WO2015178448A1 - Système de déplacement d'engin agricole - Google Patents

Système de déplacement d'engin agricole Download PDF

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Publication number
WO2015178448A1
WO2015178448A1 PCT/JP2015/064584 JP2015064584W WO2015178448A1 WO 2015178448 A1 WO2015178448 A1 WO 2015178448A1 JP 2015064584 W JP2015064584 W JP 2015064584W WO 2015178448 A1 WO2015178448 A1 WO 2015178448A1
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WO
WIPO (PCT)
Prior art keywords
work vehicle
traveling
traveling work
accompanying
emergency stop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/064584
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English (en)
Japanese (ja)
Inventor
横山　和寿
中川　渉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanmar Co Ltd
Original Assignee
Yanmar Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2014106556A external-priority patent/JP6267586B2/ja
Priority claimed from JP2014106554A external-priority patent/JP2015222502A/ja
Priority claimed from JP2014106552A external-priority patent/JP2015222500A/ja
Priority claimed from JP2014106553A external-priority patent/JP6258781B2/ja
Priority claimed from JP2014106551A external-priority patent/JP2015222499A/ja
Priority claimed from JP2014106555A external-priority patent/JP6258782B2/ja
Application filed by Yanmar Co Ltd filed Critical Yanmar Co Ltd
Publication of WO2015178448A1 publication Critical patent/WO2015178448A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a traveling system for a work vehicle, and relates to an autonomous traveling work vehicle that enables autonomous traveling along a set traveling route using a satellite positioning system, and an accompanying traveling working vehicle that travels along with the autonomous traveling work vehicle.
  • the present invention has been made in view of the situation as described above, and when an operator is working on an autonomous traveling work vehicle while traveling alongside an accompanying traveling work vehicle, there is an abnormality in the autonomous traveling work vehicle.
  • an emergency stop device capable of promptly stopping an autonomous traveling work vehicle is provided.
  • an operator boarding a display device that displays the traveling state of the autonomous traveling work vehicle, the operating state of the airframe, or the like, or a remote control device that can operate the autonomous traveling working vehicle to stop and travel is accompanied by the operator. It is intended to provide a device that can be mounted on a traveling work vehicle and easily viewed and operated.
  • the present invention relates to position calculation means for positioning the position of the aircraft using a satellite positioning system, and autonomous traveling work controlled to automatically travel and work along the traveling route set by the control device.
  • the remote operation device and the autonomous traveling work vehicle provided in the accompanying traveling work vehicle are operated by the vehicle and the associated traveling working vehicle that performs the work while accompanying traveling at a predetermined distance from the autonomous traveling working vehicle.
  • the device can communicate with each other via the communication means, and an emergency stop switch is disposed on the accompanying traveling work vehicle, and is connected to the engine rotation control means provided on the autonomous traveling work vehicle via the communication means, The engine of the autonomous traveling work vehicle can be stopped by operating an emergency stop switch.
  • the emergency stop switch is provided at a central portion of the steering handle of the accompanying traveling work vehicle.
  • the emergency stop switch is attached to a pillar constituting the cabin of the accompanying traveling work vehicle.
  • the emergency stop switch is configured to be replaceable with left and right pillars.
  • the emergency stop switch is configured to be replaceable with front and rear pillars.
  • the emergency stop switch is attached to an armrest of an accompanying traveling work vehicle.
  • the emergency stop switch is attached to a side panel of an accompanying traveling work vehicle.
  • the emergency stop switch is attached to the dashboard of the accompanying traveling work vehicle.
  • the emergency stop switch is provided in the vicinity of a display device provided on the dashboard of the accompanying traveling work vehicle.
  • the emergency stop switch is connected to the engine rotation control means of the accompanying traveling work vehicle, and stops the engine of the accompanying traveling work vehicle simultaneously with the emergency stop of the autonomous traveling work vehicle.
  • the emergency stop switch is connected to mode switching means, and can switch between independent stop of the autonomous traveling work vehicle, stop of both the autonomous traveling work vehicle and the accompanying traveling work vehicle, and independent stop of the accompanying traveling work vehicle. It is a thing.
  • the present invention relates to a position calculation means for positioning the position of the aircraft using a satellite positioning system, an autonomous traveling work vehicle controlled to automatically travel and work along a traveling route set by a control device, A remote operation device provided in the accompanying traveling work vehicle, and a control device for the autonomous traveling working vehicle, which performs the work by the accompanying traveling working vehicle that performs the operation while traveling along a position separated by a predetermined distance from the autonomous traveling working vehicle.
  • the remote control device is capable of displaying the set travel route and the state of the autonomous traveling work vehicle, the remote control device is attached to the dashboard via the arm,
  • the remote control device is configured to be movable left and right.
  • a rotation actuator is coupled to the rotation base of the arm, and the rotation actuator is connected to a control device to drive the rotation actuator in accordance with the headland turning of the accompanying traveling work vehicle. .
  • the present invention relates to a position calculation means for positioning the position of the aircraft using a satellite positioning system, an autonomous traveling work vehicle controlled to automatically travel and work along a traveling route set by a control device, A remote operation device provided in the accompanying traveling work vehicle, and a control device for the autonomous traveling working vehicle, which performs the work by the accompanying traveling working vehicle that performs the operation while traveling along a position separated by a predetermined distance from the autonomous traveling working vehicle.
  • a remote control device that can display and operate the set travel route and the state of the vehicle is provided.
  • the reflecting mirror of the head-up display device is configured to be turnable to the left and right by a turning actuator, and the turning actuator is connected to switching means so that the display can be switched to the left and right and the center of the windshield.
