Patent Application
20250083521
The present disclosure relates to display systems and work vehicles.
Techniques have been developed for improving the visual recognition of a video that is being displayed on a screen or a display within a vehicle that may vibrate or tilt because of bumps and dents on the road surface or acceleration/deceleration of the vehicle, etc.
International Publication No. 2020/084954 discloses a head-up display system that corrects the displayed position of a displayed object based on angular rate information in biaxial directions, such information being acquired from a gyroscope. International Publication No. 2017/134865 discloses a head-up display device that allows a virtual image to be superposed properly on an actual landscape in accordance with the traveling situation of a vehicle. International Publication No. 2010/064389 discloses a car navigation system in which vibrations of a user's finger cause a certain range out of a displaying region to be displayed with enlargement.
In all of the techniques disclosed in International Publication No. 2020/084954, International Publication No. 2017/134865 and International Publication No. 2010/064389, an object within the video is shifted in an opposite direction of the direction of a displacement in vibration (i.e., in a direction of canceling out the displacement in vibration), thereby allowing for suppressing incorrect locations of the object as may be caused by the vibration of the vehicle.
When a work vehicle vibrates or tilts, the operability of an input interface to be displayed on a screen is to be improved. A display system according to an example embodiment of the present disclosure is a display system to be mounted on a work vehicle including a vibration sensor, the display system including a screen, and a controller configured or programmed to control displaying of an image on the screen and to generate an image including an input interface to allow a user to perform an input operation and cause the image to be displayed on the screen, wherein the controller is configured or programmed to change an indicated position of the input interface on the screen based on a vibration of the work vehicle detected by the vibration sensor.
A work vehicle according to an example embodiment of the present disclosure includes a vibration sensor and the display system.
General or specific aspects of various example embodiments of the present disclosure may be implemented using a device, a system, a method, an integrated circuit, a computer program, a non-transitory computer-readable storage medium, or any combination thereof. The computer-readable storage medium may be inclusive of a volatile storage medium, or a non-volatile storage medium. The device may include a plurality of devices. In the case where the device includes two or more devices, the two or more devices may be disposed within a single apparatus, or divided over two or more separate apparatuses.
According to example embodiments of the present disclosure, when a work vehicle vibrates or tilts, the operability of an input interface to be displayed on a screen can be improved.
The above and other elements, features, steps, characteristics and advantages of the present invention will become more apparent from the following detailed description of the example embodiments with reference to the attached drawings.
In the present disclosure, an “agricultural machine” refers to a machine for agricultural applications. Examples of agricultural machines include tractors, harvesters, rice transplanters, vehicles for crop management, vegetable transplanters, mowers, seeders, spreaders, and mobile robots for agriculture. Not only may a work vehicle such as a tractor function as an “agricultural machine” alone by itself, but also a combination of a work vehicle and an implement that is attached to, or towed by, the work vehicle may function as an “agricultural machine”. For the ground surface inside a field, the agricultural machine performs agricultural work such as tilling, seeding, preventive pest control, manure spreading, planting of crops, or harvesting. Such agricultural work or tasks may be referred to as “groundwork”, or simply as “work” or “tasks”. Travel of a vehicle-type agricultural machine performed while the agricultural machine also performs agricultural work may be referred to as “tasked travel”.
“Self-driving” refers to controlling the movement of an agricultural machine by the action of a controller, rather than through manual operations of a driver. An agricultural machine that performs self-driving may be referred to as a “self-driving agricultural machine” or a “robotic agricultural machine”. During self-driving, not only the movement of the agricultural machine, but also the operation of agricultural work (e.g., the operation of the implement) may be controlled automatically. In the case where the agricultural machine is a vehicle-type machine, travel of the agricultural machine via self-driving will be referred to as “self-traveling”. The controller may be configured or programmed to control at least one of, steering that is required in the movement of the agricultural machine, adjustment of the moving speed, or beginning and ending of a move. In the case of controlling a work vehicle having an implement attached thereto, the controller may be configured or programmed to control raising or lowering of the implement, beginning and ending of an operation of the implement, and so on. A move based on self-driving may include not only moving of an agricultural machine that goes along a predetermined path toward a destination, but also moving of an agricultural machine that follows a target of tracking. An agricultural machine that performs self-driving may also move partly based on the user's instructions. Moreover, an agricultural machine that performs self-driving may operate not only in a self-driving mode but also in a manual driving mode, where the agricultural machine moves through manual operations of the driver. When performed not manually but through the action of a controller, the steering of an agricultural machine will be referred to as “automatic steering”. A portion of, or the entirety of, the controller may reside outside the agricultural machine. Control signals, commands, data, etc., may be communicated between the agricultural machine and a controller residing outside the agricultural machine. An agricultural machine that performs self-driving may move autonomously while sensing the surrounding environment, without any person being involved in the controlling of the movement of the agricultural machine. During an autonomous move, operations of detecting and avoiding obstacles may be performed.
