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WO2018179778A1 - Système de déplacement autonome pour véhicules de travaux agricoles - Google Patents

Système de déplacement autonome pour véhicules de travaux agricoles Download PDF

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Publication number
WO2018179778A1
WO2018179778A1 PCT/JP2018/002712 JP2018002712W WO2018179778A1 WO 2018179778 A1 WO2018179778 A1 WO 2018179778A1 JP 2018002712 W JP2018002712 W JP 2018002712W WO 2018179778 A1 WO2018179778 A1 WO 2018179778A1
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WO
WIPO (PCT)
Prior art keywords
tractor
vehicle
control device
side software
software
Prior art date
Application number
PCT/JP2018/002712
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English (en)
Japanese (ja)
Inventor
想介 村田
Original Assignee
ヤンマー株式会社
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
Application filed by ヤンマー株式会社 filed Critical ヤンマー株式会社
Publication of WO2018179778A1 publication Critical patent/WO2018179778A1/fr

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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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom

Definitions

  • the present invention relates to an autonomous traveling system for an agricultural work vehicle that causes the agricultural work vehicle to autonomously travel by communication between an operating device and the agricultural work vehicle.
  • Patent Documents 1 to 3 In recent years, an autonomous traveling system has been developed that autonomously travels an unmanned work vehicle on which an operator is not boarded in order to efficiently and easily perform farm work on a farm field (see Patent Documents 1 to 3).
  • an operator can remotely control an operation device such as a tablet-type personal computer in order to monitor the autonomous traveling of a work vehicle at a work site such as a farm field.
  • the software (application) for the autonomous traveling system stored in the operation device and the software (firmware) installed in the control device for the work vehicle are updated to correct the defective part.
  • software update version upgrade
  • only one of the operating device and the work vehicle may be updated in software. In this case, there is a case where the affinity between the software of the operation device and the software of the work vehicle is lost, and there is a possibility that the work vehicle that has started autonomous traveling may become unmanageable by the operation device.
  • the present invention has been made in view of the above-described present situation, and it is a technical problem to provide an autonomous traveling system for an agricultural work vehicle that can safely operate an agricultural work vehicle that is traveling autonomously.
  • the present invention is an autonomous traveling system of an agricultural work vehicle in which autonomous traveling of the agricultural working vehicle is controlled by a remote operating device capable of communicating with the agricultural working vehicle, the device side software version of the remote operating device and the agricultural working vehicle If the version of the vehicle-side software does not match, autonomous traveling of the farm work vehicle is prohibited.
  • the version of the device-side software is older than the version of the vehicle-side software
  • communication between the remote control device and the farm work vehicle is interrupted, and the device-side software is installed in the farm work vehicle.
  • the update may be notified.
  • the version of the vehicle-side software is older than the version of the device-side software
  • communication between the remote operation device and the farm vehicle is interrupted, and the vehicle-side software is used in the remote operation device.
  • the update may be notified.
  • the autonomous traveling system includes a server that communicates with the farm vehicle and manages an operation state of the farm vehicle, and the server stores update histories of the device-side software and the vehicle-side software. It may be a thing.
  • the server compares the versions of the vehicle-side software and the device-side software and detects a mismatch between the versions of the vehicle-side software and the device-side software, the farm vehicle or the remote The operation device may be notified.
  • the farming machine can run autonomously with highly safe software that eliminates problems, making it safer Can be improved.
  • the difference between the unmanned tractor and the manned tractor is whether or not the operator directly operates, and the configuration as a tractor is common to unmanned and manned. That is, even an unmanned tractor can be operated (boarded) by an operator and operated directly (in other words, it can be used as a manned tractor). Moreover, even if it is a manned tractor, an operator can get off and can perform autonomous driving
  • the autonomous traveling is a configuration in which the tractor 1 is provided for traveling by the autonomous traveling control device 51 or the like included in the tractor shown in FIG. 4, and the tractor 1 travels along a predetermined route.
  • the autonomous work means that the configuration that the tractor 1 is equipped with for work is controlled by the autonomous traveling control device 51 and the like, and the tractor 1 performs work along a predetermined route.
  • the remote operation device 70 operated by the operator performs wireless communication with the tractor 1 in the field (work area) H ⁇ b> 1, thereby The autonomous traveling of the tractor 1 that acquires position information (positioning information) by communication is controlled.
  • the unmanned tractor 1 communicates with the server 100 installed in the management center C1 through a communication network N1 such as a telephone line network, and the driving information of the tractor 1 is transmitted to the server 100 together with position information (positioning information) and time information. Sent to.
  • the server 100 accumulates driving information of the unmanned tractor 1 together with position information and time information, and stores it as work history information.
  • a reference station (portable reference station) 60 is installed in the vicinity of the farm field H1, and the reference station 60 includes position information serving as a reference point that is an installation position, and a signal from the positioning satellite 63 (hereinafter referred to as “satellite signal”). Is directly received by the positioning antenna 61, and a signal from the positioning satellite 63 (hereinafter referred to as “vehicle signal”) received by the unmanned tractor 1 by the wireless communication antenna 64 is indirectly received.