  • the rotation actuator is connected to a control device, and the rotation actuator is driven in accordance with the headland turning of the accompanying traveling work vehicle.
  • the operator who boarded the accompanying traveling work vehicle can easily operate the emergency stop switch by operating the emergency stop switch quickly when an abnormality occurs in the autonomous traveling work vehicle. Can be stopped.
  • the operator can easily operate the remote operation device mounted on the accompanying traveling work vehicle, and the operator can operate while monitoring the autonomous traveling work vehicle by looking at the remote operation device without greatly changing the line of sight.
  • the operator can easily operate the remote operation device mounted on the accompanying traveling work vehicle while confirming the state of the autonomous traveling working vehicle displayed on the windshield, and can also operate the accompanying traveling work vehicle.
  • Control block diagram The figure which shows the state of the work by an autonomous traveling work vehicle and an accompanying traveling work vehicle.
  • work by the autonomous traveling work vehicle and accompanying traveling working vehicle after headland turning.
  • the autonomous traveling work vehicle 1 capable of unmanned automatic traveling and the manned traveling traveling vehicle 100 operated by the operator accompanying the autonomous traveling working vehicle 1 as a tractor are used as the tractor.
  • An embodiment will be described in which a rotary tiller is mounted as a work machine on the vehicle 100.
  • the work vehicle is not limited to a tractor, and may be a combine.
  • the work machine is not limited to a rotary tiller.
  • the steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device.
  • the steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20.
  • the steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9.
  • the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected.
  • the detection value obtained by the steering sensor 20 is input to the control device 30.
  • the control device 30 includes a CPU (central processing unit), a storage device 30m such as a RAM and a ROM, an interface, and the like, and the storage device 30m stores a program, data, and the like for operating the autonomous traveling work vehicle 1.
  • a driver's seat 5 is disposed behind the steering handle 4 and a mission case 6 is disposed below the driver's seat 5.
  • Rear axle cases 8 and 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles.
  • the power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the rear wheels 10 and 10 can be driven.
  • the transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed.
  • the speed change means 44 is connected to the control device 30.
  • the rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 as the traveling speed.
  • the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.
  • the transmission case 6 houses a PTO clutch and a PTO transmission.
  • the PTO clutch is turned on and off by a PTO on / off means 45.
  • the PTO on / off means 45 is connected to the control device 30 to connect and disconnect the power to the PTO shaft. It can be controlled.
  • a front axle case 7 is supported on a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is configured.
  • the front wheels 9 and 9 are steered wheels, which can be turned by turning the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 comprising a power steering cylinder as a driving means of the steering device. It can be turned.
  • the steering actuator 40 is connected to the control device 30 and is controlled and driven by automatic traveling means.
  • the controller 30 is connected to an engine controller 60 serving as an engine rotation control means, and the engine controller 60 is connected to an engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like so that the state of the engine can be detected.
  • the engine controller 60 detects the load from the set rotational speed and the actual rotational speed, and controls so as not to overload, and transmits the state of the engine 3 to the remote operation device 112 described later and displays it on the display 113 and the windshield 107 I can do it.
  • a fuel injection device 63 is connected to the engine controller 60, and the engine 3 can be stopped by stopping the fuel supply by operating an emergency stop switch 178 described later.
  • the fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the control device 30.
  • the display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply.
  • a fuel gauge for displaying the remaining amount is provided and connected to the control device 30. Then, information related to the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining amount of fuel and the workable time are displayed on the display 113 or the windshield 107 of the remote operation device 112.
  • display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., a monitor indicating an abnormality, a set value, and the like are arranged.
  • a rotary tiller 24 is installed as a work implement on the rear side of the tractor body via the work implement mounting device 23 so as to be able to move up and down to perform the tilling work.
  • An elevating cylinder 26 is provided on the transmission case 6, and the elevating arm 26 constituting the work implement mounting device 23 is rotated by moving the elevating cylinder 26 to extend and lower the rotary tiller 24.
  • the lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the control device 30.
  • a mobile communication device 33 constituting a satellite positioning system is connected to the control device 30.
  • a mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11.
  • the mobile communicator 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped.
  • GPS United States
  • high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.
  • the autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30.
  • the traveling direction can be calculated from the GPS position measurement, the direction sensor 32 can be omitted.
  • the gyro sensor 31 detects an angular velocity of a tilt (pitch) in the longitudinal direction of the autonomous traveling work vehicle 1, an angular velocity of a tilt (roll) in the lateral direction of the aircraft, and an angular velocity of turning (yaw).
  • the gyro sensor 31 By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle in the front-rear direction and the left-right direction and the turning angle of the body of the autonomous traveling work vehicle 1.
  • Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor.
  • the gyro sensor 31 is connected to the control device 30 and inputs information relating to the three angular velocities to the control device 30.
  • the direction sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1.
  • a specific example of the direction sensor 32 includes a magnetic direction sensor.
  • the direction sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.
  • control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude / azimuth calculation means, and the attitude of the autonomous traveling work vehicle 1 (orientation, forward / backward direction of the body, left / right direction of the body, turning direction) )
  • GPS global positioning system
  • GPS was originally developed as a navigation support system for aircraft, ships, etc., and is composed of 24 GPS satellites (four on six orbital planes) orbiting about 20,000 kilometers above the sky. It consists of a control station that performs tracking and control, and a user communication device that performs positioning.
  • a positioning method using GPS there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used.
  • DGPS Differential GPS
  • RTK-GPS real-time kinematics-GPS
  • RTK-GPS real-time kinematics-GPS positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.