An “environment map” is data representing, with a predetermined coordinate system, the position or the region of an object existing in the environment where the agricultural machine moves. The environment map may be referred to simply as a “map” or “map data”. The coordinate system defining the environment map is, for example, a world coordinate system such as a geographic coordinate system fixed to the globe. Regarding an object existing in the environment, the environment map may include information other than the position (e.g., attribute information or other types of information). The “environment map” encompasses various type of maps such as a point cloud map and a grid map. Data on a local map or a partial map that is generated or processed in a process of constructing the environment map is also referred to as a “map” or “map data”.
An “agricultural road” is a road used mainly for agriculture. An “agricultural road” is not limited to a road paved with asphalt, and encompasses unpaved roads covered with soil, gravel or the like. An “agricultural road” encompasses roads (including private roads) on which only vehicle-type agricultural machines (e.g., work vehicles such as tractors, etc.) are allowed to travel and roads on which general vehicles (cars, trucks, buses, etc.) are also allowed to travel. The work vehicles may automatically travel on a general road in addition to an agricultural road. The “general road” is a road Maintained for traffic of general vehicles.
Hereinafter, example embodiments of the present disclosure will be described more specifically. Note however that unnecessarily detailed descriptions may be omitted. For example, detailed descriptions on what is well known in the art or redundant descriptions on what is substantially the same configuration may be omitted. This is to avoid lengthy description, and facilitate the understanding of those skilled in the art. The accompanying drawings and the following description, which are provided by the present inventors so that those skilled in the art can sufficiently understand the present disclosure, are not intended to limit the scope of claims. In the following description, component elements having identical or similar functions are denoted by identical reference numerals.
The following example embodiments are only exemplary, and the techniques according to the present disclosure are not limited to the following preferred example embodiments. For example, numerical values, shapes, materials, steps, and orders of steps, layout of a display screen, etc., that are indicated in the following example embodiments are only exemplary, and admit of various modifications so long as it makes technological sense. Any one implementation of an example embodiment may be combined with another so long as it makes technological sense to do so.
A display system according to an example embodiment of the present disclosure is to be mounted on a work vehicle including a vibration sensor. The work vehicle is capable of human driving, and can perform both of manual driving and self-driving. The display system includes a screen and a controller. Examples of the vibration sensors may be a gyroscope, an acceleration sensor, a combination of a gyroscope and an acceleration sensor, or an inertial measurement unit (IMU). For example, a touch screen panel of an operation terminal, a windshield (or a front panel) of a work vehicle or a combiner of an HUD that renders into view a virtual image created by a head-up display (hereinafter referred to as “HUD”), or the like can function as the screen of the display system.
The controller is configured or programmed to control displaying of an image on the screen, generate an image including an input interface to allow a user to perform an input operation, and cause the image to be displayed on the screen. The controller changes an indicated position of the input interface on the screen based on a vibration of the work vehicle detected by the vibration sensor. For example, when the magnitude of vibration of the work vehicle as detected by the vibration sensor is below a threshold, the controller keeps the indicated input interface stationary at a first predetermined position on the screen, and moves the indicated input interface from the first predetermined position when the magnitude of vibration of the work vehicle is equal to or above the threshold. A magnitude of vibration indicates the magnitude of a velocity, an acceleration, or a displacement of vibration. Unless otherwise specified, the magnitude of vibration in the example embodiments of the present disclosure means the magnitude of a displacement in vibration (amount of displacement).
When the magnitude of vibration of the work vehicle is equal to or above the threshold, the controller according to an example embodiment of the present disclosure moves the indicated input interface from the first predetermined position in the same direction as the direction of a displacement in vibration of the work vehicle. Thus, by shifting the indicated input interface in the video in the same direction as the direction of a displacement in vibration, when the work vehicle vibrates or tilts, the input interface displayed on the screen may have an improved operability.
Inside the cabin, the operation switches 191, including a plurality of switches that are manipulable by the user, are provided. The operation switches 191 may include, for example, a switch to select the gear shift as to a main gear shift or a range gear shift, a switch to switch between a self-driving mode and a manual driving mode, a switch to switch between forward travel and backward travel, a switch to switch between four-wheel drive and two-wheel drive, a switch to disengage the link between the right and left brakes, a switch to raise or lower the implement, and the like.
The operation terminal 200 is a terminal to allow a user to perform manipulations related to the travel of the work vehicle and the operation of the implement, and is also referred to as a virtual terminal (VT). The operation terminal 200 may include a display device of a touch screen panel type, an/or one or more buttons. The display device may be a display, e.g., a liquid crystal or organic light-emitting diode (OLED) By manipulating a touch screen panel of the operation terminal 200, the user can perform various manipulations, such as switching the self-driving mode ON or OFF, switching the remote operation mode ON or OFF, recording or editing of an environment map, setting a target path, changing an amount of control for the work vehicle, e.g., a vehicle speed or a number of engine resolutions, and switching the implement. ON or OFF, for example. At least some of these manipulations may also be realized by manipulating the operation switches 191. The operation terminal 200 may be configured to be detachable from the work vehicle. A user who is at remote place from the work vehicle may manipulate the detached operation terminal 200 to control the operation of the work vehicle.
