[0206] FIG. 4 is a flowchart illustrating a method for controlling an agricultural tractor using a control system (10) for an agricultural tractor according to one embodiment of the present invention, and FIGS. 5 to 7 are conceptual diagrams for explaining the overall method for controlling an agricultural tractor using the control system (10) for an agricultural tractor illustrated in FIG. 4.

[0207] Hereinafter, with reference to FIGS. 4 to 7, a method for controlling an agricultural tractor using the agricultural tractor control system (10) proposed by the present invention will be described. For reference, a brief description of each component included in the agricultural tractor control system (10) has been previously mentioned, and therefore, any further explanation will be omitted.

[0208] 1. Monitoring stage <s100>

[0209] The monitoring stage (S100) is a stage for monitoring detection information that detects the driving status of an agricultural tractor.

[0210] In the monitoring step (S100), the integrated control unit (500) monitors the detection information generated in real time by the detection unit (200).

[0211] Detection information is generated by multiple detection means configured in the detection unit (200) after the agricultural tractor starts agricultural work in the work target area.

[0212] As for the detection information, it has been mentioned previously, so a detailed explanation will be omitted.

[0213] 2. Activation decision stage <s200>

[0214] The activation decision step (S200) is a step for determining whether to activate the partial brake function for selectively operating the first brake (151b) and the second brake (152b) configured in the brake device (150).

[0215] In the activation decision step (S200), the integrated control unit (500) activates or deactivates the partial brake function of the brake device (150) according to the detection information.

[0216] For example, the sensing information applied to activate the bias brake function may be steering information on the steering angle of an agricultural tractor.

[0217] If the steering information included in the detection information being monitored includes a steering angle higher than a preset level, the integrated control unit (500) determines that the agricultural tractor intends to perform turning driving and activates the bias brake function.

[0218] When the partial brake function of the brake device (150) is activated by the integrated control unit (500), the brake device (150) operates in the first mode or the second mode by the brake control step (S300) described later.

[0219] For reference, before the brake device (150) operates in the first or second mode and functions as a bias brake, a judgment must be made as to whether the agricultural tractor is moving forward or backward.

[0220] The integrated control unit (500) activates the bias brake function so that it operates only when the agricultural tractor is in forward motion.

[0221] If a detection means (not shown) is configured in the detection unit (200) to detect whether the first brake operation means (151) and the second brake operation means (152) are regulated by the differential lock means (153), brake regulation information can be provided to the integrated control unit (500) as a detection result regarding whether the differential lock means (153) is regulated.

[0222] When brake regulation information is provided to the integrated control unit (500) from the detection unit (200), the integrated control unit (500) can determine whether to activate the partial brake function of the brake device (150) according to the brake regulation information.

[0223] When the regulation of the differential lock means (153) is detected in the brake regulation information, the operations of the first brake operating means (151) and the second brake operating means (152) are performed simultaneously, so the integrated control unit (500) deactivates the bias brake function.

[0224] However, the differential locking device (153) can be operated manually by the user. Whether the differential locking device (153) is regulated is something that the user can fully recognize. The integrated control unit (500) receives brake regulation information from a separate detection device and determines whether to activate the biased brake function based on this information, which can be added or omitted depending on the degree of user intervention in the operation of the agricultural tractor.

[0225] 3. Brake control stage <s300>

[0226] The brake control step (S300) is a step for controlling the brake device (150) to operate in the first mode or the second mode when the partial brake function is activated in the activation decision step (S200).

[0227] The operating mode of the brake device (150) can be determined by a user command input through the selection unit (400).

[0228] If the user selects to use the automatic bias brake function in the brake control step (S300), the integrated control unit (500) detects this and activates the automatic bias brake function.

[0229] However, in the case of autonomous tractors, user intervention is minimized. Since the automatic braking function is activated only under certain conditions, autonomous tractors may be configured to always use the automatic braking function.

[0230] Referring again to Figure 4, when the automatic bias brake function is activated, the brake device (150) operates in the second mode.

[0231] The control process while the brake device (150) operates in the second mode can be referred to in FIG. 6.

[0232] Referring to FIG. 6, when the brake device (150) operates in the second mode in the brake control step (S300), the integrated control unit (500) controls the operation of the brake device (150) to perform a partial brake function based on a predefined control algorithm.

[0233] If the driving conditions are set through the setting unit (300), the integrated control unit (500) performs control based on the control algorithm, but controls the operation of the brake device (150) by reflecting the user settings for the driving conditions.

[0234] When a difference occurs between the target driving path of the agricultural tractor and the actual driving path through monitoring of detection information while the brake device (150) performs the partial brake function by the integrated control unit (500), it is determined whether or not there is slipping.

[0235] At this time, if slip occurs, the difference between the target driving path and the actual driving path can be reduced by additionally performing compensation control to compensate for the slip error.

[0236] If slip does not occur or compensation control is performed due to slip occurrence, the above series of processes are repeated.

[0237] For reference, the control algorithm is updated in an optimized form by learning the detection and operation information collected at the time the user manually operated the brake function, i.e., at the time it was operated in the first mode.

[0238] Before the automatic braking function is activated, the braking function is manually operated by the user and is repeatedly learned, and the updated control algorithm is stored in the storage section (530).

[0239] When fully unmanned tractors become commercially available, they will be able to perform agricultural tasks using their own automatic braking function. However, in the case of fully unmanned tractors, there is no opportunity for the user to manually operate the braking function.

[0240] In this case, learning data related to operation information collected by multiple agricultural tractors can be shared through an external server (not shown), so that a fully unmanned tractor can learn the shared learning data, update the pre-installed control algorithm in an optimized form, and use this to enable driving control.