  • the reference station 60 uses the reference station communication device 62 to calculate position correction information from the satellite signal and the vehicle signal by the RTK positioning method or the like, and transmits the position correction information to the tractor 1 through the wireless communication antenna 64.
  • the tractor 1 corrects the satellite positioning information measured by the positioning antenna 6 (see FIG. 2) by using the correction information transmitted from the reference station 60, and the current position information of the tractor 1 (for example, latitude information / longitude information). )
  • the remote control device 70 performs wireless communication with the tractor 1 without communication connection to the communication network N1, receives the driving information of the tractor 1 together with position information and time information, and serves as work history information.
  • the operator operates the remote operation device 70 while visually confirming the situation in the field H1 and the state of the tractor 1, thereby starting the autonomous traveling and the tractor 1 connected to the remote operation device 70 in communication. Stop can be instructed.
  • the remote operation device 70 is connected to an access point 90 such as a router connected to the communication network N1 via an ONU (Optical Network Unit) or a modem.
  • the remote operation device 70 can communicate with the server 100 via the communication network N1 by establishing communication connection with the access point 90 in the office O1. Then, the remote control device 70 becomes communicable with the server 100.
  • the work history information of the tractor 1 already stored is transmitted to the server 100.
  • the server 100 When the server 100 receives the work history information from the remote control device 70 (hereinafter referred to as “additional work history information”), the server 100 has already received and stored the work history information (hereinafter referred to as “basic work history”). Information)). Then, the server 100 collates the basic work history information and the additional work history information to generate updated work history information in which the additional work history information is added to the basic work history information, and the name of the operator who operated the tractor 1 It is memorized with the model etc.
  • additional work history information hereinafter referred to as “additional work history information”
  • the external terminal device (service tool) 80 is a terminal device possessed by a serviceman of the sales company or manufacturing company of the tractor 1 and can communicate with the tractor 1 by connecting to the tractor 1 by wire.
  • the tractor 1 connected to the external terminal device 80 communicates with the server 100 via the communication network N1, for example, software (firmware) update in a control device or the like in the tractor 1 or failure diagnosis of the tractor 1 can be performed. Executed.
  • the tractor 1 is equipped with the body 2 which autonomously travels the agricultural field H1.
  • the machine body 2 is provided with a work machine 3 detachably.
  • the work machine 3 is used for farm work. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine.
  • a desired work machine 3 is selected from these as required, and the machine body 2 Can be attached to.
  • the machine body 2 is configured to be able to change the height and posture of the mounted work machine 3.
  • the airframe 2 which is the airframe of the tractor 1 has a front portion supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8.
  • the front wheels 7 and 7 and the rear wheels 8 and 8 constitute a traveling part.
  • a bonnet 9 is arranged at the front of the machine body 2.
  • the bonnet 9 accommodates an engine 10 that is a drive source of the tractor 1.
  • the engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.
  • a cabin 11 on which an operator is boarded is disposed behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to steer, a seat 13 for the operator to sit on, and various operating devices for performing various operations. Yes.
  • the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.
  • examples of the operation device include a monitor device, a throttle lever, a main transmission lever, a lift lever, a PTO switch, a PTO transmission lever, and a plurality of hydraulic transmission levers. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.
  • the monitor device is configured to display various information of the tractor 1.
  • the throttle lever is for setting the rotational speed of the engine 10.
  • the main transmission lever is used to change the transmission ratio of the transmission case 22.
  • the raising / lowering lever is for raising / lowering the height of the working machine 3 mounted on the machine body 2 within a predetermined range.
  • the PTO switch is used to intermittently transmit power to a PTO shaft (power extraction shaft) protruding outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work machine 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops.
  • the PTO shift lever is used to change the power input to the work machine 3, and specifically, is used to change the rotation speed of the PTO shaft.
  • the hydraulic shift lever is for switching the hydraulic external take-off valve.
  • a chassis 20 constituting the framework is provided at the lower part of the body 2.
  • the chassis 20 includes a body frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.
  • the fuselage frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member.
  • the mission case 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24.
  • the front axle 23 is configured to transmit the power input from the mission case 22 to the front wheels 7.
  • the rear axle 24 is configured to transmit the power input from the mission case 22 to the rear wheel 8.
  • the tractor 1 is an engine control device that can communicate with each other via a vehicle bus line 18 as a control unit for controlling the operation (forward, reverse, stop, turn, etc.) of the airframe 2.
  • a machine control device 16 and a work machine control device 17 are provided.
  • An output side of the engine control device 15 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 5.
  • the input side of the engine control device 15 is electrically connected to a rotational speed sensor 31 that detects the rotational speed of the engine 5.
  • the output side of the machine control device 16 includes a transmission 42 including a hydraulic transmission that shifts the power from the engine 5, and left and right braking devices that brake power transmission to the left and right rear wheels 8 in the rear axle 24. 26 or the like.
