KR20250072536A - Electronic operation system for agricultural vehicle and operating method thereof - Google Patents

Abstract

The present invention relates to an electronic operating system for an agricultural work vehicle.
The operating system according to the present invention comprises: a first input unit capable of inputting a first control command for the operation of each unit; an information recording unit capable of recording information on a user's operation input through the first input unit (hereinafter referred to as "operation information"); and a second input unit capable of inputting a second control command of the user to execute an operation according to the operation information recorded in the information recording unit; and the vehicle linkage control unit executes a control that follows the operation information recorded in the information recording unit in response to the second control command input through the second input unit.
According to the present invention, the ease of operation is improved, especially during the C-turn process.

Description

{ELECTRONIC OPERATION SYSTEM FOR AGRICULTURAL VEHICLE AND OPERATING METHOD THEREOF}

The present invention relates to a technology related to steering during operation of an agricultural work vehicle.

Agricultural work vehicles include agricultural tractors, combines, and rice transplanters.

The present invention relates to an agricultural work vehicle capable of electronic operation, and will be described below using an agricultural tractor as an example.

An agricultural tractor is a work vehicle that can perform necessary work by attaching and detaching various work tools necessary for agricultural work.

Work machines that can be mounted on agricultural tractors include rotavators and plows.

In typical tillage work, the agricultural tractor makes a C-turn at the end of the work area.

The user (driver) can change the direction of travel of the vehicle by operating the steering wheel to turn the front wheels.

During operation, several manipulations may be required, including rotation of the front wheels.

Users are required to perform many operations repeatedly within a few seconds, such as raising and lowering the work tool, increasing or decreasing the rotation speed of the power generator (engine, electric motor), changing the driving speed, and operating auxiliary hydraulics.

In domestic agriculture where the scale of the work area is small, frequent rotation is necessary.

Frequent turns increase the fatigue of related operations and include the possibility of operational errors. To solve this problem, driving assistance devices equipped with high-precision GPS, controllers, related user controls, and steering devices are also becoming widespread.

In the case of the applicant, the problem is partially solved through integrated linkage control with the vehicle as well as driving control of the vehicle, and other companies are also providing similar related automation solutions.

However, there are limitations to the automation work involved.

In work areas with specific conditions (standardized fields/fields, square shapes), automatic straightening and turning as well as vehicle control are possible, but in irregular work areas with complex shapes, automatic turning and vehicle linkage control may not be available.

In the case of our country, most fields are not farmland, so the boundaries of the fields are often curved rather than straight, and their plan shape is not a square but an irregular polygon.

Figures 1 (a) and (b) show examples of autonomous driving tasks performed on an irregular work surface.

As in (a) of Fig. 1, for autonomous driving tasks, only a part of the field, not the outermost part, must be set in a square shape to proceed with the task so that straight driving and turning can be performed automatically. In this case, there is the difficulty that the user must drive and work on the rest of the work area.

As in Fig. 1 (b), in the case of the work of making furrows in a field, since it must be made in a straight line from the outermost edge, only the straight-line function of autonomous driving can be used. In the middle of the work area, it automatically drives straight, but at the end, the user must directly operate the steering wheel, increase/decrease engine speed, raise/lower the implement, and operate the driving speed, which is inconvenient.

To address this, a technique has been proposed to add a rotation function to the user-controlled monitor, thereby providing the user with the ability to execute it directly.

Figure 2 shows related technologies applied to autonomous driving (hereinafter referred to as “prior technologies”).

The prior art is implemented to set the boundary (WB) of an autonomous work area within a worksheet according to the shape of the worksheet, and provides a function to display a rotation area.

Users can also set the turning direction and the number of tasks to skip.

The setting and turning functions are executed by operating the various buttons in the button area (BF) of the monitor.

In order for prior art to be applied, users must go through the hassle of having to judge the area that has already been worked on in advance and modify the turning direction and the work rows to be skipped.

Republic of Korea Publication Patent No. 10-2021-0131315

Technology is required to minimize user manipulation during various C-turn processes in irregularly shaped workspaces.

The electronic operation system of an agricultural work vehicle according to the present invention comprises: an increase/decrease unit (111) for controlling an increase/decrease in the rotation speed of a power generator (DS) that provides power required for driving an agricultural work vehicle (WV); a steering unit (112) for controlling a driving direction of the agricultural work vehicle (WV); a shifting unit (113) for controlling the driving speed of the agricultural work vehicle (WV); an elevating unit (115) for elevating a work machine (WA) towed by the agricultural work vehicle (WV); a vehicle linkage control unit (120) in charge of electronic control of the increase/decrease unit (111), the steering unit (112), the shifting unit (113) and the elevating unit (115); A first input unit (130) capable of inputting a first control command for the operation of the increase/decrease unit (111), the steering unit (112), the shifting unit (113) and the elevation unit (115) to the vehicle linkage control unit (120); an information recording unit (140) capable of storing information on the user's operation input through the first input unit (130) (hereinafter referred to as "operation information"); and a second input unit (150) capable of inputting a second control command for executing an operation according to the operation information stored in the information recording unit (140) to the vehicle linkage control unit (120). The above vehicle linkage control unit (120) controls the increase/decrease unit (111), the steering unit (112), the shifting unit (113), and the lifting unit (115) to operate in conjunction by following the operation information stored in the information recording unit (140) in response to the second control command input through the second input unit (150).

The above second input unit (150) is installed on the armrest (210) of the driver's seat (200) so that it can rotate along with the rotation of the driver's seat (200).

The above second input unit (150) is installed on the left armrest (210) of the driver's seat (200).