[0241] Referring again to Figure 5, if the user chooses not to use the automatic bias brake function, the brake device (150) operates in the first mode.

[0242] The control process while the brake device (150) is operating in the first mode can be referred to in Fig. 7.

[0243] When the brake device (150) operates in the first mode in the brake control step (S300), the operation of the brake device (150) can be controlled to perform a biased brake function according to the operation information input by the user.

[0244] The user controls the agricultural tractor to turn at the intended turning radius by operating the brake device (150).

[0245] During the driving control process of an agricultural tractor, operation information and detection information are collected at the time the biased brake function is used.

[0246] The collected operation information and detection information are used as learning data to train a predefined control algorithm.

[0247] Each time a manual operation of the bias brake function is performed, the learning data is enriched by the additional operation information, and the control algorithm can be updated to be more specialized for driving control using the bias brake function.

[0248] A control algorithm optimized for driving control using the bias brake function through an iterative learning process is stored in the storage section (530).

[0249] The control algorithm stored in the storage section (530) is used as a control algorithm to automatically implement the biased brake function when the brake device (150) operates in the second mode, as mentioned above.

[0250] Once the control algorithm is stored, the above-described series of processes, that is, learning the collected learning data, updating the control algorithm in an optimized form, and storing the updated control algorithm, are repeated each time the brake device (150) is operated in the first mode.

[0251] The above-described embodiments merely illustrate preferred examples of the present invention, and it may have various applications. Therefore, the present invention should not be construed as limited to the above-described content. Instead, the scope of the present invention should be construed within the scope of the separately described claims and their equivalents.

Claims

1. A brake device (150) for applying stopping force to at least one of the first driving wheel (121c) and the second driving wheel (121d) of an agricultural tractor; A detection unit (200) for detecting the driving status of the above agricultural tractor; and Includes an integrated control unit (500) for controlling the operation of the brake device according to the driving status of the agricultural tractor detected from the detection unit (200); The above brake device (150) is A first brake operating means (151) for operating the first brake (151b) connected to the first driving wheel (121c); and It includes a second brake operating means (152) for operating a second brake (152b) connected to the second driving wheel (121d); The above integrated control unit (500) controls the brake device (150) to operate in the first mode or the second mode, The above brake device (150) operates at least one of the first brake (151b) and the second brake (152b) according to the operation information input by the user in the first mode. The above brake device (150) operates at least one of the first brake (151b) and the second brake (152b) based on a control algorithm defined in the second mode. Control system for agricultural tractor (10).

2. In paragraph 1, The above brake device (150) is It further includes a differential lock means (153) for regulating the first brake operating means (151) and the second brake operating means (152) to operate in conjunction with each other; The above integrated control unit (500) activates a bias brake function to selectively operate the first brake (151b) or the second brake (152b) when the regulation of the differential lock means (153) is released. Control system for agricultural tractor (10).

3. In paragraph 1, The above detection unit (200) generates detection information that detects the driving status of the agricultural tractor. The above detection information includes at least one of the location information, steering information, speed information, driving direction information, turning radius information, and brake pressure information of the agricultural tractor. Control system for agricultural tractor (10).

4. In paragraph 3, The above driving direction information includes the driving status of the agricultural tractor for forward or backward driving, The above integrated control unit (500) activates a partial brake function to selectively operate the first brake (151b) or the second brake (152b) when the agricultural tractor is moving forward. Control system for agricultural tractor (10).

5. In paragraph 3, The above integrated control unit (500) A collection section (510) that collects the operation information and the detection information as learning data in the first mode; A learning part (520) that learns the above learning data and updates the predefined control algorithm in an optimized form; and Including a storage section (530) in which a control algorithm updated through learning in the above learning section (520) is stored; The above learning part (520) re-optimizes and updates the control algorithm stored in the storage part (530) at the previous point in time through learning at each time the learning data is collected by the collection part (510). The above control algorithm derives a control command to control the operation of the brake device (150) according to the driving conditions of the agricultural tractor. Control system for agricultural tractor (10).

6. In paragraph 5, Further comprising a setting unit (300) for setting the above driving conditions; Control system for agricultural tractor (10).

7. In paragraph 6, The above driving conditions include the turning radius of the agricultural tractor. Control system for agricultural tractor (10).

8. In paragraph 5, The above integrated control unit (500) A slip determination part (540) that determines slip from the above detection information; and It further includes a compensation control section (550) that controls the operation of the agricultural tractor to compensate for the slip error determined by the slip determination section (540). Control system for agricultural tractor (10).

9. In paragraph 1, It further includes a selection unit (400) for selecting the operation mode of the above brake device (150); The above integrated control unit (500) controls the brake device (150) to operate in the first mode or the second mode according to the operation mode of the brake device (150) selected by the selection unit (400). Control system for agricultural tractor (10).

10. Monitoring step (S100) for monitoring detection information that detects the driving status of an agricultural tractor; An activation decision step (S200) for determining whether to activate the partial brake function for selectively operating the first brake (151b) and the second brake (152b) configured in the brake device (150); In the above activation determination step (S200), if the partial brake function is activated, a brake control step (S300) for controlling the brake device (150) to operate in the first mode or the second mode is included; In the above brake control step (S300), when the brake device (150) operates in the first mode, the operation of the brake device (150) is controlled to perform the partial brake function according to the operation information input by the user's operation. In the above brake control step (S300), when the brake device (150) operates in the second mode, the operation of the brake device (150) is controlled to perform the partial brake function based on a predefined control algorithm. The above control algorithm learns the detection information and the operation information collected at the time the brake device (150) operates in the first mode and updates them in an optimized form. A method for controlling an agricultural tractor using a control system (10) of an agricultural tractor.

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