  • a mobile communication device 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna. 39 is disposed at a predetermined position that does not interfere with the work in the field.
  • the phase is measured (relative positioning) at both the reference station and the mobile station, and the data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. Transmit to the data receiving antenna 38.
  • the mobile GPS antenna 34 disposed in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37. This signal is transmitted to the mobile communication device 33 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by a fixed GPS antenna 36 serving as a reference station, measured by a fixed communication device 35, transmitted to the mobile communication device 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.
  • the control device 30 in the autonomous traveling work vehicle 1 includes automatic traveling means for automatically traveling, and the automatic traveling means receives radio waves transmitted from the GPS satellites 37, 37,. , Position information of the aircraft is obtained at set time intervals, displacement information and orientation information of the aircraft are obtained from the gyro sensor 31 and the orientation sensor 32, and the set route R set in advance by the aircraft based on the position information, the displacement information, and the orientation information.
  • the steering actuator 40, the speed change means 44, the elevating actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled to automatically run and work automatically.
  • the positional information on the outer periphery of the field H which becomes a work range is also set in advance by a known method and stored in the storage device 30m.
  • the obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and connected to the control device 30 so as not to come into contact with the obstacle.
  • the obstacle sensor 41 is composed of a laser sensor or an ultrasonic sensor, and is arranged at the front, side, or rear of the aircraft and connected to the control device 30, and there are obstacles at the front, side, or rear of the aircraft Whether or not an obstacle approaches within a set distance is controlled to stop traveling.
  • the autonomous traveling work vehicle 1 is mounted with a camera 42 that photographs the front, rear, and work machine, and is connected to the control device 30.
  • the video imaged by the camera 42 is displayed on the display 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100.
  • the display screen of the display 113 is small, it is displayed on another large display, the camera image is always or selectively displayed on another dedicated display, or the display means 49 provided in the autonomous traveling work vehicle 1 is used. It is also possible to display it.
  • a plurality of cameras 42 are arranged at the front, rear, or four corners of the aircraft. The configuration for photographing the surroundings is not limited.
  • the remote control device 112 sets the travel route R of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement, It stores work data.
  • the accompanying traveling work vehicle 100 which is a manned traveling vehicle, is operated and operated by an operator, and the associated traveling working vehicle 100 is equipped with a remote control device 112 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted.
  • the accompanying traveling work vehicle 100 may include a GPS mobile communication device 33 and a mobile GPS antenna 34.
  • the remote operation device 112 can be attached to and detached from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1.
  • the remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 to be carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1.
  • the remote operation device 112 can be configured by, for example, a notebook or tablet personal computer. In this embodiment, a tablet computer is used.
  • the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the transceivers 110 and 111 are provided as communication means for communicating with the autonomous traveling work vehicle 1 and the remote operation device 112. Each is provided.
  • the transceiver 111 is configured integrally with the remote operation device 112.
  • the communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi.
  • the remote operation device 112 is provided with a display 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a transceiver 111, a CPU, a storage device, a battery, and the like are housed in the housing.
  • the autonomous traveling work vehicle 1 can be remotely operated by the remote operation device 112.
  • the autonomous traveling work vehicle 1 can be operated for emergency stop, temporary stop, re-start, change of vehicle speed, change of engine speed, raising / lowering of the work machine, turning on / off of the PTO clutch, and the like. That is, the operator can easily operate the autonomous traveling work vehicle by controlling the accelerator actuator, the shifting means 44, the braking device 46, the PTO on / off means 45, etc. from the remote control device 112 via the transceiver 111, the transceiver 110, and the control device 30. 1 can be remotely controlled.
  • the display 113 can display surrounding images taken by the camera 42, the state of the autonomous traveling work vehicle 1, the state of work, information on GPS, an operation screen, and the like so that the operator can monitor.
  • the state of the autonomous traveling work vehicle 1 includes a traveling state, an engine state, a working machine state, and the like.
  • the traveling state includes a shift position, a vehicle speed, a fuel remaining amount, a battery voltage, and the like. Is the engine speed, load factor, etc., and the state of the work machine is the type of work machine, PTO rotation speed, work machine height, etc., which are displayed on the display 113 with numbers, level meters, etc.
  • the work status includes: work route (target route or set travel route R), work process, current position, distance to the headland calculated from the process, remaining route, number of processes, current work time, remaining Working hours, etc.
  • the remaining paths can be easily recognized by filling the existing work paths from the entire work paths. Further, by displaying the next stroke from the current position with an arrow, it is possible to easily recognize the next stroke such as the turning direction from the current time.
  • the information regarding GPS includes longitude and latitude at which the autonomous traveling work vehicle 1 is actually located, the number of satellites supplemented, radio wave reception intensity, an abnormality in the positioning system, and the like.
  • the operator gets on the accompanying traveling work vehicle 100 to drive and operates the autonomous traveling working vehicle 1 by mounting the remote operation device 112 on the accompanying traveling work vehicle 100.
  • the accompanying traveling work vehicle 100 travels while working diagonally behind the autonomous traveling work vehicle 1, and monitors and operates the autonomous traveling work vehicle 1.
  • the accompanying traveling work vehicle 100 travels behind the autonomous traveling work vehicle 1 to perform work depending on the work mode, and the present invention is not limited thereto.
  • the accompanying traveling work vehicle 100 is provided with a control device 130, and the control device 130 can communicate with the remote operation device 112 via the communication device 133 and the transceiver 111.
  • the controller 130 is connected to an emergency stop switch 178 and an engine controller 160 serving as engine rotation control means.