Instead of the operation terminal 200, a laptop computer may be disposed inside the cabin, the laptop computer including a touch screen panel and having necessary application software installed thereon to change the position of the indicated input interface on the screen based on a vibration of the work vehicle detected by the vibration sensor. Alternatively, a mobile terminal such as a smartphone or a tablet computer having the aforementioned application software installed thereon, etc., may be disposed inside the cabin.
The operation terminal 200 shown in
The input device 210 is a device to convert an instruction from the user into data and input the data to a computer. The input device 210 may be, for example, a keyboard or a mouse. The display device 220 may be, for example, a liquid crystal display or an organic EL display. The display device 220 includes a touch screen panel, and not, only functions to display video, but also functions as the input device 210.
The controller 230 includes a processor. The processor may be a semiconductor integrated circuit including a central processing unit (CPU), for example. The processor may be implemented as a microprocessor or a microcontroller. Alternatively, the processor may be implemented as an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or an ASSP (Application Specific Standard Product) incorporating a CPU, or a combination of two or more circuits selected from among such circuits. The processor consecutively executes a computer program in which instructions for performing at least one process are stated, this being stored in the ROM 240, and realizes a desired process.
The ROM 240 is, for example, a writable memory (e.g., PROM), a rewritable memory (e.g., flash memory) or a read-only memory. The ROM 240 stores a program to control operations of the processor. The ROM 240 does not need to be a single storage medium, and may be an assembly of a plurality of storage mediums. A portion of the assembly of the plurality of storage media may be a removable memory.
The RAM 250 provides a work area in which the control program stored in the ROM 240 is once laid out at the time of boot. The RAM 250 does not need to be a single storage medium, and may be an assembly of a plurality of storage mediums.
The storage device 260 may be, for example, a magnetic storage device or a semiconductor storage device. An example of the magnetic storage device is a hard disk drive (HDD). An example of the semiconductor storage device is a solid state drive (SSD).
The communicator 270 is a communication module to communicate with, for example, a cloud server that keeps agricultural work under management, a work vehicle, or a terminal device that may be used by the user (farm manager, agricultural worker, etc.) via a network. The communicator 270 can perform wired communication in compliance with communication standards such as, for example, IEEE1394 (registered trademark) or Ethernet (registered trademark). The communicator 270 may perform wireless communication in compliance with the Bluetooth (registered trademark) or Wi-Fi standards, or cellular mobile communication based on 3G, 4G, 5G or any other cellular mobile communication standard.
In the present specification, when a work vehicle vibrates or tilts, it may b said that “the work vehicle shakes”. A work vehicle may shake due to bumps and dents on the road surface of off-road terrain, including fields, acceleration/deceleration or turning of the vehicle, etc., for example. A shake may be expressed in terms of translations along the three axes, rotational displacements along the three axes, or any combination thereof. In example embodiments of the present disclosure, among others, a shake that is expressed in terms of a right-left displacement (Z), rolling, or a combination thereof is referred to as, a “lateral shake”, and a shake that is expressed in terms of an up-down displacement (Y) pitching, or a combination thereof is referred to as a “vertical shake”.
As described below, a work vehicle according to an example embodiment of the present disclosure includes an IMU as a vibration sensor. An IMU includes an acceleration sensor and a gyroscope. The acceleration sensor measures translations along the aforementioned three axes. The gyroscope measures rotational displacements along the aforementioned three axes. For example, taking a first-order integral of accelerations along the Y axis direction that are measured by the acceleration sensor produces a velocity, and taking a first-order integral of velocities produces an up-down displacement (Y). Taking a first-order integral of angular rates of rotation around the Z axis measured by the gyroscope produces an angle of rotation. Thus, with the IMU, tilt and vibration of the work vehicle can be measured.
Hereinafter, an example operation of the controller when a lateral shake or a vertical shake occurs will be described However, when the work vehicle actually travels on off-road terrain shakes may occur in any direction. In an example embodiment of the present disclosure, the magnitude of a shake is distinguished against a threshold. A shake whose magnitude of displacement in vibration (or whose magnitude of vibration) is below a threshold is referred to, in relative terms, as “a small shake”, a shake whose magnitude of displacement in vibration is equal to or greater than the threshold is referred to as “a large shake” in relative terms. In the case of a large shake, the shake of the work vehicle has frequency on the order of several Hz to several ten Hz, for example Therefore, a driver sitting in the driver seat may be shaken to a relatively large extent by the shake of the work vehicle.
The screen S in the illustrated example is a touch screen panel. The image on the screen S includes an input interface 280 to allow a user to perform an input operation. The input interface 280 includes an input section with which to input at least one kind of information among information on the work vehicle, information on travel by the work vehicle, and information on work to be performed by the work vehicle. The information on the work vehicle includes vehicle speed (km/h), tilling depth (cm), and number of engine revolutions (rpm), for example. The information on travel by the work vehicle includes setting of a target path, correction of a target path, switching ON/OFF of the self-driving mode, and emergency stop, for example. Examples of the information on work to be performed by the work vehicle may include a work plan, the kind of task to be performed by the implement, or the like.