It further includes a mode switch (170) that can select either a manual control mode by the first input unit (130) or an automatic control mode by the second input unit (150); and the vehicle linkage control unit (120) controls the operation of the increase/decrease unit (111), the steering unit (112), the shifting unit (113), and the elevating unit (115) in response to the selection of the mode switch, in accordance with either a first control command via the first input unit (130) or a second control command via the second input unit (150).

The second input unit (150) includes a left turn switch (151) for commanding a left turn of the work vehicle (WV); and a right turn switch (152) for commanding a right turn of the work vehicle (WV); and the vehicle linkage control unit (120) performs control to follow the operation information for a left or right turn stored in the information recording unit (140) according to a second control command of a user input through the left turn switch (151) or the right turn switch (152).

The second input unit (150) includes a recording switch (154) that allows a user to command the information recording unit (140) to record or end recording of operation information.

The above second input section (150) further includes a distinction switch for distinguishing between a rotary section and a straight section.

The above information recorder stores operation information for operations performed in time series during the rotation section.

The second input unit (150) further includes a selection switch that enables the vehicle linkage control unit (120) to select a point in time at which control is performed to follow the recorded operation information.

The second input unit (150) further includes a straight-line switch capable of commanding the front wheels to be aligned in a straight-line direction.

It further includes a third input unit (160) capable of inputting a third control command for operation of the steering unit (112).

The above vehicle linkage control unit (120) is designed to give priority to the third bear command through the third input unit (150) or the first control command through the first input unit (130) over the second control command through the second input unit (130).

The second input unit (150) includes a setting switch (154) that allows the functions of the operating switches in the second input unit (150) to be interchanged and set.

The operating method of the electronic operation system of an agricultural work vehicle according to the present invention comprises: a recording start step in which an information recording unit (140) starts recording operation information by a user's command through a recording switch (154); a first storage step in which first operation information from the time when an operation event first occurs to the time when a first operation of a classification switch occurs is stored; a second storage step in which second operation information from the time when a second operation of the classification switch occurs to the time when a last operation event occurs after the first storage step is stored; a recording end step in which the information recording unit (140) ends recording of the operation information by a user's command through the recording switch (154); and a driving control step in which a vehicle linkage control unit (120) controls the driving of an agricultural work vehicle (MV) by following the first operation information stored in the first storage step and the second operation information stored in the second storage step. , and the recording start step, the first storage step, the second storage step, and the recording end step are performed in a manual control mode, and the driving control step is performed in an automatic control mode.

The driving control step includes a first control step in which the vehicle linkage control unit (120) performs a first control to follow the first operation information stored in the first storage step in response to a user's command via the rotary switch (151, 152); and a second control step in which, after the first control step, the vehicle linkage control unit (120) performs a second control to follow the second operation information stored in the second storage step in response to a user's command via the rotary switch (151, 152).

The location where the second control step is performed can be selected by a user's selection command via the division switch between the first control step and the second control step.

According to the present invention, the following effects are achieved.

First, since many operations, not just the handle, can be controlled with a single switch, it can reduce work fatigue and mistakes from repetitive operations.

Second, since the positions of each switch in the second input section can be accurately identified by the sense of the hand without relying on sight, it is easy to operate while increasing the freedom and usability of vision.

Third, when driving backwards, steering control is possible through a third input unit that moves together with the driver's seat instead of steering wheel operation, so the work can be done while looking toward the rear.

Figures 1 and 2 are reference drawings for explaining conventional technologies.
Figure 3 is a configuration diagram of an electronic operation system for an agricultural work vehicle according to the present invention.
Figure 4 is a functional configuration diagram dividing the vehicle linkage control unit constituting the electronic operation system of the agricultural work vehicle of Figure 3 into each function.
Figure 5 is an example of a second input unit constituting the electronic operating system of the agricultural work vehicle of Figure 3.
Figure 6 illustrates an example of the arrangement of the second input unit of Figure 5.
Figure 7 is a reference diagram for explaining the third input unit constituting the electronic operating system of the agricultural work vehicle of Figure 3.
Figure 8 is a reference diagram for explaining an embodiment of the electronic operation system of the agricultural work vehicle of Figure 3.

A preferred embodiment of the present invention will be described with reference to the attached drawings. However, for the sake of brevity, well-known configurations or descriptions that may be redundant are omitted or compressed as much as possible.

<Basic configuration of agricultural work vehicles>

The electronic operation system (100, hereinafter abbreviated as “electronic operation system”) of an agricultural work vehicle (hereinafter abbreviated as “work vehicle”) to which the present invention is applied includes, as shown in FIG. 3, an increase/decrease unit (111), a steering unit (112), a shifting unit (113), a brake unit (114), an elevation unit (115), a vehicle linkage control unit (120), a first input unit (130), an information recording unit (140), a second input unit (150), a third input unit (160), and a mode switch (170).

The increase/decrease unit (111), steering unit (112), shifting unit (113), brake unit (114), and lifting unit (115) are constructed as an electronic control system that can be operated by the control of the vehicle linkage control unit (120).

The increase/decrease unit (111) is operated to control the increase/decrease in the rotation speed (RPM) of the power generator (DS).

When the increase/decrease unit (111) is operated, the rotation speed of the power generator (DS) increases or decreases.

The power generator (DS) generates the power required to drive agricultural work vehicles.

The power generator (DS) can be an internal combustion engine or an electric motor driven by batteries.

The power generator (DS) can also be implemented to function as a power source required for lifting a work machine (WA) towed by a work vehicle or for operating the work machine (WA).

The steering unit (112) is operated to control and adjust the driving direction of the work vehicle.

When the steering unit (112) is operated, the driving direction of the work vehicle changes.

When the steering unit (112) is operated, the direction in which the front wheels of the work vehicle are directed is set, and the work vehicle drives along the set direction of the front wheels.

The transmission unit (113) is operated to control the driving speed of the work vehicle.