  • a fuel injection device 163 is connected to the engine controller 160 so that changes in engine speed, engine stop, and the like can be controlled.
  • the diesel engine since the diesel engine is used, the engine is stopped by the fuel injection devices 63 and 163.
  • the present invention is not limited, and the ignition device and the like may be controlled.
  • the emergency stop switch 178 is an emergency stop switch for the autonomous traveling work vehicle 1, and is arranged at the center of the steering handle 104 in the control section in the cabin 101 of the accompanying traveling work vehicle 100 as shown in FIG. 4. Has been.
  • the emergency stop switch 178 is a push button type, which is turned on simply by pressing and can be easily operated.
  • the shape of the emergency stop switch 178 is not limited to a disk shape, but may be a square shape or a ring shape, and the arrangement is not limited to the center of the steering wheel axis. Anything can be used.
  • the operator operates the emergency stop switch 178 located at the center of the steering handle 104 to thereby control the control device 130, the communication device 133, the transceiver 111, and the remote control device 112. Then, the fuel injection device 63 is operated via the transceiver 110, the control device 30, and the engine controller 60 to stop the engine.
  • the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous traveling work controlled to automatically travel and work along the traveling route R set by the control device 30 Work is performed by the vehicle 1 and the accompanying traveling work vehicle 100 that performs the operation while traveling along a position separated from the autonomous traveling working vehicle 1 by a predetermined distance.
  • the control device 30 of the traveling work vehicle 1 can communicate with each other via the communication device 133 and the transmitter / receiver 111 as communication means, and the emergency stop switch 178 is disposed in the accompanying traveling work vehicle 100, and the communication means is used.
  • an engine controller 60 serving as an engine rotation control means provided in the autonomous traveling work vehicle 1 through operation of the emergency stop switch 178.
  • the autonomous traveling work vehicle 1 is configured to be able to stop, when an abnormality occurs in the autonomous traveling work vehicle 1, the operator can quickly operate the emergency stop switch 178, and the engine 3 of the autonomous traveling work vehicle 1 can be operated. Can be stopped to stop running and work.
  • the emergency stop switch 178 is provided at the center portion of the steering handle 104 of the accompanying traveling work vehicle 100, the operator releases the hand holding the steering handle 4 and turns it to the center, and is positioned in front by the judgment of the saddle.
  • the emergency stop switch 178 can be easily pushed, and the emergency stop switch 178 can be operated without useless operation.
  • the emergency stop switch 178 may be configured to be attached to the pillar 105 constituting the cabin 101 of the accompanying traveling work vehicle 100 as shown in FIGS.
  • the cabin 101 includes left and right front pillars 105FL and 105FR, rear left and right middle pillars 105ML and 105MR, rear left and right rear pillars 105RL and 105RR, front pillars 105FL and 105FR, and middle pillars 105ML and 105MR.
  • the emergency stop switch 178 is a push button type, which can be turned on simply by pressing and can be easily operated.
  • the emergency stop switch 178 is attached to one of the left and right front pillars 105FL and 105FR in the cabin 101.
  • the right front pillar 105FR is disposed at the front upper and lower halfway portion where the right arm of the operator is extended. That is, the emergency stop switch 178 is attached to the front pillar 105FR on the right front side of the steering handle 104.
  • the operator can easily operate the emergency stop switch 178 when an abnormality occurs in the autonomous traveling work vehicle 1, and the control device 130, the communication device 133, the transceiver 111, the remote control device. 112, the fuel injection device 63 can be operated via the transceiver 110, the control device 30, and the engine controller 60 to stop the engine, and the autonomous traveling work vehicle 1 can be quickly stopped.
  • the emergency stop switch 178 can be configured to be interchangeable. That is, the mounting portions 178a and 178a of the emergency stop switch 178 are provided at the same height position of the left and right front pillars 105FL and 105FR. With this configuration, in the case of a right-handed operator, the emergency stop switch 178 is attached to the right front pillar 105FR, and in the case of a left-handed operator, the emergency stop switch 178 is attached to the left front pillar 105FL. It is. Thus, the emergency stop switch 178 can be quickly operated in an emergency by the dominant arm.
  • the emergency stop switch 178 can be attached to the attachment portion 178b of the middle pillar 105ML (or 105MR) instead of being attached to the front pillar 105FL (or 105FR).
  • the rear pillar 105RL (or 105RR) may be attached to the attachment portion 178c (the rear pillar 105RL is not shown).
  • the mounting height of the emergency stop switch 178 is arranged within a range that can be reached by the operator in the middle of the upper and lower parts of the middle pillar 105ML (105MR) or the rear pillar 105RL (105RR).
  • the left middle pillar 105ML or the right middle pillar 105MR can be replaced, or the left rear pillar 105RL or the right rear pillar 105RR can be replaced.
  • it may be configured to be replaceable with any one of the front pillar 105FL (or 105FR), the middle pillar 105ML (or 105MR), and the rear pillar 105RL (or 105RR).
  • the emergency stop switch 178 is arranged on a support column or a safety frame.