The image on the screen S may further include an indication 290 of at least one kind of information among information on the work vehicle, information on travel by the work vehicle, and information on work to be performed by the work vehicle. Hereinafter, indications of such information will simply be denoted as the “indication 290”. In addition to the aforementioned examples, the information on the work vehicle included in the indication 290 may include remaining fuel amount (%), water temperature (C°), transmission oil temperature (C°) and the like, for example. An example of the information on travel by the work vehicle included in the indication 290 is positional information of a work vehicle that travels along a target path which is set for a field. The image on the screen S in the illustrated example includes an indication 290 of a map image that shows the current position of the work vehicle. An example of the information on work to be performed by the work vehicle included in the indication 290 is a work his try. The image on the screen S may further include a camera video that is captured by a camera that is mounted on the work vehicle and the like.
The controller 230 is configured or programmed to control displaying of an image on the screen S. The controller 230 is configured or programmed to generate an image including the input interface 280, and causes the image to be displayed on the screen S. The controller 230 may generate an image that further includes the indication 290.
The input interface 280 illustrated in
Based on a vibration of the work vehicle detected by the vibration sensor, the controller 230 changes the position of the indicated input interface 280 on the screen S. To be more specific, when the magnitude of vibration of the work vehicle as detected by the vibration sensor (e.g., amount of displacement in vibration) is below a threshold, i.e., in the case of a small shake, the controller 230 keeps the indicated input interface 280 stationary at a first predetermined position on the screen S. The threshold may be set in a range from 5 cm to 10 cm, for example. However, this range for the threshold is only an example, and it is not limiting. For example, the indicated input inter face 280 may be moved when a vibration of the work vehicle occurs. Furthermore, when the magnitude of vibration of the work vehicle is below the threshold, the controller 230 keeps the indication 290 stationary at a second predetermined position on the screen S. Thus, even if the work vehicle has been displaced in a certain direction, if the magnitude of vibration is below the threshold, the controller 230 keeps the indicated input interface 280 and the indication 290 stationary at, respectively, the first and second predetermined positions.
In the example shown in
A space to allow movements of the input interface 280 are kept above and below and to the right and the left of the input interface 280 of the screen S. The input interface 280 in the illustrated example is displayed at the frontmost, with a portion thereof overlapping a portion of the indication 290. Displaying the input interface 280 at the frontmost allows for improving the operability of the input interface 280.
When the magnitude of vibration of the work vehicle is equal to or above the threshold, i.e., in the case of a large shake, the controller 230 moves the indicated input interface 280 from the first predetermined position. More specifically, in the case of a large shake, the controller 230 moves the indicated input interface 280 from the first predetermined position the same direction as the direction of a displacement in vibration of the work vehicle. The amount of movement of the input interface 280 may be determined in accordance with the amount of displacement and the size of the margins on the screen S above and below and to the right and the left of the input interface 280, for example.
If the magnitude of vibration is equal to or above the threshold, i.e., in the case of a large shake, a driver sitting in the driver's seat is shaken to a relatively large extent with a low frequency. For example, the driver may make a turning operation at a headland while changing the speed or the number of engine revolutions. However, the work vehicle is liable to shake during a turn at a headland, and therefore the operability of the input interface displayed on the screen has not necessarily been good.
According to an example embodiment of the present disclosure, in the case of a large shake, the controller 230 moves the indicated input interface 280 from the first predetermined position in the same direction as the direction of a displacement in vibration of t work vehicle. As a result, the input inter face 280 moves in the direction of a displacement in vibration of the work vehicle. This can make it easier for a driver who is shaken by a vibration or a tilt of the work vehicle to manipulate the input interface 280 displayed on the screen S with a finger, for example.
The image on the screen S in the illustrated example includes the input interface 280 and the indication 290. The input interface 280 includes ten keys for the user to input a number. The indication 290 includes information on the work vehicle.
In the example shown in
When the magnitude of vibration of the work vehicle is equal to or above the threshold, i.e., in the case of a large shake, the controller 230 may move the indication 290 in the same direction as the ion of a displacement in vibration of the work vehicle from the second predetermined Position. As illustrated in
A display system according to an example embodiment of the present disclosure may include a light source to e controlled by the controller and optics to create a virtual image ahead of the screen in response to received light that is emitted from the light source. In other words, the display system may include an HUD. HUDs that render information for viewing on a person's field of view are used in assisting driving, by displaying information on the windshield of a vehicle.
The HUD unit 400 includes a light source 410, a transmission-type screen 420, a field lens 430, and a combiner 440. The optics of the HUD unit 400 includes the transmission-type screen 420, the field lens 430, and the combiner 440, and may further include an MEME mirror (s), a movable lens (es) and the like. The HUD unit 400 is attached to a ceiling surface of the roof inside the cabin of the work vehicle, for example.