When the transmission unit (113) is operated, the driving speed changes and the torque of the rotational power increases or decreases, and when the rotational speed of the power transmission (DS) remains the same, the driving speed of the work vehicle decreases or increases.

The brake unit (114) is operated to slow down the driving speed of the work vehicle or to stop the work vehicle.

When the brake unit (114) is operated, braking force is applied to the wheels of the work vehicle to decelerate it, or the braking force is released to increase its speed.

The work vehicle used for agricultural work is operated at a very slow speed during the work process. During the work process on site, the user mainly prefers deceleration by shifting rather than deceleration by the brake unit (114). In the deceleration process related to the present invention, deceleration can be realized only by operating the shifting unit (113) rather than operating the brake unit (114). Therefore, the brake unit (114) can be omitted from the essential components forming the present invention.

The lifting unit (115) is operated to raise and lower a work machine (WA) towed by a work vehicle.

In general, the C-turn process is not related to actual work, so the C-turn is performed while the work machine (WA) is raised and in an elevated state, and when the C-turn is completed, the work machine (WA) needs to be lowered for work.

When the lifting unit (115) is operated, the work machine (WA) rises or lowers.

The vehicle linkage control unit (120) is responsible for electronic control.

The vehicle linkage control unit (120) controls the operation of the increase/decrease unit (111), the steering unit (112), the shift unit (113), the brake unit (114), and the elevating unit (115) according to the control command input from the user. In particular, the vehicle linkage control unit (120) can control the increase/decrease unit (111), the steering unit (112), the shift unit (113), the brake unit (114), and the elevating unit (115) to be operated in conjunction during a left or right turn.

The increase/decrease unit (111), steering unit (112), shift unit (113), brake unit (114), and lifting unit (115) are operated by a control signal generated from the vehicle linkage control unit (120).

The vehicle linkage control unit (120) may have various detailed control means depending on the type of work vehicle.

Figure 4 shows one embodiment of a vehicle linkage control unit (120).

The configurations in Fig. 4 are depicted as being divided into functional configurations rather than hardware configurations. Therefore, they should not be interpreted as being limited to hardware configurations.

The vehicle linkage control unit (120) includes a rotation speed control means (121), a steering control means (122), a shift control means (123), a brake control means (124), and an elevation control means (125).

Each rotation speed control means (121), steering control means (122), shift control means (123), brake control means (123), and elevation control means (125) are organically connected through CAN communication to collect necessary information, and each control signal is generated by taking into account the collected information.

The rotation speed control means (121) obtains rotation speed status information or speed pedal status information and generates a control signal according to a control command input from a user to operate the increase/decrease unit (111). When the increase/decrease unit (111) is operated, the rotation speed of the power generator (DS) increases/decrease.

The steering control means (122) generates a control signal according to a control command input from a user based on information obtained from a horizontal sensor (HS) or a steering angle sensor (AS), thereby operating the steering unit (112). When the steering unit (112) is operated, the angle of the front wheels is changed.

The gear control means (123) obtains status information of the shuttle lever for forward/reverse switching, the gear lever and the clutch pedal, and the gear number information of the surrounding gears, and generates a control signal according to a control command input from the user to operate the gear unit (113). When the gear unit (113) is operated, the driving gear is changed.

The brake control means (124) generates a control signal according to a control command input from a user to operate the brake unit (114). When the brake unit (114) is operated, the wheels are braked or released, thereby slowing down or increasing the speed of the work vehicle.

The lifting control means (125) generates a control signal according to a control command input from a user to operate the lifting unit (115). When the lifting unit (115) is operated, the work machine (WA) rises or lowers.

In Fig. 4, a horizontal sensor (HS) and a steering angle sensor (AS) are provided for stable and accurate driving of the work vehicle.

The horizontal sensor (HS) detects the horizontal information of the work vehicle.

Horizontal information is used by the vehicle linkage control unit (120) to control stable driving and C-turn of the work vehicle.

The steering angle sensor (AS) detects the steering angle of the front wheels and is used to control the front wheels to rotate at the required angle.

The first input unit (130) is provided to input the user's first control command to the vehicle linkage control unit (120).

The first input unit (130) is used in manual control mode.

The first input unit (130) is equipped with input means generally equipped in a work vehicle, such as a conventional speed lever, speed pedal, handle, clutch pedal, shift lever, shuttle lever, brake pedal, and lift lever.

When a user inputs an arbitrary first control command by operating any input means provided in the first input unit (130), the vehicle linkage control unit (120) generates a control signal corresponding to the first control command indicated by the input means.

The throttle lever or throttle pedal is an input means for generating a control signal to operate the increase/decrease unit (111). When the throttle lever or throttle pedal is operated by the user, the rotational speed of the power generator (DS) increases or decreases.

The handle is an input means for generating a control signal to operate the steering unit (112). When the handle is operated by the user, the direction of the front wheels is changed.

The shift lever and shuttle lever are input means for generating a control signal to operate the shift unit (113) to change the driving speed or driving direction. When the shift lever is operated by the user, the driving speed is changed, and when the shuttle lever is operated, the driving direction is changed between forward and backward.

The brake pedal is an input means for generating a control signal to operate the brake unit (114). When the brake pedal is operated by the user, braking force is applied to the wheel or released.

The lifting lever is an input means for generating a control signal to operate the lifting unit (115). When the lifting lever is operated by the user, the work unit (WA) is raised and lowered.

The information recording unit (140) can record information on the user's operations entered through the first input unit (130) (hereinafter referred to as 'operation information').

Manipulation information may be information about a single operation, but it may also be a time-series pattern of operations that occur sequentially over time.

If the user sequentially operates the lifting lever to raise the work machine (WA), operates the brake pedal to slow down the work vehicle, operates the steering wheel to make a right turn, and operates the steering wheel to go straight, the operation information recorded in time series for these operations is stored in the information recorder (140).