  • the control device 30 of the autonomous traveling work vehicle 1 can communicate with each other via the communication device 133 and the transceiver 111 as communication means, and the accompanying traveling work vehicle 100 is provided with an emergency stop switch 178, and the communication means
  • the emergency stop switch 178 is operated by being connected to an engine controller 160 serving as an engine rotation control means provided in the autonomous traveling work vehicle 1 via Since the engine of the autonomous traveling work vehicle 1 is configured to be able to stop, and the emergency stop switch 178 is attached to the pillar 105 constituting the cabin 101 of the accompanying traveling work vehicle 100, when an abnormality occurs in the autonomous traveling work vehicle 1, The operator can
  • the emergency stop switch 178 may be configured to be attached to the armrest 103 in the control unit in the cabin 101 of the accompanying traveling work vehicle 100 as shown in FIG. Specifically, the emergency stop switch 178 is disposed on the front upper surface of one of the left and right armrests 103 and 103 disposed on the left and right sides of the driver's seat 102 of the accompanying traveling work vehicle 100.
  • the emergency stop switch 178 is a push button type, and the button is placed in a recessed position so that the operator's arm is not turned on just by placing it on the armrest 103, and is turned on by pressing it with a finger.
  • the operator when an abnormality occurs in the autonomous traveling work vehicle 1, the operator operates the emergency stop switch 178 on the armrest 103 located behind the steering handle 104, so that the control device 130, the communication device 133, the transceiver 111, The fuel injection device 63 is operated via the remote control device 112, the transceiver 110, the control device 30, and the engine controller 60 to stop the engine, and the autonomous traveling work vehicle 1 can be stopped.
  • the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous traveling work controlled to automatically travel and work along the traveling route R set by the control device 30 Work is performed by the vehicle 1 and the accompanying traveling work vehicle 100 that performs the operation while traveling along a position separated from the autonomous traveling working vehicle 1 by a predetermined distance.
  • the control device 30 of the traveling work vehicle 1 can communicate with each other via the communication device 133 and the transmitter / receiver 111 as communication means, and the emergency stop switch 178 is disposed in the accompanying traveling work vehicle 100, and the communication means is used.
  • an engine controller 160 serving as an engine rotation control means provided in the autonomous traveling work vehicle 1 to operate the emergency stop switch 178.
  • the engine 3 of the autonomous traveling work vehicle 1 can be stopped and the emergency stop switch 178 is mounted on the armrest 103 of the accompanying traveling work vehicle 100, when an abnormality occurs in the autonomous traveling work vehicle 1, the operator can quickly The emergency stop switch 178 can be operated, and the engine 3 of the autonomous traveling work vehicle 1 can be stopped to stop traveling and work.
  • the emergency stop switch 178 is a side portion of the driver's seat 102, its mounting position can be provided on the side panel 109.
  • the side panel 109 is disposed between the driver's seat 102 and the fender in the cabin 101, and a main transmission lever 141, a setting switch, and the like are disposed on the side panel 109.
  • the emergency stop switch 178 is disposed on the side panel 109 on the side panel 109 near the main speed change lever 141 so that it can be easily operated, that is, on the side panel 109 on the side of the driver seat 102 within the reach of the operator.
  • the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous traveling work controlled to automatically travel and work along the traveling route R set by the control device 30 Work is performed by the vehicle 1 and the accompanying traveling work vehicle 100 that performs the operation while traveling along a position separated from the autonomous traveling working vehicle 1 by a predetermined distance.
  • the control device 30 of the traveling work vehicle 1 can communicate with each other via the communication device 133 and the transmitter / receiver 111 as communication means, and the emergency stop switch 178 is disposed in the accompanying traveling work vehicle 100, and the communication means is used.
  • an engine controller 160 serving as an engine rotation control means provided in the autonomous traveling work vehicle 1 to operate the emergency stop switch 178.
  • the engine 3 of the autonomous traveling work vehicle 1 can be stopped and the emergency stop switch 178 is mounted on the side panel 109 of the accompanying traveling work vehicle 100, the operator can The emergency stop switch 178 can be quickly operated, the engine 3 of the autonomous traveling work vehicle 1 can be stopped, and traveling and work can be stopped.
  • the emergency stop switch 178 is in the vicinity of the driver's seat 102, the mounting position thereof can be provided on the side panel 109 (or the seat bracket 118) at the lower left front. That is, as shown in FIG. 9, the parking brake lever 116 is disposed on the side panel 109 (or the seat bracket 118) at the lower left front portion. An emergency stop switch 178 is disposed on the side of the parking brake lever 116.
  • the emergency stop switch 178 and the parking brake lever 116 can be arranged in the front lower portion of the right side panel 109 or the seat bracket 118 in the lower front portion of the driver's seat 102 and are not limited. In this way, the operator can stop the autonomous traveling work vehicle 1 that can easily operate the emergency stop switch 178 simply by lowering the hand to the front lower side of the driver's seat 102.
  • the emergency stop switch 178 may be configured to be attached to the dashboard 117 in the control unit in the cabin 101 of the accompanying traveling work vehicle 100.
  • the dashboard 117 is disposed in front of the driver's seat 102 of the accompanying traveling work vehicle 100, supports and covers the handle shaft of the steering handle 104, and covers operation members such as the display device 149, key switches, and headlight switches.
  • the emergency stop switch 178 is attached to the upper surface of the dashboard 117.
  • the operator when an abnormality occurs in the autonomous traveling work vehicle 1, the operator operates the emergency stop switch 178 located below the steering handle 104, whereby the control device 130, the communication device 133, the transceiver 111, the remote operation device 112, The fuel injection device 63 is operated via the transceiver 110, the control device 30, and the engine controller 60 to stop the engine.
  • the mounting position of the emergency stop switch 178 is not limited to the upper surface of the dashboard 117, but may be configured to be mounted on the side surface of the dashboard 117 like an emergency stop switch 178a shown in FIG. Or the structure attached to the rear surface of the dashboard 117 like the emergency stop switch 178b may be sufficient.