  • the input side of the machine control device 16 is electrically connected to a vehicle speed sensor 32 that detects the rotational speed of the rear wheel 8, a tilt angle sensor 33 that detects the tilt angle and the tilt angular speed of the fuselage 2, and the like.
  • the output side of the work implement control device 17 is electrically connected to the work implement lifting / lowering actuator 44, and the input side of the work implement control device 17 detects the posture or operation state of the work implement 3. And electrically connected.
  • the tractor 1 includes a vehicle-mounted terminal device 19 connected to the vehicle bus line 18, and the vehicle-mounted terminal device 19 can be connected to the communication network N1 via a wireless telephone line or the like. That is, the tractor 1 can communicate with the server 100 of the management center C1 by connecting to the communication network N1 through the vehicle-mounted terminal device 19. Further, the tractor 1 is provided with a vehicle bus line 18 and an external terminal (not shown) that can be connected, and an external terminal device (service tool) 80 such as a computer operated by a serviceman is electrically connected to the vehicle bus line 18. It is configured to be connectable.
  • an external terminal device 80 such as a computer operated by a serviceman is electrically connected to the vehicle bus line 18. It is configured to be connectable.
  • the common rail device 41 is for injecting fuel into each cylinder of the engine 10.
  • the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close by the engine control device 15, so that high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10.
  • the injection pressure, the injection timing, and the injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.
  • the transmission 42 is specifically a movable swash plate type hydraulic continuously variable transmission, and is provided in the transmission case 22.
  • the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.
  • the lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either.
  • a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either.
  • the tractor 1 having the control devices 15 to 17 as described above is configured such that the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of the operator boarded in the cabin 11.
  • the farm work can be executed while traveling in the farm field.
  • the tractor 1 according to the embodiment can autonomously travel based on a predetermined control signal output from the remote operation device 70, for example, without an operator boarding.
  • the tractor 1 has various configurations such as an autonomous traveling control device 51 for enabling autonomous traveling. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.
  • an autonomous traveling control device 51 for enabling autonomous traveling.
  • the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.
  • the tractor 1 includes an autonomous traveling control device 51, a steering control device 52, a positioning surveying device 53, a wireless communication router (low power data communication device) 54, and a steering actuator 43.
  • the autonomous traveling control device 51 and the steering control device 52 are configured to be able to communicate with the engine control device 15, the machine control device 16, and the work implement control device 17 via the vehicle bus line 18.
  • the autonomous traveling control device 51 is connected to each of the positioning surveying device 53 and the wireless communication router 54 via the autonomous traveling bus line 56 in the autonomous traveling communication system different from the steering communication system using the vehicle bus line 18. Mutual communication is possible.
  • the steering actuator 43 is provided, for example, in the middle of the rotating shaft (steering shaft) of the steering handle 12, and adjusts the turning angle (steering angle) of the steering handle 12.
  • the steering control device 52 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route.
  • the steering actuator 43 is controlled so that the steering handle 12 rotates at the rotation angle.
  • the steering control device 52 receives a detection signal of the rotation angle of the steering handle 12 from the steering angle sensor 35, and via the vehicle bus line 18, the engine control device 15, the machine control device 16, and the work implement control device 17. By communicating with each, steering according to the vehicle speed of the tractor 1 can be executed.
  • the steering actuator 43 does not adjust the turning angle of the steering handle 12, but may adjust the steering angle of the front wheel 7 of the tractor 1. In this case, the steering handle 12 even if turning is performed. Does not rotate.
  • the positioning antenna 6 receives signals from positioning satellites constituting a positioning system such as a satellite positioning system (GNSS).
  • the positioning antenna 6 is disposed on the upper surface of the roof 14 in the cabin 11.
  • the signal received by the positioning antenna 6 is input to the positioning surveying device 53, and the positioning surveying device 53 calculates the position information of the tractor 1 (strictly, the positioning antenna 6) as, for example, latitude / longitude information.
  • the position information calculated by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 and used for controlling the tractor 1.
  • the positioning surveying device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and will be described later through a first wireless communication network (for example, a wireless communication network in the 920 MHz band) using specific low power wireless. Communicates with a reference station (portable reference station) 60 to be used.
  • the wireless communication antenna unit 48 is disposed on the upper surface of the roof 14 in the cabin 11.
  • the positioning surveying device 53 corrects the satellite positioning information of the tractor 1 (mobile station) by receiving correction information (positioning correction information) from the reference station 60 installed at the agricultural field proximity position via the first wireless communication antenna 48a. Then, the current position of the tractor 1 is obtained.
  • various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.
  • RTK positioning is applied, and in addition to the positioning antenna 6 being provided in the tractor 1 on the mobile station side, the reference station 60 having the reference station positioning antenna 61 is provided.
  • the reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field.
  • the position information of the reference point that is the installation position of the reference station 60 is set in advance.
  • the reference station 60 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network established between the positioning surveying device 53 of the tractor 1 and a communication device using the first wireless communication antenna 48a.
  • the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 6 of the tractor 1 on the mobile station side for which position information is to be obtained.
  • the reference station 60 generates correction information including the measured satellite positioning information and the reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station communication device 62 To the first wireless communication antenna 48 a of the tractor 1.