Recording and termination of operation information by the information recorder (140) can be determined by the user's choice.

The second input unit (150) is provided to input the user's second control command to the vehicle linkage control unit (120).

The second input unit (150) is used to handle driving in automatic control mode.

When the user's second control command is input through the second input unit (150), the vehicle linkage control unit (120) executes control that follows the operation information recorded in the information recording unit (140).

The increase/decrease unit (111), steering unit (112), shift unit (113), brake unit (114), and lifting unit (115) are operated to follow the operating information.

In particular, when the manipulation information is such that multiple manipulations are performed in a time series manner, the multiple manipulations are performed in a time series manner and in conjunction with each other.

Figure 5 is an example of a second input unit (150).

The second input unit (150) of Fig. 5 includes a left turn switch (151), a right turn switch (152), a center switch (153), a recording switch (154), a brake switch (155), a forward switch (156), a reverse switch (157), and a setting switch (158).

The left turn switch (151) is a switch for the user to command a left turn.

The left turn switch (151) can be operated by the user during a C-turn process where a left turn is required.

When the left turn switch (151) is operated, the vehicle linkage control unit (120) generates a control signal according to the operation information for left turn recorded in the information recording unit (140) to control the increase/decrease unit (111), steering unit (112), shifting unit (113), brake unit (114), and lifting unit (115) to be operated in conjunction.

When the user operates the left turn switch (151) once, a series of vehicle linkage controls such as brake operation, lifting and lowering of the work unit (WA), and gear shifting, which are accompanied by left turn steering, are automatically performed according to the left turn operation information.

The left turn operation information is generated and stored in the manual control mode prior to the time when the left turn switch (151) is operated, and is time-series operation information that includes changes in the angle of the front axle rotated for the left turn, changes in the rotation speed of the power generator (DS), changes in the elevation of the work machine (WA), and changes in the gear ratio. The electronic operation system (100) automatically executes the left turn operation information by following it as it is, thereby performing the left turn of the work vehicle.

When the left turn switch (151) is pressed continuously, the front wheels are rotated to the left at the maximum speed or the set speed, and when the left turn switch (151) is released, the changed angle can be maintained.

When the autonomous driving AB mode is in progress, pressing the left turn switch (151) once can be designed to rotate with a preset turning radius in the left turn direction that is perpendicular to the working direction.

When the vehicle is in free-run AB mode, pressing the left turn switch (151) twice in succession or for a set period of time can be designed to perform a C-turn that skips a set number of rows (e.g., when setting the skip 3 rows, the vehicle automatically enters the 5th row after working on the first row).

The right turn switch (152) is a switch for the user to command a right turn.

The right turn switch (152) can be operated by the user during a C-turn process where a right turn is required.

When the right turn switch (152) is operated, the vehicle linkage control unit (120) generates a control signal according to the operation information for right turn stored in the information recording unit (140) to control the increase/decrease unit (111), steering unit (112), shifting unit (113), brake unit (114), and lifting unit (115) to be operated in conjunction.

When the user operates the right turn switch (152) once, a series of vehicle linkage controls such as brake operation, lifting and lowering of the work unit (WA), and gear shifting are automatically performed according to the right turn operation information.

Right turn operation information is generated and stored in manual control mode prior to the time when the right turn switch (152) is operated, and is operation information that includes changes in the angle of the front axle rotated for right turn, changes in the rotation speed of the power generator (DS), changes in the elevation of the work machine (WA), changes in the gear ratio, etc. The electronic operation system (100) automatically executes the right turn operation information by following it as is, thereby performing a right turn of the work vehicle.

Since the right turn process can be symmetrical to the left turn process with only a 180 degree difference in the steering direction, the right turn operation information can also be generated by mirroring the left turn operation information using the setting switch (158).

Alternatively, left turn operation information can be generated by mirroring right turn operation information.

The left turn switch (151) and the right turn switch (152) can be implemented with the same operating method because only the steering direction is different.

If the operation information required for a left turn and the operation information required for a right turn are to be stored differently, the left turn switch (151) and the recording switch (154) can be pressed together to record the operation information exclusively for a left turn, or the right turn switch (152) and the recording switch (154) can be pressed together to store the operation information exclusively for a right turn.

The central switch (153) has three functions.

The first and second functions are used in the process of storing operation information, and the third function is used in the process of following operation information and performing actual work.

The first function is the straight-line function.

When the user presses the central switch (153), the wheels switch to a straight-line state.

From the first functional perspective, the central switch (153) can be named a straight switch.

During the C-turn process, two rotations are performed, and the center switch (153) can be used for straight driving between the two rotations.

The second function is to distinguish between the end point of the first rotation and the starting point of the second rotation during the C-turn process.

The user can press the center switch (153) at the end point of the first turn and at the starting point of straight driving to notify the information recording unit (140) that the first turn has ended.

The user can press the center switch (153) at the end of straight driving and the starting point of the second turn to notify the information recording unit (140) that the second turn has begun.

The second function of the central switch (153) is to distinguish between the straight section and the turning section.

The straight section is the section that starts at the end point of the first turning section and ends at the start point of the second turning section.

The starting and ending points of a straight section can be confirmed by pressing the center switch (153). The center switch (153) teaches the starting and ending points of a straight section, thereby making the straight section clear.

In the rotation section, operation information for operations performed in time series is stored.

In straight sections, time or location is stored.

In a straight section, no operation information is stored, and the time required for straight driving or, in the case of autonomous driving, the location of the starting point and end point of the straight section (straight distance) is stored. From this perspective, the second function of the central switch (153) is to differentiate the information to be stored.