  • the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous traveling work controlled to automatically travel and work along the traveling route R set by the control device 30 Work is performed by the vehicle 1 and the accompanying traveling work vehicle 100 that performs the operation while traveling along a position separated from the autonomous traveling working vehicle 1 by a predetermined distance.
  • the control device 30 of the traveling work vehicle 1 can communicate with each other via the communication device 133 and the transmitter / receiver 111 as communication means, and the emergency stop switch 178 is disposed in the accompanying traveling work vehicle 100, and the communication means is used.
  • an engine controller 60 serving as an engine rotation control means provided in the autonomous traveling work vehicle 1 through operation of the emergency stop switch 178.
  • the autonomous traveling work vehicle 1 is configured to be able to stop and the emergency stop switch 178 is mounted on the dashboard 117 of the accompanying traveling work vehicle 100, when an abnormality occurs in the autonomous traveling work vehicle 1, the operator promptly stops immediately.
  • the switch 178 can be operated, the engine 3 of the autonomous traveling work vehicle 1 can be stopped, and traveling and work can be stopped.
  • the emergency stop switch 178 may be provided in the vicinity of the display device 149 as long as it is in front of the driver's seat 102. That is, as shown in FIG. 11, the display device 149 is disposed at the front upper part of the dashboard 117 and at the front lower side of the steering handle 104. The emergency stop switch 178 is arranged at a position where the side or front of the display device 149 can be easily operated.
  • the steering handle 104, the pillar 105, the armrest 103, the side panel 109, and the dashboard 117 are each provided with an emergency stop switch 178 mounting portion, and one or more emergency stop switches 178 are attached. As a possible configuration, the operator can select a position that is most easily operated in an emergency.
  • the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous traveling work controlled to automatically travel and work along the traveling route R set by the control device 30 Work is performed by the vehicle 1 and the accompanying traveling work vehicle 100 that performs the operation while traveling along a position separated from the autonomous traveling working vehicle 1 by a predetermined distance.
  • the control device 30 of the traveling work vehicle 1 can communicate with each other via the communication device 133 and the transmitter / receiver 111 as communication means, and the emergency stop switch 178 is disposed in the accompanying traveling work vehicle 100, and the communication means is used.
  • an engine controller 60 serving as an engine rotation control means provided in the autonomous traveling work vehicle 1 through operation of the emergency stop switch 178.
  • the autonomous traveling work vehicle 1 is configured to be able to stop, and the emergency stop switch 178 is attached in the vicinity of the display device 149 of the accompanying traveling work vehicle 100, when an abnormality occurs in the autonomous traveling work vehicle 1, the operator promptly stops the emergency.
  • the switch 178 can be operated, the engine 3 of the autonomous traveling work vehicle 1 can be stopped, and traveling and work can be stopped.
  • the emergency stop switch 178 can be interlocked with the engine controller 160 of the accompanying traveling work vehicle 100.
  • the emergency stop switch 178 is connected to the engine controller 160 serving as an engine rotation control means of the accompanying traveling work vehicle 100, and the engine of the accompanying traveling work vehicle 100 can be stopped simultaneously with the emergency stop of the engine 3 of the autonomous traveling work vehicle 1. To do so.
  • the accompanying traveling work vehicle 100 traveling along with the autonomous traveling work vehicle 1 catches up and collides with the autonomous traveling work vehicle 1. You can avoid that.
  • the operator can quickly get out of the accompanying traveling work vehicle 100 and perform the abnormality handling work on the autonomous traveling working vehicle 1 without stopping the accompanying traveling work vehicle 100.
  • the accompanying traveling work vehicle 100 is provided with mode switching means 173, and by operating the mode switching means 173, only the autonomous traveling work vehicle 1 is stopped by the operation by the emergency stop switch 178, or by the operation by the emergency stop switch 178. It is also possible to select whether to stop only the engine of the accompanying traveling work vehicle 100 or to stop both engines of the autonomous traveling working vehicle 1 and the accompanying traveling work vehicle 100 simultaneously by an operation by the emergency stop switch 178.
  • the emergency stop switch 178 is connected to the mode switching means 173 via the control device 130.
  • the mode switching means 173 is switched so that the autonomous traveling work vehicle 1 stops alone, the emergency stop switch 178 is turned on.
  • the autonomous traveling work vehicle 1 is stopped, the accompanying traveling working vehicle 100 can continue the work as it is, the traveling and working can be continued with the engine running, and the accompanying traveling working vehicle 100 can be stopped at an arbitrary position. Therefore, the work can be interrupted arbitrarily and can be stopped when the work timing is good.
  • the mode switching means 173 when the mode switching means 173 is switched so that the accompanying traveling work vehicle 100 is stopped alone, when performing the independent work of only the accompanying traveling work vehicle 100 that does not perform the parallel running work with two units, rather than operating the key switch.
  • the accompanying traveling work vehicle 100 can be quickly stopped.
  • the mode switching means 173 can be switched according to the work.
  • the emergency stop switch 178 can be configured to be interlocked with the horn 153.
  • the horn 153 is connected to the control device 130, and when the horn 153 of the accompanying traveling work vehicle 100 is sounded only when the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are performing the parallel running work, the emergency stop switch 178 is set. As in the case of operation, the engine 3 is stopped and emergency stopped.
  • a dashboard 117 for supporting and covering the handle shaft of the steering handle 104 and arranging a key switch, a headlight switch, and the like is disposed at the front left and right center of the driver seat 102.
  • a display device 149 for displaying the engine speed, fuel gauge, alarm monitor, and the like of the accompanying traveling work vehicle 100 is provided on the dashboard 117.