  • the positioning surveying device 53 of the tractor 1 (corresponding to the mobile station) corrects the satellite positioning information measured by the positioning antenna 6 by using the correction information transmitted from the reference station 60, thereby obtaining the current position information ( For example, latitude information / longitude information) is obtained.
  • GNSS-RTK is a positioning method that has been corrected based on information of a reference station whose position is known, and has improved accuracy. There are a plurality of methods depending on the distribution method of information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details are omitted in this embodiment.
  • the positioning surveying device 53 can measure not only the position information of the tractor 1 (airframe 2) by satellite positioning, but also the front and rear, right and left tilt angle information by inertial surveying.
  • the inclination angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state associated with the position information (latitude / longitude information) and used for controlling the tractor 1.
  • the positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the farm scene, and thus the vehicle height of the tractor 1 (airframe 2).
  • the wireless communication antenna unit 48 is disposed on the top surface of the roof 14 of the cabin 11 of the tractor 1 and first and second wireless communication antennas 48a and 48b that are connected to communicate with the first and second wireless communication networks having different frequency bands. It has.
  • the first wireless communication network is constructed by, for example, a specific low-power radio in the 920 MHz band having a high data transmission speed in order to communicate the positioning correction information by the reference station 60.
  • the second wireless communication network is constructed by, for example, a 2.4 GHz band low-power data communication system in order to allow high-speed data communication such as image data to be performed at high speed.
  • a part of the antennas 48 a and 48 b may be disposed in the cabin 11.
  • the first wireless communication antenna 48a is electrically connected to the positioning surveying device 53, and the second wireless communication antenna 48b is electrically connected to the wireless communication router 54.
  • the wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the remote control device 70 capable of displaying an image operated by an operator outside the tractor 1 through the second wireless communication network.
  • the wireless communication router 54 receives the control signal from the remote operation device 70 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56.
  • the wireless communication router 54 receives a captured image of the camera 36 by performing wireless communication with the camera 36 that captures the front of the tractor 1 via the second wireless communication network.
  • the camera 36 is attached to an upper position of the cabin 11 and photographs a state of a farm field such as the vicinity of the hood 6 in front of the cabin 11.
  • the camera 36 is integrally attached to the wireless communication antenna unit 48, but may be attached to a plurality of locations such as a side position and a rear position of the roof 14 of the cabin 11.
  • the remote operation device 70 is specifically configured as a tablet personal computer including a touch panel.
  • the operator can check the information displayed on the touch panel of the remote operation device 70 (for example, information on a field necessary for autonomous traveling).
  • the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous traveling control device 51 of the tractor 1.
  • the remote operation device 70 of the embodiment is not limited to a tablet personal computer, and may be configured by, for example, a notebook personal computer.
  • a monitor device mounted on another tractor different from the tractor 1 can be a remote control device.
  • the autonomous traveling control device 51 compares the traveling route generated by the remote operation device 70 with the position information of the tractor 1 and autonomously operates at a predetermined traveling speed while performing a predetermined operation on the tractor 1 along the traveling route.
  • the steering angle of the tractor 1, the target engine speed, the gear ratio, and the like are calculated and communicated with the control devices 15 to 17 and 52 through the vehicle bus line 18.
  • the tractor 1 can perform farm work by the work implement 3 while autonomously traveling along the travel route.
  • the route in the field area (travel area) where the tractor 1 autonomously travels may be referred to as “travel route” in the following description.
  • the area (work area) to be farmed by the work machine 3 of the tractor 1 is determined as an area excluding the headland and the margin from the entire field area. Are set based on these registered points and the work width of the tractor 1 when the registration work of the registered points is executed.
  • the autonomous traveling control device 51 stops fuel injection in the common rail device 41 and communicates with the machine control device 16 by communication with the engine control device 15 when the operator performs a stop operation on the remote control device 70. By making the transmission 42 neutral by communication, a braking operation by a brake device 26 described later is applied. At this time, the autonomous traveling control device 52 controls the steering actuator 43 so that the handle 12 is set to the neutral position by communication with the steering control device 51, and directs the left and right front wheels 7, 7 in the straight traveling direction. It is good.
  • the autonomous traveling control device 51 is in a communication state with the reference station 60 in the positioning surveying device 53 (communication state in the first communication network), and in a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). ) Confirm each via the autonomous bus line 56.
  • the autonomous traveling control device 51 confirms that the communication state in any of the first and second communication networks is cut off, the autonomous traveling control device 51 communicates with the engine control device 15 and the transmission control device 16 to thereby determine the autonomousness of the tractor 1. Stop driving. Note that the autonomous traveling control device 51 determines that the communication with the communication partner has been interrupted when the positioning surveying device 53 and the wireless communication router 54 have not received a signal from the communication partner for a predetermined period or longer. .
  • the tractor 1 is provided with a pair of left and right brake devices 26 and 26 for braking the left and right rear wheels 8 and 8 by two systems of operation of the brake pedal and parking brake lever and automatic control. That is, both the left and right brake devices 26, 26 are configured to brake both the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the turning angle of the handle 12 becomes equal to or larger than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turn automatically performs a braking operation according to a command from the machine control device 16 ( So-called auto brake).