When the user presses the central switch (153) at the end point of the first rotation section, first operation information on the time series of operations performed from the time the operation event occurs to the time the central switch (153) is pressed is stored.

At the point of the second rotation section, when the user presses the central switch (153), second operation information on the time series of operations performed from the point at which the central switch (153) was pressed to the point at which the operation event ends is stored.

In the straight section between the end point of the first turn and the start point of the second turn, time or position is stored.

From a second functional perspective, the central switch (153) can be called a distinction switch that distinguishes between the turning section and the straight section.

The third function of the central switch (153) will be described later in the relevant section.

To improve intuitiveness for user operation, the central switch (153) is placed between the left turn switch (151) and the right turn switch (152).

The left turn switch (151) is placed on the left side of the central switch (153), and the right turn switch (152) is placed on the right side of the central switch (153).

The user can operate the left turn switch (151), center switch (153), and right turn switch (152) using the ring finger, middle finger, and index finger.

When the user operates with his/her left hand, the left turn switch (151) is operated with the ring finger, the center switch (153) with the middle finger, and the right turn switch (152) with the index finger.

The recording switch (154) is for inputting a user's command to cause the information recording unit (140) to record operation information or terminate recording.

When the user operates the recording switch (154), the information recording unit (140) begins recording the operation information.

When the user re-operates the recording switch (154), the information recording unit (140) stops recording the operation information.

The record switch (154) is placed at the rear of the left turn switch (151) so that the user can operate it by moving the ring finger backward.

When the user operates the recording switch (154), the information recording unit (140) starts recording and switches to a state for storing the operation information.

After the recording switch (154) is operated, the information recording unit (140) records the operation information from the time the operation event occurs to the time the central switch (153) is operated. Here, the operation event refers to at least one of a change in the rotation speed of the power generator (DS) beyond a certain range, a lifting/lowering of the work unit (WA), and a change in the steering angle.

After this, when the user re-operates the recording switch (154), the information recording unit (140) stops recording.

For reference, the central switch (153) also has a function of storing operation information in the rotation section and time or position information in the straight section that occurred between the time when the information recording unit (140) starts recording and the time when it ends by the recording switch (154). All stored information is stored until the recording switch (154) is pressed the next time.

According to this embodiment, the recording switch (154) is a switch that records operation information throughout the entire rotation and straight movement section of the work vehicle.

When the recording switch (154) is operated, the information recording unit (140) starts recording, and when it is operated again, the information recording unit (140) stops recording.

On the other hand, the central switch (153) is a switch that stores operation information from the time when an operation event for the first turn of the work vehicle occurs during the C-turn process to the time when it enters the straight section, or from the time when it starts the second turn after passing the straight section to the time when the last operation event occurs.

The user can command the central switch (153) to store the operation information of the rotation section.

During the C-turn process, the straight section between the first and second turning sections stores the straight movement time or location.

The brake switch (155) is operated by the user to operate the brake unit (114).

When the user presses the brake switch (155), braking force is generated by the brake unit (114), and when the brake switch (155) is released, the braking force is released.

The brake switch (155) is placed on the left side of the left turn switch (151) so that it can be easily operated with the thumb or ring finger.

The operating direction of the brake switch (155) and the operating direction of the left turn switch (151) may be perpendicular.

The left turn switch (151) can be arranged to be operated by pressing downward, and the brake switch (155) can be arranged to be operated by pressing in the right direction.

The forward switch (156) and the reverse switch (157) are operated by the user to command forward or reverse driving of the work vehicle.

The forward switch (156) and reverse switch (157) are placed on the right side of the right turn switch (152) so that they can be easily operated with the thumb.

For the user's intuitiveness, the forward switch (156) and the reverse switch (157) are placed side by side in the forward and backward directions. The forward switch (156) is placed at the front and the reverse switch (157) is placed at the rear.

The operating directions of the forward switch (156) and the reverse switch (157) and the operating direction of the right turn switch (152) may be perpendicular.

The operating directions of the forward switch (156) and the reverse switch (157) and the operating direction of the brake switch (155) may be opposite to each other.

The setting switch (158) is provided for various settings.

For example, the user can change and set the functions of other operating switches in the second input unit (150), such as the left turn switch (151), right turn switch (152), center switch (153), record switch (154), brake switch (155), forward switch (156), and reverse switch (157), by using the setting switch (158).

For example, a user can use the setting switch (158) to set the steering angle or steering speed when turning right or left.

For example, the user can use the setting switch (158) to set the rotation speed of the power generator (DS) or the lifting height of the work machine (WA) when the work vehicle turns left and right.

For example, if the work vehicle is an autonomous vehicle, the user can use the setting switch (158) to set the number of work rows that the work vehicle should skip.

If the work vehicle is an autonomous vehicle, an HMI (driver interface system) and a GNSS (global positioning system) are additionally installed.

As in the example of Fig. 5, it may be desirable for the left turn switch (151), right turn switch (152), center switch (153), recording switch (154), brake switch (155), forward switch (156), reverse switch (157), and setting switch (158) forming the second input section (150) to be arranged together.

In a layout like Fig. 5, the user can operate the second input unit (150) entirely with one hand. In addition, the range of movement of one hand is also minimized.

However, if the layout is optimized for intuitive operation by each user, the left turn switch (151), right turn switch (152), center switch (153), record switch (154), brake switch (155), forward switch (156), reverse switch (157), and setting switch (158) can each be installed in separate locations.

As in the preferred example of Fig. 6, the second input unit (150) may be provided on the left armrest (210) of the driver's seat (200).

Since the left armrest (210) forms part of the driver's seat (200), it can rotate by a certain angle together with the driver's seat (200).

Since agricultural work vehicles need to check the condition of the work machine (WA) being towed from the rear while driving, the driver's seat (200) is generally equipped to rotate at a certain angle.