  • a remote operation device 112 for displaying the set travel route R of the autonomous traveling work vehicle 1, the state of the vehicle, and the like is disposed in front of and above the display device 149.
  • the position calculation means for positioning the position of the aircraft using the satellite positioning system, and the autonomous traveling work controlled to automatically travel and work along the traveling route R set by the control device 30 Work is performed by the vehicle 1 and the accompanying traveling work vehicle 100 that performs the operation while traveling along a position separated from the autonomous traveling working vehicle 1 by a predetermined distance.
  • the control device 30 of the traveling work vehicle 1 can communicate with each other via the communication device 133 and the transmitter / receiver 111 as communication means.
  • Can be displayed, and the remote control device 112 is disposed on the front portion of the dashboard 117 of the accompanying traveling work vehicle 100. Operator operating by car visible easily remote control device 112, can be easily operated by only reaching.
  • the remote control device 112 is detachably attached to the bracket 180.
  • fitting portions 180a and 180a made of an elastic member that presses the outer periphery of the remote operation device 112.
  • the fitting portions 180a and 180a are fitted by pushing in the remote operation device 112 from above and cannot be detached by vibration or the like. It is attached so that it can be removed simply by lifting it when necessary. That is, it can be easily attached and detached.
  • the upper end of the arm 181 is supported on the lower part of the bracket 180, and the lower end of the arm 181 is supported on the upper front part of the dashboard 117 so as to be rotatable left and right.
  • the upper portions of the two arms 181 and 181 are pivotally supported by the lower portion of the bracket 180, and the lower portions of the arms 181 and 181 are pivotally supported by the upper portion of the dashboard 117 so as to be parallel links.
  • an urging member such as a disc spring is arranged on the shaft support portion so that the remote control device 112 can be held at an arbitrary position when it is rotated left and right, and can be brought into contact with an easily viewable position.
  • the remote operation device 112 may be configured to be supported by one arm 181. Although not limited thereto, the remote operation device 112 needs to adjust the inclination angle each time it rotates.
  • the remote control device 112 is attached to the dashboard 117 via the arms 181 and 181 and the remote control device 112 is configured to be movable left and right, so that the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 run in parallel.
  • the remote control device 112 is moved to the left side while working, monitoring the autonomous traveling work vehicle 1, and after turning the headland, FIG.
  • the remote operation device 112 is moved to the right side, and the work is performed while monitoring the autonomous traveling work vehicle 1. Therefore, it becomes possible to see the autonomous traveling work vehicle 1 and the remote control device 112 without much movement of the operator's line of sight, and workability can be improved.
  • the remote control device 112 is positioned at the center of the left and right.
  • a rotation actuator 182 configured by a motor or the like is disposed on one of the rotation bases of the arms 181 and 181, and the arms 181 and 181 are configured to be turnable left and right by the operation of the rotation actuator 182. Then, the rotation actuator 182 is connected to the control device 130, and when the accompanying traveling work vehicle 100 finishes the headland turning, the rotation actuator 182 is operated to automatically move the remote operation device 112 in the opposite direction. . Whether or not the accompanying traveling work vehicle 100 has made a headland turn can be detected by a steering sensor or an orientation sensor provided in the accompanying traveling work vehicle 100. Further, it is possible to detect the headland turning by raising / lowering the work implement, the engine speed, the traveling speed, and the like, and the present invention is not limited thereto.
  • the rotation actuator 182 is connected to the rotation base of the arm 181, and the rotation actuator 182 is connected to the control device 130, and the rotation actuator 182 is adapted to the headland turning of the accompanying traveling work vehicle 100.
  • the remote control device 112 is rotated from the left and right sides to the left and right sides each time the accompanying traveling work vehicle 100 turns the headland. It is moved by the operation of the moving actuator 182. Therefore, the operator can omit the operation of changing the position of the remote control device 112 each time the headland turns, and workability and operability can be improved.
  • the configuration for moving the remote control device 112 to the left and right is not limited to the arm 181, but a rail is arranged in the left and right direction on the front portion of the dashboard 117 so that the remote control device 112 can slide to the left and right on the rail.
  • the remote control device 112 can be suspended from the ceiling of the cabin 101 so as to be swingable left and right.
  • a remote operation device 112 that can display the set travel route R of the autonomous traveling work vehicle 1, the state of the vehicle, and the like is disposed on the side of the display device 149.
  • the mounting position of the remote control device 112 is not limited, and can be disposed on the upper side, the lower side, the side panel, or the like of the dashboard 117 as long as it is in the vicinity of the driver's seat 102.
  • the remote control device 112 is configured to be detachable.
  • a head-up display device 185 is disposed between the display device 149 on the dashboard 117 and the windshield 107 constituting the cabin 101.
  • the head-up display device 185 includes a projection device 186, a reflecting mirror 187, and a combiner (reflecting unit) 188 provided on the windshield 107.
  • the light emitted from the projection device 186 is reflected by the reflecting mirror 187 and is reflected on the windshield 107.
  • the operator is further reflected by the combiner 188, and the operator looks like an image is displayed on the combiner 188.
  • the image displayed by the head-up display device 185 represents the state of the autonomous traveling work vehicle 1, for example, the engine speed, the working mode, the set traveling route R, and the like, and is displayed on the display 113 of the remote operation device 112. Same as what can be displayed. Therefore, the state display of the autonomous traveling work vehicle 1 can be divided and displayed on the head-up display device 185 and the display 113, and the display contents can be selected according to the work or the operator's request. This selection can be made on the display 113 configured with a touch panel.