A light beam that is emitted from the light source 410 is converged by the transmission-type screen 420 to create a real image. The transmission-type screen 420 functions as a secondary light source which emits the converged light beam toward the combiner 440 so as to result in a substantially rectangular irradiated area. The combiner 440 forms a virtual image based on the radiated light beam. As a result, together with the landscape, the driver is able to recognize a video through the combiner 440.
The light source 410 performs video rendering. The light source 410 is configured to emit display light toward the transmission-type screen 420. Known examples of approaches to rendering are methods based on DLP (Digital Light Processing) and approaches using a laser projector. The light source 410 may include a laser projector and a MEME mirror (s) to achieve scanning with the light beam emitted from the laser projector. An example of the laser projector is an RGB laser projector.
The transmission-type screen 420 includes a microlens array at the light-receiving surface side. The transmission-type screen 420 performs the function of broadening the incident beam. The field lens 430 is disposed between the transmission-type screen 420 and the combiner 440, so as to be near the transmission-type screen 420. The field lens 430 includes a convex lens, for example, and changes the direction of travel of the light beam emitted from the transmission-type screen 420. Use of the field lens 430 can further enhance the efficiency of light utilization. However, the field lens 430 is not essential.
Although a half mirror is generally used as the combiner 440, for example, a hologram element or the like may instead be used. The combiner 440 reflects a divergent light beam from the transmission-type screen 420 and forms a virtual image of light. The combiner 440 has the function of causing the video formed at the transmission-type screen 420 to be displayed in an enlarged form at a farther distance, and the function of displaying the video as an overlay on the landscape. Hereinafter, the combiner 440 may sometimes be referred to as the screen. As a result of this, the driver is able to recognize the video through the combiner 440, together with the landscape. In other words, together with the landscape, the driver can recognize a video that rendered on the screen. Depending on the curvature of the combiner 440, the size of the virtual image or the position au which the virtual image is created can be changed.
The controller 450 is identical in structure to the aforementioned controller 230 of the operation terminal 200, and is configured to perform the same function. Therefore, any detailed description thereof is omitted.
The screen S in the illustrated example is the combiner 440 of the HUD unit 400. However, instead of a combiner, the windshield of the work vehicle may function as the screen, as will be described below. The image on the screen S includes an input interface 480 to allow a user to perform an input operation. The input; interface 480 in the illustrated example includes an operation button to instruct the work vehicle to begin self-driving, and an operation button for causing an emergency stop of the work vehicle which is traveling via self-driving. The image on the screen S in the illustrated example further includes an indication 491 of information on the work vehicle (hereinafter simply referred to as the “indication 491”) and an indication 492 of information on travel by the work vehicle (hereinafter simply referred to as the “indication 492”). In this example, the indication 492 is a line indication that represents a target path. The input interface 480, the indication 491, and the indication 492 are superposed on the external landscape of the windshield 500. Among these indications, the input interface 480 may be displayed at the frontmost.
In an example embodiment of the present disclosure, the input interface 480 (e.g., an operation button) being displayed on the screen S can be remotely manipulated. For example, the display system may include an infrared camera for detecting a line of sight of the driver. The infrared camera is disposed at an upper portion of the windshield 500 so as to be located ahead of the driver. The controller 450 processes data that is output from the infrared camera in order to detect the driver's line of sight. Upon detecting that the driver's line of sight is directed to an operation button displayed on the screen S, the controller 450 can cause the work vehicle to perform a predetermined operation that is assigned to that operation button. An example of a remote operation algorithm based on the driver's line of sight is described in Japanese Laid-Open Patent Pulication No. 2022-72453. The entire disclosure of Japanese Laid-Open Patent Publication No. 2022-72453 is incorporated herein by reference.
In the example shown in
When the magnitude of vibration of the work vehicle is equal to or above the threshold, the controller 450 may move each of the indication 491 and the indication 492 from the second predetermined position in an opposite direction of the direction of a displacement in vibration of the work vehicle. In other words, the controller 450 may move each of the indication 491 and the indication 492 from the second predetermined position in a direction of canceling out the displacement in vibration. This allows the displayed position of each of the indication 491 and the indication 492 to be maintained with respect to the landscape. The amounts of movements of the indication 491 and the indication 492 are determined based on the amount of displacement in vibration.
As illustrated in
With the HUD unit 400 according to the present example embodiment, in the case of a large shake, the controller 450 moves the indicated input interface 480 from the first predetermined position in the same direction as the direction or a displacement in vibration of the work vehicle. As a result, the input interface 480 moves in the direction of a displacement in vibration of the work vehicle. This can make it easier for a driver who is shaken by a vibration or a tilt of the work vehicle to manipulate the input interface 480 indicated on the screen S with a line of sight, for example. Furthermore, in the case of a shake, the controller 450 may move each of the indication 491 and the indica ion 492 in an opposite direction of the direction of a displacement in vibration of the work vehicle from the second predetermined position. This is advantageous for being able to reduce a superposition offset of the indication 491 with respect to the landscape, and particular advantageous in terms of being able to reduce a superposition offset of the indication 492 with respect to the ground surface of the field.
The windshield 500 in the illustrated example functions as the screen S. In this example, unlike in the example shown in
A work vehicle according to an example embodiment of the present disclosure includes a vibration sensor and the aforementioned display system.