  • the reference station 60 includes a reference station wireless communication antenna 64 that distributes correction information, a reference station positioning antenna 61 that receives a signal from the positioning satellite 63, and a reference station communication device that is electrically connected to the wireless communication antenna 64 and the positioning antenna 61, respectively. 62.
  • the reference station 60 is installed at a reference point for specifying the position of the tractor (work vehicle) 1 serving as a mobile station.
  • the portable reference station 60 installed at the reference point sends a signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and the reference station communication device 62 measures the satellite positioning information and the reference point position information.
  • the correction information including etc. is generated.
  • the reference station 60 distributes the correction information generated by the reference station communication device 62 via the first wireless communication network.
  • the reference station 60 may be configured to be disassembled into a plurality of members, and each disassembled member may be configured to have a size that can be accommodated in a predetermined case and transported.
  • the unmanned tractor 1 controls the communication operation of the wireless communication router 54 by the autonomous traveling control device 51, so that the wireless communication router 54 starts searching for a remote control device 70 that can communicate through the second wireless communication network. That is, the wireless communication router 54 generates a communication confirmation signal including a tractor ID unique to the unmanned tractor 1 and transmits it from the second wireless communication antenna 48b.
  • the remote operation device 70 stores in advance the tractor ID of the unmanned tractor 1 that can communicate with the autonomous traveling system. Then, when receiving the communication confirmation signal including the tractor ID, the remote operation device 70 authenticates the communication with the wireless communication router 54 of the unmanned tractor 1 when the received tractor ID matches the previously stored tractor ID. .
  • the remote operation device 70 authenticates communication with the unmanned tractor 1, generates a response signal to the communication confirmation signal, and transmits the response signal to the wireless communication router 54 of the unmanned tractor 1.
  • the remote operation device 70 generates a response signal including a device ID unique to the own device and transmits the response signal to the wireless communication router 54 through the second wireless communication network.
  • the unmanned tractor 1 stores in advance the device ID of the remote operation device 70 that can communicate with the autonomous traveling system in the autonomous traveling control device 51 or the wireless communication router 54. Therefore, when the unmanned tractor 1 receives the response signal at the wireless communication router 54 via the second wireless communication antenna 48b, the remote operation is performed when the device ID in the received response signal matches the device ID stored in advance. Communication with the device 70 is authenticated.
  • the unmanned tractor 1 when communication is established between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the unmanned tractor 1 notifies the server 100 that communication has been established. At this time, the unmanned tractor 1 transmits the tractor ID of the unmanned tractor 1 and the device ID of the remote control device 70 to the server 100 from the vehicle-mounted terminal device 19 via the communication network N1.
  • the position information (unmanned tractor 1) is obtained by communicating with the positioning satellite 63 and the reference station 60 through the antennas 6 and 48a. (Latitude / longitude information). Then, after the above-described authentication process between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the position information of the unmanned tractor 1 is transmitted to the server 100 together with the tractor ID and the device ID.
  • the server 100 When the server 100 confirms from the tractor ID and the device ID that the tractor 1 and the remote control device can be used in the autonomous traveling system, the server 100 authenticates the unmanned tractor 1 to enable communication between the unmanned tractor 1 and the server 100. .
  • the server 100 authenticates the unmanned tractor 1
  • the server 100 reads map information centered on the position information received from the unmanned tractor 1 and transmits the read map information to the unmanned tractor 1.
  • the server 100 confirms the field (work area) assigned to the operator who operates the unmanned tractor 1 based on the tractor ID and the device ID, and maps the information on the field (work area) as the work target to the map information. And transmitted to the unmanned tractor 1.
  • the unmanned tractor 1 gives the received map information to the wireless communication router 54 via the autonomous traveling control device 51, and the map information is sent from the wireless communication router 54. Transmit to the remote control device 70.
  • the remote control device 70 that has received the map information displays a map including the field (work area) assigned to the operator on the display based on the received map information.
  • the operator designates a field (working area) to be worked by the unmanned tractor 1 from the map displayed on the display by operating a touch panel constituting the display of the remote control device 70.
  • the operator can use the unmanned tractor 1 to perform operations (cultivation work, sowing work, fertilization work, pricking work, upsetting work, etc.) on the remote control device 70 and the size of the work machine and the work machine. specify.
  • the remote operation device 70 When the remote operation device 70 generates a response signal including the field (work area) and the work machine designated by the operator and transmits the response signal to the unmanned tractor 1, the unmanned tractor 1 performs the work by the designated field and work machine. Based on the calculation, a work route (work route) along which the unmanned tractor 1 moves is generated. That is, when the autonomous traveling control device 51 is notified of the contents of the farm field and the work implement included in the response signal received by the wireless communication router 54, the autonomous traveling control device 51 operates the work route from the designated farm field and the working implement. Set. Then, the wireless communication router 54 transmits a communication confirmation signal including the set work route to the remote operation device 70.