The second input unit (150) installed on the left armrest (210) rotates together with the driver's seat (200) and the user. Therefore, the user has no difficulty in operating the second input unit (150) while placing his or her hand on the left armrest (210) even when the driver's seat (200) is rotated.

The third input unit (160) is provided to input the user's third control command to the vehicle linkage control unit (120).

The third input unit (160) can be utilized in automatic control mode.

According to a preferred example, the third control command is a command for operation of the steering unit (112).

When the user operates the third input unit (160), the vehicle linkage control unit (120) generates a control signal for operating the steering unit (112).

The user can operate the steering unit (112) through the third input unit (160).

The user can drive the work vehicle through the third input unit (160) during the straight process for work.

In the C-turn process performed in automatic control mode via the second input unit (150), the user can arbitrarily drive the work vehicle via the third input unit (160) in a situation where it is difficult to turn according to operating information.

The vehicle linkage control unit (120) is designed to give priority to the third control command over the second control command. If the third control command is input through the third input unit (160) even while the work vehicle is driving according to the second control command input through the second input unit (150), the vehicle linkage control unit (120) generates a control signal for operating the steering unit (112) according to the third control command.

For reference, in the case where the first control command is implemented to be input through the first input unit (130) in the automatic control mode, the first control command may be designed to be followed with priority over the second control command.

As shown in Fig. 7, the third input unit (160) may be provided together with the second input unit (150). Accordingly, the third input unit (160) also rotates together with the second input unit (150) when the driver's seat (200) rotates.

The third input unit (160) may be equipped with a joystick.

The user can rotate the front wheels by turning the joystick clockwise or counterclockwise.

The amount of rotation of the front wheel per rotational movement of the joystick can also be set using the setting switch (158).

For example, the user can set the total rotation angle of the joystick to 90 degrees, 120 degrees, 180 degrees, or 360 degrees.

When the user sets it to 180 degrees, a 0 to 90 degree rotation of the joystick in the right direction corresponds proportionally to a 0 to 40 degree rotation of the front wheels in the right direction. In this case, if the joystick is rotated more than 90 degrees, the front wheels will rotate 40 degrees in the right direction.

The joystick, which is the third input unit (160), may have a function of aligning the front wheels in a straight-line movement direction. When the user presses the joystick, the front wheels may be designed to align in a straight-line movement direction.

It may be designed so that the driver can command the work vehicle to drive forward and backward by pushing the joystick in a forward or backward direction, or so that the driver can command the work vehicle to turn left and right by pushing the joystick in a left or right direction.

In the case of the third input unit (160), the function can be set to suit the user's operating sensitivity by using the setting switch (158).

For example, if the third input unit (160) is a joystick, it can be implemented so that the user can set whether to add a steering function or a gear shift function to the joystick using the setting switch (158).

As shown in Fig. 7, when the third input unit (160) is provided together with the second input unit (120), the user can perform all operations necessary for driving the work vehicle with only the left hand during the entire work process.

A mode switch (170) is provided to select either a manual control mode or an automatic control mode.

Manual control mode is a mode in which the user operates the work vehicle by manually operating each input means provided in the first input unit (130).

The automatic control mode is a mode in which the work vehicle is operated by automatically linking the operation of the increase/decrease unit (111), steering unit (112), shift unit (113), brake unit (114), and lifting unit (115) in the same manner as the operation information recorded in the information recording unit (140) by the user operating each switch provided in the second input unit (150).

Steering by the third input unit (160) can be implemented so that it is executed only in automatic control mode.

The mode switch (170) can be placed in any location that is easily accessible to the user.

If the mode switch (170) is selected to manual control mode, the user can input only the first control command through the first input unit (130).

If the mode switch (170) is selected to the automatic control mode, the user can input a second control command through the second input unit (150) or a third control command through the third input unit (160).

In automatic control mode, inputting the first control command through the first input unit (130) may be prohibited.

If the priority between the first control command and the second control command is set by program, the mode switch (170) may be omitted.

Meanwhile, in this embodiment, the functions of a division switch, a selection switch, and a straight switch are added to the central switch (153). However, depending on the implementation, the functions of a division switch, a selection switch, and a straight switch may be added to the left turn switch (151), the right turn switch (152), or other switches.

<Implementation form>

Figure 8 is a reference diagram for explaining an embodiment of an electronic operating system (100) according to the present invention.

Figure 8 illustrates a right-turn steering process, but since the left-turn steering process is the same, the description of the left-turn steering process is replaced with the description of the right-turn steering process.

1. Start recording

When the mode switch (170) is in manual control mode, the user presses the recording switch (154) at position ① when a situation arises where the first right turn for the C-turn of the work vehicle (WV) is required. Accordingly, the information recording unit (140) begins recording operation information.

The operation of the recording switch (154) by the user is a command for the information recording unit (140) to start recording the operation information.

When the recording switch (154) is operated once by the user, the information recording unit (140) is in a state where it can store the first right-turn operation information performed during the first right-turn process at any time.

2. Operation event occurs

At position ②, which is slightly further forward from position ①, the user generates an operation event through the first input unit (130) to decrease the rotation speed of the power generator (DS) and lower the gear ratio. This point in time becomes the point in time of the first operation information stored by the information recording unit (140). In the future, in automatic control mode, vehicle linkage control for right-turn steering also begins from this point in time.

3. Lifting and steering the work machine

From position ③, which is slightly further forward from position ②, the user raises the work machine (WA) through the first input unit (130). In addition, the user operates the handle of the first input unit (130) to rotate the front wheel in the right direction.

4. Save the first operation information

When the right turn steering started from position ③ is completed at position ④, the user presses the central switch (153) to store the first operation information. In these processes, recording begins with the occurrence of an operation event, and the record up to the point where the central switch (153) is operated is stored.