With reference to
As shown in
The work vehicle 100 may include at least one sensing device to sense the surrounding environment of the work vehicle 100, and a processor to process sensor data that is output from the at least one sensing device. In the example shown in
The cameras 120 may be provided at the front/rear/right/left of the work vehicle 100, for example. The cameras 120 image the surrounding environment of the work vehicle 100 and generate image data. The images acquired with the cameras 120 may be output to the processor mounted in the work vehicle 100, and transmitted to a terminal device which is responsible for remote monitoring. The image may be displayed on the screen of the operation terminal 200, for example. The cameras 120 may also be used to generate images to allow the work vehicle 100, traveling on a road outside the field (an agricultural road or a general road), to recognize geographic features, obstacles, white lines, road signs, indications or the like in the surroundings.
The LiDAR sensor 140 in the example shown in
The plurality of obstacle sensors 130 shown in
The work vehicle 100 further includes a GNSS unit 110. The GNSS unit 110 includes a GNSS receiver. The GNSS receiver may include an antenna to receive a signal(s) from a GNSS satellite(s) and a processor to calculate the position of the work vehicle 100 based on the signal(s) received by the antenna. The GNSS unit 110 receives satellite signals transmitted from the plurality of GNSS satellites, and performs positioning based on the satellite signals. GNSS is a collective term for satellite positioning systems such as the GPS (Global Positioning System), QZSS (Quasi-Zenith Satellite System, e.g., MICHIBIKI), GLONASS, Galileo, and BeiDou. Although the GNSS unit 110 according to an example embodiment of the present disclosure is disposed above the cabin 105, it may be disposed at any other position.
The GNSS unit 110 may include an IMU. Signals from the IMU can be used to complement position data. The IMU can measure a tilt or a small motion of the work vehicle 100. The data acquired by the IMU can be used to complement the position data based on the satellite signals, so as to improve the performance of positioning.
The controller of the work vehicle 100 may utilize, for positioning, the sensor data acquired with the sensing devices such as the cameras 120 or the LIDAR sensor 140, in addition to the positioning results provided by the GNSS unit 110. In the case where objects serving as characteristic points exist in the environment that is traveled by the work vehicle 100, as in the case of an agricultural road, a forest road, a general road, or an orchard, the position and the orientation of the work vehicle 100 can be estimated with a high accuracy based on data that is acquired with the cameras 120 or the LiDAR sensor 140 and on an environment map that is previously stored in the storage device. By correcting or complementing position data based on the satellite signals using the data acquired with the cameras 120 or the LiDAR sensor 140, it becomes possible to identify the position of the work vehicle 100 with a higher accuracy.
The prime mover 102 may be a diesel engine, for example. Instead of a diesel engine, an electric motor may be used. The transmission 103 can change the propulsion and the moving speed of the work vehicle 100 through a speed changing mechanism. The transmission 103 can also switch between forward travel and backward travel of the work vehicle 100.
The steering device 106 includes a steering wheel, a steering shaft connected to the steering wheel, and a power steering device to assist in the steering by the steering wheel. The front wheels 104F are the wheels responsible for steering, such that changing their angle of turn (also referred to as “steering angle”) can cause a change in the traveling direction of the work vehicle 100. The steering angle of the front wheels 104F can be changed by manipulating the steering wheel. The power steering device includes a hydraulic device or an electric motor to supply an assisting force for changing the steering angle of the front wheels 104F. When automatic steering is performed, under the control of the controller disposed in the work vehicle 100, the steering angle may be automatically adjusted by the power of the hydraulic device or the electric motor.
A linkage device 108 is provided at the rear of the vehicle body 101. The linkage device 108 includes, e.g., a three-point linkage (also referred to as a “three-point link” or a “three-point hitch”), a PTO (Power Take Off) shaft, a universal joint, and a communication cable. The linkage device 108 allows the implement 300 to be attached to, or detached from, the work vehicle 100. The linkage device 108 is able to raise or lower the three-point link with a hydraulic device, for example, thus changing the position or attitude of the implement 300. Moreover, motive power can be sent from the work vehicle 100 to the implement 300 via the universal joint. While towing the implement 300, the work vehicle 100 allows the implement 300 to perform a predetermined task. The linkage device may be provided at the front portion of the vehicle body 101. In that case, the implement can be connected at the rear of the work vehicle 100.
Although the implement 300 shown in
In addition to the GNSS unit 110, the cameras 120, the obstacle sensors 130, the LiDAR sensor 140, and the operation terminal 200, the work vehicle 100 in the example of
The GNSS receiver 111 in the GNSS unit 110 receives satellite signals transmitted from the plurality of GNSS satellites and generates GNSS data based on the satellite signals. The GNSS data is generated in a predetermined format such as, for example, the NMEA-0183 format. The GNSS data may include, for example, the ID number, the angle of elevation, the azimuth angle, and a value representing the reception intensity of each of the satellites from which the satellite signals are received.