  • the remote operation device 70 When the remote operation device 70 receives an operation for starting autonomous traveling by the operator, the remote operation device 70 generates a response signal for permitting autonomous traveling and transmits the response signal to the unmanned tractor 1 (wireless communication router 54).
  • the unmanned tractor 1 receives the response signal serving as the autonomous traveling permission signal by the wireless communication router 54, the autonomous traveling control device 51 passes through the engine control device 15, the machine control device 16, the work implement control device 17, and the steering control device 52. The control operation of each part is executed, and the autonomous traveling of the unmanned tractor 1 is started.
  • the driving state of the machine body 2 and the work machine 3 (engine speed, vehicle speed of the machine body 2, engine load, tilt attitude of the machine body 2, tilt attitude of the work machine 3,
  • the lift position, the braking operation of the left and right brake devices 26, the steering angle of the handle 10, the switching of the PTO switch, etc.) are transmitted to the server 100 and the remote control device 70 together with the position information and time information.
  • the position information is latitude / longitude information calculated by the positioning surveying device 53 based on information received from the positioning satellite 63 and the reference station 60.
  • the time information is the control devices 15 to 17, 52,. 53 is information indicating the time counted in any one of 53.
  • the autonomous traveling system in the present embodiment is a version (revised version) of vehicle-side software (firmware) of the control devices 15 to 17, 51, 52 in the unmanned tractor 1 subject to autonomous traveling. Number) and the version of the device-side software (application) for the autonomous traveling system in the remote control device 70 are mutually confirmed.
  • the vehicle-side software of the unmanned tractor 1 matches the device-side software of the remote control device 70
  • the autonomous traveling of the unmanned tractor 1 by the autonomous traveling system is permitted. That is, when the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70 do not match, autonomous traveling of the unmanned tractor 1 by the autonomous traveling system is prohibited.
  • the server 100 stores the versions of the vehicle-side software and the device-side software together with the update histories of the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70.
  • “Version match” means not only when one of the software on each of the tractor 1 side and the remote control device 70 side is revised, but also when only one software is revised. However, the case where it becomes possible to operate by using the other software of the latest version is also included.
  • the software on each of the tractor 1 side and the remote control device 70 side has two versions of old and new, and both software are both new versions, or both software are both If it is an old version, the versions shall match.
  • both the vehicle-side software of the tractor 1 and the device-side software of the remote control device 70 are both old versions (when the versions of the vehicle-side software and the device-side software are old)
  • the unmanned tractor When the authentication operation for establishing communication between the remote control device 1 and the remote control device 70 is executed, the communication confirmation signal and the response signal do not include version information indicating the version of each software. Therefore, since both the unmanned tractor 1 and the remote control device 70 receive a signal without version information, it is determined that the software of each other is the same in the old version, and the mutual authentication is performed. Communication between the devices 70 is established.
  • the unmanned tractor 1 When the unmanned tractor 1 and the remote control device 70 having the old version of software permit communication with each, the unmanned tractor 1 sends the tractor ID, the device ID, and the location information to make an authentication request to the server 100. Send. Since the server 100 does not receive the software version information of the unmanned tractor 1 and the remote control device 70, it is determined from the stored version update history that the software of the unmanned tractor 1 and the remote control device 70 is the old version software. Check.
  • the server 100 recognizes that each of the unmanned tractor 1 and the remote control device 70 is operating with the old version of the software, and thereby updates the software to prompt the unmanned tractor 1 and the remote control device 70 to update the software. Is notified together with the transmission of the map information.
  • the unmanned tractor 1 receives the update notification from the server 100 together with the map information, the unmanned tractor 1 transmits the map information and the update notification to the remote control device 70.
  • the remote operation device 70 receives the update notification from the server 100 together with the map information, the software update of the unmanned tractor 1 and the remote operation device 70 is completed after the designated operation of the field (work area) and the work machine is completed.
  • Notification screen for example, “Tractor operation is possible. Please note that both tractor software and autonomous driving applications have been updated. Please update the software after the work is completed.” Show on the display. Accordingly, the operator can confirm that the operation for autonomous traveling of the unmanned tractor 1 is possible by confirming the notification screen of the remote operation device 70, and the software of each of the unmanned tractor 1 and the remote operation device. You can recognize that the version has been updated.
  • each of the communication confirmation signal and the response signal includes version information indicating the version of each software. Therefore, the unmanned tractor 1 and the remote control device 70 confirm the version information included in the received signal, respectively, determine that the respective software matches in the new version, and authenticate each other. Communication between the remote control devices 70 is established.
  • the unmanned tractor 1 transmits the version information of each software together with the tractor ID, the device ID, and the position information in order to make an authentication request to the server 100.
  • the server 100 receives the software version information of each of the unmanned tractor 1 and the remote control device 70, thereby confirming that the software of each of the unmanned tractor 1 and the remote control device 70 is a new version of software.
  • the device-side software of the remote control device 70 is the old version (the device-side software version is older than the vehicle-side software version).
  • version information is included in the communication confirmation signal, but version information is not included in the response signal.