The first right turn section and the straight section are distinguished by the user's operation of the central switch (153). In this way, since the first right turn section and the straight section are distinguished by the operation of the central switch (153), the central switch (153) functions as a distinguishing switch at this time.

The information recorder (140) stores the first right turn operation information, which consists of several operations that occurred in time series during processes ② to ④.

In addition, by operating the central switch (153), the front wheels are aligned in a straight direction, and the work vehicle (WV) moves straight toward position ⑤. At this time, the straight direction may be perpendicular to the driving direction for work, but may not be perpendicular depending on the shape of the work site.

The process of moving straight from position ④ to position ⑤ is an intermediate step in which the work vehicle (WV) passes the work line, and there is no other operation other than steering operation by the user.

In the case of work vehicles equipped only with electronic control systems and not autonomous driving, the user's steering wheel operation is required for straight driving. In this case, the steering wheel operation information is not recorded, and only the time or location for straight driving is recorded and stored.

5. Start the second right turn

⑤ The location is the end point of the straight section and the starting point of the second right turn section.

At position ⑤, the work vehicle (WV) starts the second right turn steering to enter the row to be worked.

At position ⑤, the user operates the central switch (153) to notify the time of the second time series operation information to be stored in the information recorder (140).

The straight section and the second right turn section are distinguished by the user's operation of the central switch (153). In addition, the user operates the handle of the first input unit (130) to turn the front wheels in the right turn direction.

6. Lowering the work machine

At position ⑥ where the right turn steering is completed, the work vehicle (WV) enters the row to be worked on.

When the work vehicle (WV) enters the row to be worked at position ⑥, the user lowers the work machine (WA) through the first input unit (130).

Work can be done on the work site by lowering the work machine (WA).

7. Increase the RPM and increase the gear ratio

At position ⑦, which is slightly further forward from position ⑥, the user increases the rotation speed of the power generator (DS) and increases the gear ratio through the first input unit (130).

8. Save the second operation information

At position ⑧, which is slightly further forward from position ⑦, the user commands the information recording unit (140) to end recording by pressing the recording switch (154) again. Accordingly, the information recording unit (140) stores the second right turn operation information for the operations that occurred in time series from position ⑤ to position ⑦, which is the point in time when the operation event ended.

9. End of recording

Recording by the information recording unit (140) ends with the storage of the second right turn operation information.

The user's operation of the record switch (154) is a command to end recording.

There is no need to specifically consider the order of the storage of the second operation information and the termination of the recording. It may be implemented so that the recording is terminated after the storage of the second operation information is completed, or the storage of the second operation information may be completed after the recording is completed. Of course, the storage of the second operation information and the termination of the recording may be performed simultaneously.

As described above, recording and saving of operation information is performed by the user's command through the central switch (153) and the recording switch (154). However, the central switch (153) only indicates the distinction between the turning section and the straight section, and when the recording is terminated by the recording switch (154), the first right turn operation information, the time or location information of the straight section, and the second right turn operation information can be implemented to be stored all at once.

10. Driving Control

When the first right turn operation information, straight-line time or location, and second right turn operation information are saved, the user can operate the C-turn driving process through the second input unit (150) and the third input unit (160).

The user selects the mode switch (170) to the automatic control mode and then inputs a second control command to the vehicle linkage control unit (120) through the second input unit (150) during the C-turn process.

With the input of the second control command, the vehicle linkage control unit (120) performs driving control according to the first right turn operation information, straight driving time, and second right turn operation information.

First, when the user inputs the first turn command by pressing the right turn switch (152) at position ② during straight driving, the vehicle linkage control unit (120) automatically performs the first control based on time, following the first right turn operation information generated from position ② to position ④.

However, in the case of autonomous driving equipped with a GNSS system, it can operate based on location as well as time.

If the driver does not press the central switch (153) before or after the work vehicle (WV) passes through position ④, the vehicle linkage control unit (120) automatically performs the second control based on time to follow the straight movement from the remaining position ④ to position ⑤ and the second right turn operation information from position ⑤ to position ⑦.

In the case of a left turn, left turn control can be executed by a user's command via the left turn switch (151) in the same manner. That is, the user can control the operation of the work vehicle in a simple manner by inputting a command via the turn switch (151, 152).

However, if the user presses the central switch (153) before or after passing through position ④, the vehicle linkage control unit (120) does not perform control from position ⑤ to position ⑦ and controls straight ahead. Then, if the user presses the right turn switch (153) a second time, the vehicle linkage control unit (120) automatically performs the second control based on time, following the second right turn operation information at that point.

Since the work sequence is usually used repeatedly for 4 to 5 times, the central switch (153) is used to reflect this when saving related data. In addition, the location where the second control is performed can be selected by the user manipulating the central switch (153).

When operating in autonomous driving AB, it rotates based on the skip set by the user, and even at this time, the user can directly select the skipped work sequence by pressing the central switch (153).

As above, the central switch (153) may be named a selection switch because it has a third function of selecting the work row to be crossed by selecting the point in time at which the user starts the second control.

When the steering angle and steering speed are set, the vehicle linkage control unit (120) controls the front wheels to rotate at the set angle and speed according to the set steering angle and steering speed.

If a third control command is input through the third input unit (160) even during a process of operation by the second control command through the second input unit (150), the vehicle linkage control unit (120) executes control according to the third control command.

The above-described embodiments are merely exemplary of the present invention, and may have various application forms. Therefore, the present invention should not be understood as being limited to the contents described above. Instead, the scope of the rights of the present invention should be understood as the scope of the claims described separately and their equivalents.