The GNSS unit 110 shown in
Note that the positioning method is not limited to being performed by using an RTK-GNSS; any arbitrary positioning method (e.g., an interferometric positioning method or a relative positioning method) that provides positional information with the necessary accuracy can be used. For example, positioning may be performed by utilizing a VRS (Virtual Reference Station) or a DGPS (Differential Global Positioning System). In the case where positional information with the necessary accuracy can be obtained without the use of the correction signal transmitted from the reference station 60, positional information may be generated without using the correction signal. In that case, the GNSS unit 110 does not need to include the RTK receiver 112.
Even in the case where the RTK-GNSS is used, at a place where the correction signal from the reference station 60 cannot be acquired (e.g., on a road far from the field), the position of the work vehicle 100 is estimated by another method with no use of the signal from the RTK receiver 112. For example, the position of the work vehicle 100 may be estimated by matching the data that is output from the LiDAR sensor 140 and/or the cameras 120 against a highly accurate environment map.
The GNSS unit 110 according to an example embodiment of the present disclosure further includes the IMU 115. The IMU 115 may include a 3-axis accelerometer and a 3-axis gyroscope. The IMU 115 may include a direction sensor such as a 3-axis geomagnetic sensor. The IMU 115 functions as a motion sensor which can output signals representing parameters such as acceleration, velocity, displacement, and attitude of the work vehicle 100. Based not only on the satellite signals and the correction signal but also on a signal that is output from the IMU 115, the processing circuit 116 can estimate the position and orientation of the work vehicle 100 with a higher accuracy. The signal that is output from the IMU 115 may be used for the correction or complementation of the position that is calculated based on the satellite signals and the correction signal. The IMU 115 outputs a signal more frequently than the GNSS receiver 111. Utilizing this signal that is output highly frequently, the processing circuit 116 allows the position and orientation of the work vehicle 100 to be measured more frequently (e.g., about 10 Hz or above). Instead of the IMU 115, a 3-axis accelerometer and a 3-axis gyroscope may be separately provided. The IMU 115 may be provided as a separate device from the GNSS unit 110.
In an example embodiment of the present disclosure, the IMU 115 functions as the aforementioned vibration sensor. However, the work vehicle 100 may include any other IMU that is different from the IMU 115 as a vibration sensor. The aforementioned controller 230 or 450 is communicatively connected to the IMU 115 via a bus, for example. As a result, the controller 230 or 450 can acquire data that is output from the IMU 115, and measure the magnitude of vibration of the work vehicle 100.
The cameras 120 are imagers that image the surrounding environment of the work vehicle 100. Each camera 120 includes an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), for example. In addition, each camera 120 may include an optical system including one or more lenses and a signal processing circuit. During travel of the work vehicle 100, the cameras 120 image the surrounding environment of the work vehicle 100, and generate image (e.g., motion picture) data. The cameras 120 are able to capture motion pictures at a frame rate of 3 frames/second (fps: frames per second) or greater, for example. The images generated by the cameras 120 may be used by a remote supervisor to check the surrounding environment of the work vehicle 100 with the terminal device 400, for example. The images generated by the cameras 120 may also be used for the purpose of positioning or detection of obstacles. As shown in
The obstacle sensors 130 detect objects existing in the surroundings of the work vehicle 100. Each obstacle sensor 130 may include a laser scanner or an ultrasonic sonar, for example. When an object exists at a position within a predetermined distance from an obstacle sensor 130, the obstacle sensor 130 outputs a signal indicating the presence of the obstacle. The plurality of obstacle sensors 130 may be provided at different positions on the work vehicle 100. For example, a plurality of laser scanners and a plurality of ultrasonic sonars may be disposed at different positions on the work vehicle 100. Providing such a great number of obstacle sensors 130 can reduce blind spots in monitoring obstacles in the surroundings of the work vehicle 100.
The steering wheel sensor 152 measures the angle of rotation of the steering wheel of the work vehicle 100. The angle-of-turn sensor 154 measures the angle of turn of the front wheels 104F, which are the wheels responsible for steering. Measurement values by the steering wheel sensor 152 and the angle-of-turn sensor 154 are used for steering control by the controller 180.
The axle sensor 156 measures the rotational speed, i.e., the number of revolutions per unit time, of an axle that is connected to the wheels 104. The axle sensor 156 may be a sensor including a magnetoresistive element (MR), a Hall generator, or an electromagnetic pickup, for example. The axle sensor 156 outputs a numerical value indicating the number of revolutions per minute (unit: rpm) of the axle, for example. The axle sensor 156 is used to measure the speed of the work vehicle 100.
The drive device 193 includes various types of devices required to cause the work vehicle 100 to travel and to drive the implement 300; for example, the prime mover 102, the transmission 103, the steering device 106, the linkage device 108 and the like described above. The prime mover 102 may include an internal combustion engine such as, for example, a diesel engine. The drive device 193 may include an electric motor for traction instead of, or in addition to, the internal combustion engine.
The buzzer 192 is an audio output device to present an alarm sound to alert the user of an abnormality. For example, the buzzer 192 may present an alarm sound when an obstacle is detected during self-driving. The buzzer 192 is controlled by the controller 180.