  • the communication confirmation signal generated based on the new version of the vehicle side software is configured to be processed by the old version of the apparatus side software. Accordingly, the remote operation device 70 authenticates the unmanned tractor 1 by receiving the communication confirmation signal.
  • the unmanned tractor 1 since the unmanned tractor 1 receives a response signal without version information, the unmanned tractor 1 determines that the software does not match each other, stops the transmission operation of the communication confirmation signal by the wireless communication router 54, and Block communication. The unmanned tractor 1 transmits the version information of the vehicle-side software to the server 100 together with the tractor ID, the device ID, and the position information.
  • the server 100 receives only the version information of the vehicle-side software, thereby recognizing that the versions of the vehicle-side software of the tractor 1 and the device-side software of the remote control device 70 are inconsistent. Further, the server 100 confirms the update history of the device-side software of the remote operation device 70, reads the version of the device-side software of the remote operation device 70, and notifies the unmanned tractor 1. The unmanned tractor 1 stops the engine 10 after notifying the device side software of the remote control device 70 to be updated.
  • the remote control device 70 since the remote control device 70 does not receive a communication confirmation signal from the unmanned tractor 1 (wireless communication router 54) even after a predetermined time has elapsed, it is determined that communication with the unmanned tractor 1 has been interrupted. To do. Accordingly, the remote control device 70 notifies that the communication with the unmanned tractor 1 has been cut off and notifies the confirmation of the state of the unmanned tractor 1 (for example, “Cannot communicate with the tractor. Stop the engine of the tractor. "Please check the tractor after stopping the tractor engine”.
  • the operator gets on the unmanned tractor 1 by confirming the screen display of the remote control device 70.
  • the unmanned tractor 1 is notified of the update of the device-side software, for example, by display on a monitor device (not shown) in the cabin 11.
  • the operator who boarded the unmanned tractor 1 can recognize that the update of the apparatus side software of the remote operation apparatus 70 is requested
  • the operator when the operator confirms an update request for the device-side software of the remote operation device 70, the operator returns to the office O ⁇ b> 1 and connects the remote operation device 70 to the access point 90 for communication.
  • the remote operation device 70 is communicably connected to the communication network N1 via the access point 90, so that it can communicate with the server 100 and requests the server 100 to update the device-side software.
  • the remote operation device 70 transmits the device ID of its own device to the server 100, so that the server 100 confirms the update request from the remote operation device 70 and authenticates communication with the remote operation device 70. .
  • the new version of the device side software (optimum version application) is read out in order to correspond to the new version of the vehicle side software of the unmanned tractor 1, and the remote control device 70.
  • the remote operation device 70 executes an update from the old version of the device side software.
  • the remote operation device 70 notifies the server 100 of completion, and the server 100 and the remote operation device. Communication with 70 is interrupted.
  • the device-side software of the remote control device 70 when performing an authentication operation for establishing communication between the unmanned tractor 1 and the remote control device 70, the communication confirmation signal does not include version information. Since the remote operation device 70 receives a communication confirmation signal without version information, the remote operation device 70 determines that the software does not match each other and blocks communication with the unmanned tractor 1 (wireless communication router 54).
  • the unmanned tractor 1 (wireless communication router 54) does not receive a response signal from the remote operation device 70 even after a predetermined time has elapsed, it is determined that communication with the remote operation device 70 has been interrupted. Therefore, the remote control device 70 notifies that the communication with the unmanned tractor 1 has been interrupted by, for example, a monitor device (not shown) in the cabin 11.
  • the remote operation device 70 recognizes that the vehicle-side software of the unmanned tractor 1 is old and confirms a mismatch with the version of the device-side software, thereby notifying the update of the vehicle-side software of the unmanned tractor 1 (For example, a character notation such as “The tractor software has not been updated. Please contact the service store and update the tractor software”) is displayed on the display. Thereby, the operator can recognize that the operation for autonomous traveling is impossible because the vehicle-side software in the unmanned tractor 1 remains the old version by checking the notification screen of the remote control device 70. .
  • the operator when the operator confirms an update request for the vehicle-side software of the unmanned tractor 1, the operator contacts a service store such as a store to request an update of the vehicle-side software. Then, an external terminal device (service tool) 80 is wired to the unmanned tractor 1 by a serviceman, and the unmanned tractor 1 is notified of the update (update) of the vehicle-side software of the unmanned tractor 1. At this time, the external terminal device 80 transmits a device ID unique to the own device to the unmanned tractor 1.
  • a service store such as a store
  • the unmanned tractor 1 is communicably connected to the communication network N1 by the vehicle-mounted terminal device 19, can communicate with the server 100, and requests the server 100 to update the vehicle-side software.
  • the unmanned tractor 1 transmits the device ID of the external terminal device 80 together with the tractor ID of the self-device to the server 100, so that the server 100 confirms the update request through the external terminal device 80 and the unmanned tractor 1 Authenticate communications with.
  • a new version of the vehicle-side software (optimum version firmware) is read in order to correspond to the new version of the device-side software of the remote control device 70, and the unmanned tractor 1 Send to.