100: Electronic operating system for agricultural work vehicles
111: Increase/Decrease Unit 112: Steering Unit
113: Shift unit 114: Brake unit
115 : Elevator Unit
120: Vehicle linkage control unit
130: First input section
140 : Information Record Book
150 : Second input section
151: Left turn switch 152: Right turn switch
153: Center switch 154: Record switch
160: 3rd input section
170 : Mode Switch

Claims (16)

An increase/decrease unit (111) for controlling the increase/decrease in the rotation speed of a power generator (DS) that provides power required for driving an agricultural work vehicle (WV);
A steering unit (112) for controlling the driving direction of the above agricultural work vehicle (WV);
A transmission unit (113) for controlling the driving speed of the above agricultural work vehicle (WV);
An elevating unit (115) for elevating a work machine (WA) towed by the above agricultural work vehicle (WV);
A vehicle linkage control unit (120) responsible for electronic control of the increase/decrease unit (111), the steering unit (112), the shifting unit (113) and the lifting unit (115);
A first input unit (130) capable of inputting a first control command for operation of the increase/decrease unit (111), the steering unit (112), the shifting unit (113) and the elevation unit (115) to the vehicle linkage control unit (120);
An information recording unit (140) capable of storing information on the user's operation (hereinafter referred to as 'operation information') input through the first input unit (130); and
A second input unit (150) capable of inputting a second control command to execute an operation according to the operation information stored in the information recording unit (140) to the vehicle linkage control unit (120);
The above vehicle linkage control unit (120) controls the increase/decrease unit (111), the steering unit (112), the shifting unit (113) and the lifting unit (115) to operate in conjunction by following the operation information stored in the information recording unit (140) in response to the second control command input through the second input unit (150).
Electronic operating system for agricultural work vehicles (100). In the first paragraph,
The above second input unit (150) is installed on the armrest (210) of the driver's seat (200) so that it can rotate along with the rotation of the driver's seat (200).
Electronic operating system for agricultural work vehicles (100). In the second paragraph,
The above second input unit (150) is installed on the left armrest (210) of the driver's seat (200).
Electronic operating system for agricultural work vehicles (100). In the first paragraph,
It further includes a mode switch (170) that can select either a manual control mode by the first input unit (130) or an automatic control mode by the second input unit (150);
The above vehicle linkage control unit (120) controls the operation of the increase/decrease unit (111), the steering unit (112), the shifting unit (113) and the lifting unit (115) according to either the first control command through the first input unit (130) or the second control command through the second input unit (150) in response to the selection of the mode switch.
Electronic operating system for agricultural work vehicles (100). In the first paragraph,
The above second input unit (150)
A left turn switch (151) for commanding a left turn of the above work vehicle (WV); and
Includes a right turn switch (152) for commanding a right turn of the above work vehicle (WV);
The above vehicle linkage control unit (120) performs control to follow the operation information for left or right turns stored in the information recording unit (140) according to the user's second control command input through the left turn switch (151) or the right turn switch (152).
Electronic operating system for agricultural work vehicles (100). In the first paragraph,
The above second input unit (150)
The above information recording unit (140) includes a recording switch (154) that allows the user to command the recording of operation information or to terminate the recording;
Electronic operating system for agricultural work vehicles (100). In Article 6,
The above second input unit (150)
A distinction switch for distinguishing between a turning section and a straight section; further comprising
Electronic operating system for agricultural work vehicles (100). In Article 7,
The above information recorder stores operation information on operations performed in time series in the rotation section.
Electronic operating system for agricultural work vehicles (100). In Article 6,
The above second input unit (150)
A selection switch that allows the vehicle linkage control unit (120) to select a time point at which the control is performed to follow the recorded operation information;
Electronic operating system for agricultural work vehicles (100). In Article 6,
The above second input unit (150)
further comprising a straight switch capable of commanding the front wheels to align in a straight direction;
Electronic operating system for agricultural work vehicles (100). In the first paragraph,
It further includes a third input unit (160) capable of inputting a third control command for the operation of the steering unit (112);
Electronic operating system for agricultural work vehicles (100). In Article 11,
The above vehicle linkage control unit (120) is designed to give priority to the third control command through the third input unit (150) or the first control command through the first input unit (130) over the second control command through the second input unit (130).
Electronic operating system for agricultural work vehicles (100). In the first paragraph,
The above second input unit (150)
A setting switch (154) that allows the functions of the operating switches in the second input section (150) to be interchanged and set;
Electronic operating system for agricultural work vehicles (100). A recording start step in which the information recording unit (140) starts recording operation information by a user's command via a recording switch (154);
A first storage stage in which the first operation information is stored from the time when the operation event first occurs to the time when the first operation of the distinction switch occurs;

A second storage step in which second operation information is stored from the time the second operation of the distinction switch occurs to the time the last operation event occurs after the first storage step;
A recording termination step in which the information recording unit (140) terminates recording of operation information by a user's command through the recording switch (154); and
A vehicle linkage control unit (120) controls the driving of an agricultural work vehicle (MV) by following the first operation information stored in the first storage step and the second operation information stored in the second storage step;
The above recording start step, the first storage step, the second storage step and the recording end step are performed in manual control mode, and the driving control step is performed in automatic control mode.
Operating method of an electronic control system (100) for an agricultural work vehicle. In Article 14,
The above driving control steps are
A first control step in which the vehicle linkage control unit (120) performs a first control that follows the first operation information stored in the first storage step by a user's command through a rotary switch (151, 152); and
After the first control step, the vehicle linkage control unit (120) performs a second control to follow the second operation information stored in the second storage step by a user's command through the rotary switch (151, 152);
Operating method of an electronic control system (100) for an agricultural work vehicle. In Article 15,
The location where the second control step is performed can be selected by a user's selection command through the division switch between the first control step and the second control step.
Operating method of an electronic control system (100) for an agricultural work vehicle.