  • the control device 30 of the work vehicle 1 can communicate with each other via communication means, and the accompanying travel work vehicle 100 can display the state of the autonomous travel work vehicle 1 and the set travel route R on the windshield 107.
  • Head-up display device 185 remote control device 1 capable of displaying and operating the set travel route R of the autonomous traveling work vehicle 1 and the state of the vehicle Because and a 2, the operator in a state viewed windshield 107 without diverting the line of sight, to confirm the autonomous work vehicle 1, it is possible to operate the associated traveling working vehicle 100 while allowing the remote operation.
  • the combiner 188 is composed of a hologram mirror or the like, and is long on the inner surface of the front glass 107 in front of the steering handle 104 in the left-right direction.
  • the reflecting mirror 187 is connected to a rotating actuator 189 such as a motor, and the reflecting mirror 187 is configured to be rotatable left and right, so that the image display position can be changed to the left and right.
  • the projection device 186 and the reflecting mirror 187 may be integrally rotated by the rotation actuator 189.
  • the rotation actuator 189, the switching means 190, and the projection device 186 are connected to a control device 130 mounted on the accompanying traveling work vehicle 100.
  • the switching means 190 is arranged in the vicinity of the display device 149 or on the dashboard 117 so that it can be easily operated.
  • the remote control device 112 may be operated.
  • the video can be switched and displayed on the left side, center and right side of the combiner 188 by the operation of the switching means 190.
  • the projection device 186 is used for wide projection, or the reflecting mirror 187 is a concave mirror so that the left, center, and right positions of the combiner 188 are switched in the direction of projection. It is also possible to adopt a configuration in which
  • the switching means 190 is operated and displayed on the left side of the combiner 188.
  • the switching means 190 is operated and displayed on the right side of the combiner 188.
  • the switching means 190 is operated so as to be displayed at the center of the combiner 188.
  • the reflecting mirror 187 of the head-up display device 185 is configured to be rotatable left and right by the rotation actuator 189, and the rotation actuator 189 is connected to the switching unit 190, and is switched between the left and right and the center of the windshield 107. Therefore, when the accompanying traveling work vehicle is working along the diagonally rear side of the autonomous traveling working vehicle, the position of the autonomous traveling working vehicle 1 traveling diagonally forward is reversed when the headland turns. However, the state of the autonomous traveling work vehicle 1 can also be confirmed while switching the left and right display and constantly confirming the autonomous traveling work vehicle 1 during work.
  • the video display can be automatically switched.
  • the turning actuator 189 is operated to automatically display an image in the opposite direction of the combiner 188.
  • the accompanying traveling work vehicle 100 has made a headland turn can be detected by a steering sensor or an orientation sensor provided in the accompanying traveling work vehicle 100. Further, it is possible to detect the headland turning by raising / lowering the work implement, the engine speed, the traveling speed, and the like, and the present invention is not limited thereto.
  • the turning actuator is connected to the control device and drives the turning actuator in accordance with the headland turning of the accompanying traveling work vehicle, so that the operator changes the position of the remote control device 112 each time the headland turns. Operation can be omitted and workability and operability can be improved.
  • the present invention provides two working vehicles, an autonomous traveling working vehicle that travels along a set traveling route in a predetermined working area such as a farm field, and an accompanying traveling working vehicle that performs work while traveling along a position that is separated by a predetermined distance. It can be used for construction machines, agricultural work vehicles, etc. that work in parallel.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Environmental Sciences (AREA)
  • Soil Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

　Lorsqu'un opérateur effectue une tâche à bord d'un engin agricole à déplacement auxiliaire (100) parallèlement à un engin agricole à déplacement autonome, la présente invention permet à l'engin agricole à déplacement autonome de s'arrêter rapidement lorsqu'une anomalie survient dans celui-ci. La tâche est effectuée par un engin agricole à déplacement autonome (1) qui est commandé de manière à avancer automatiquement le long d'une trajectoire (R) et à effectuer une tâche, et par un engin agricole à déplacement auxiliaire (100) destiné à effectuer une tâche pendant l'accompagnement de l'engin agricole à déplacement autonome (1). Un commutateur d'arrêt d'urgence (178) est agencé dans l'engin agricole à déplacement auxiliaire (100), et est connecté à un dispositif de commande de moteur (60) ménagé dans l'engin agricole à déplacement autonome (1), ce qui permet à un moteur (3) d'arrêter l'engin agricole à déplacement autonome (1) par actionnement du commutateur d'arrêt d'urgence (178) qui est ménagé dans une manette de direction (104) de l'engin agricole à déplacement auxiliaire (100).
PCT/JP2015/064584 2014-05-22 2015-05-21 Système de déplacement d'engin agricole Ceased WO2015178448A1 (fr)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
JP2014106556A JP6267586B2 (ja) 2014-05-22 2014-05-22 ディスプレイ装置
JP2014106554A JP2015222502A (ja) 2014-05-22 2014-05-22 緊急停止装置
JP2014106552A JP2015222500A (ja) 2014-05-22 2014-05-22 緊急停止装置
JP2014-106554 2014-05-22
JP2014-106551 2014-05-22
JP2014106553A JP6258781B2 (ja) 2014-05-22 2014-05-22 緊急停止装置
JP2014106551A JP2015222499A (ja) 2014-05-22 2014-05-22 緊急停止装置
JP2014-106556 2014-05-22
JP2014-106553 2014-05-22
JP2014-106555 2014-05-22
JP2014-106552 2014-05-22
JP2014106555A JP6258782B2 (ja) 2014-05-22 2014-05-22 モニタ装置

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