  • the unmanned tractor 1 receives the new version of the vehicle-side software
  • the unattended tractor 1 updates the old version of the vehicle-side software.
  • the server 100 and the remote control device 70 are notified of completion. Communication with is interrupted.
  • the server device 100 can confirm the update history of the software of each of the unmanned tractor 1 and the remote control device 70.
  • the software version match may be determined.
  • the server 100 confirms that the software versions of the unmanned tractor 1 and the remote control device 70 match, communication between the unmanned tractor 1 and the remote control device 70 is established.
  • the server 100 receives software version information of each of the unmanned tractor 1 and the remote control device 70 with which communication has been established, as in the case of FIG. 6, FIG. 8, and FIG. It may be compared with the version information of the software to confirm whether update is necessary.
  • the remote control device 70 used in the farm field H1 is communicatively connected to the communication network N1 via a wireless telephone line, for example, and the server 100 It becomes possible to communicate with. Therefore, even if the versions of the vehicle-side software of the unmanned tractor 1 and the device-side software of the remote control device 70 do not match, the old version of the software can be updated based on the communication between the remote control device 70 and the server 100.
  • the device-side software of the remote operation device 70 is an old version (the device-side software version is older than the vehicle-side software version). ), A communication error is notified by the remote operation device 70, and an update of the device-side software is notified by the unmanned tractor 1. As a result, the operator recognizes that the device side software of the remote operation device 70 needs to be updated. Therefore, the operator operates the remote operation device 70 to update (update) the device side software to the server 100. Request.
  • the software update request notification from the remote operation device 70 includes the device ID of the remote operation device 70, and the server 100 authenticates the remote operation device 70 based on the device ID and Establish communication.
  • the server 100 reads the new version of the device side software (the optimum version of the application) and transmits it to the remote control device 70 so as to correspond to the new version of the vehicle side software of the unmanned tractor 1.
  • the remote control device 70 notifies the update of the vehicle side software.
  • the operator recognizes that the vehicle side software of the unmanned tractor 1 needs to be updated, so that the server 100 is updated (updated) with respect to the server 100 by operating the remote control device 70. Request.
  • the software update request notification from the remote operation device 70 includes the tractor ID of the unmanned tractor 1 together with the device ID of the remote operation device 70, and the server 100 performs the remote operation device based on the device ID and the tractor ID. 70, the unmanned tractor ID is authenticated, and communication with the remote control device 70 and the plain tractor 1 is established. The server 100 reads out the new version of the vehicle-side software (the optimum version of the application) and transmits it to the unmanned tractor 1 so as to correspond to the new version of the device-side software of the remote control device 70.
  • the unmanned tractor 1 when the vehicle-side software of the unmanned tractor 1 is updated, the unmanned tractor 1 notifies the remote control device 70 that the software update in the unmanned tractor 1 has been completed. Further, when the remote control device 70 recognizes the completion of the software update in the unmanned tractor 1, the remote control device 70 notifies the operator of the completion of the software update by displaying it on the display and the server 100 also completes the software. Notice.
  • the present invention is not limited to the above-described embodiment, and can be embodied in various forms.
  • the configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention. That is, in the above-described embodiment, it is assumed that the single tractor 1 is operated in the field, but the multiple tractors 1 may be operated. At this time, for example, as shown in FIG. 16, a part of the farm work is performed by the unmanned tractor 1 in the field, and the remaining farm work is performed by the manned tractor 1A. By performing cooperative work of farm work, follow-up work, accompanying work, etc. by unmanned tractor 1 and manned tractor 1A, farm work can be shared in a single farm field.
  • the unmanned tractor 1 may perform the farm work in a certain farm field, and at the same time, the manned tractor 1A may perform the farm work in another farm field. Further, any of the cooperative work, the follow-up work, and the accompanying work may be executed by a plurality of unmanned tractors 1.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Guiding Agricultural Machines (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un système de déplacement autonome destiné à un véhicule de travaux agricoles (1), le déplacement autonome du véhicule de travaux agricoles (1) étant commandé par un dispositif télécommandé (70) apte à communiquer avec le véhicule de travaux agricoles (1). De plus, le déplacement autonome par le véhicule de travaux agricoles (1) est interdit si la version de logiciel côté dispositif pour le dispositif télécommandé (70) et la version de logiciel côté véhicule pour le véhicule de travaux agricoles (1) ne concordent pas.
PCT/JP2018/002712 2017-03-31 2018-01-29 Système de déplacement autonome pour véhicules de travaux agricoles WO2018179778A1 (fr)

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KR102383141B1 (ko) * 2020-07-28 2022-04-07 한국자동차연구원 농기계의 펌웨어 업데이트 시스템 및 방법
JP7552528B2 (ja) 2021-08-03 2024-09-18 トヨタ自動車株式会社 情報処理装置、情報処理方法、およびシステム
JP7439810B2 (ja) 2021-10-26 2024-02-28 トヨタ自動車株式会社 サーバ、情報処理システムおよび情報処理方法

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JP7467266B2 (ja) 2024-04-15
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