The storage device 170 includes one or more storage media such as a flash memory or a magnetic disc. The storage device 170 stores various data that is generated by the GNSS unit 110, the cameras 120, the obstacle sensors 130, the LiDAR sensor 140, the sensors 150, and the controller 180. The data that is stored by the storage device 170 may include map data on the environment where the work vehicle 100 travels (environment map) and data on a target path for self-driving. The environment map includes information on a plurality of fields where the work vehicle 100 performs agricultural work and roads around the fields. The environment map and the target path may be generated by a processor in a server that keeps agricultural work under management. The controller 180 may have a function of generating or editing an environment map and a target path. The controller 180 can edit the environment map and the target path, acquired from the server, in accordance with the environment where the work vehicle 100 travels. The storage device 170 also stores data on a work plan received by the communicator 190 from the server.
The storage device 170 also stores a computer program(s) to cause each of the ECUs in the controller 180 to perform various operations described below. Such a computer program(s) may be provided to the work vehicle 100 via a storage medium (e.g., a semiconductor memory, an optical disc, etc.) or through telecommunication lines (e.g., the Internet). Such a computer program(s) may be marketed as commercial software.
The controller 180 includes the plurality of ECUs. The plurality of ECUs include, for example, the ECU 181 for speed control, the ECU 182 for steering control, the ECU 183 for implement control, the ECU 184 for self-driving control, and the ECU 185 for path generation.
The ECU 181 controls the prime mover 102, the transmission 103, and brakes included in the drive device 193, thus controlling the speed of the work vehicle 100.
The ECU 182 controls the hydraulic device or the electric motor included in the steering device 106 based on a measurement value of the steering wheel sensor 152, thus controlling the steering of the work vehicle 100.
In order to cause the implement 300 to perform a desired operation, the ECU 183 controls the operations of the three-point link, the PTO shaft and the like that are included in the linkage device 108. Also, the ECU 183 generates a signal to control the operation of the implement 300, and transmits this signal from the communicator 190 to the implement 300.
Based on data output from the GNSS unit 110, the cameras 120, the obstacle sensors 130, the LiDAR sensor 140, and the sensors 150, the ECU 184 performs computation and control for achieving self-driving. For example, the ECU 184 specifies the position of the work vehicle 100 based on the data output from at least one of the GNSS unit 110, the cameras 120, and the LiDAR sensor 140. Inside the field, the ECU 184 may determine the position of the work vehicle 100 based only on the data output from the GNSS unit 110. The ECU 184 may estimate or correct the position of the work vehicle 100 based on the data acquired with the cameras 120 or the LiDAR sensor 140. Using the data acquired with the cameras 120 or the LiDAR sensor 140 allows the accuracy of the positioning to be further improved. Outside the field, the ECU 184 estimates the position of the work vehicle 100 by using the data output from the LiDAR sensor 140 or the cameras 120. For example, the ECU 184 may estimate the position of the work vehicle 100 by matching the data output from the LiDAR sensor 140 or the cameras 120 against the environment map. During self-driving, the ECU 184 performs computation necessary for the work vehicle 100 to travel along a target path, based on the estimated position of the work vehicle 100. The ECU 184 sends the ECU 181 a command to change the speed, and sends the ECU 182 a command to change the steering angle. In response to the command to change the speed, the ECU 181 controls the prime mover 102, the transmission 103, or the brakes to change the speed of the work vehicle 100. In response to the command to change the steering angle, the ECU 182 controls the steering device 106 to change the steering angle.
During travel of the work vehicle 100, based on data output from the cameras 120, the obstacle sensors 130, and the LiDAR sensor 140, the ECU 185 recognizes obstacles existing in the surroundings of the work vehicle 100. Moreover, the ECU 185 may determine a moving destination of the work vehicle 100 based on a work plan stored in the storage device 170, and determine a target path from a start point to a destination point of movement of the work vehicle 100.
Through the actions of these ECUs, the controller 180 realizes self-driving. During self-driving, the controller 180 controls the drive device 193 based on the measured or estimated position of the work vehicle 100 and on the target path. As a result, the controller 180 can cause the work vehicle 100 to travel along the target path. A plurality of ECUs included in the controller 180 may work in cooperation to perform these processes.
The plurality of ECUs included in the controller 180 can communicate with one another in accordance with a vehicle bus standard such as, for example, a CAN (Controller Area Network). Instead of a CAN, faster communication methods such as Automotive Ethernet (registered trademark) may be used. Although the ECUs 181 to 185 are illustrated as individual blocks in
The communicator 190 is a device including a circuit communicating with the implement 300, the terminal device 400, and a server that keeps agricultural work under management. The communicator 190 includes circuitry to perform exchanges of signals complying with an ISOBUS standard such as ISOBUS-TIM, for example, between itself and the communicator 390 of the implement 300. This allows the implement 300 to perform a desired operation, or allows information to be acquired from the implement 300. The communicator 190 may further include an antenna and a communication circuit to exchange signals via a network with the respective communicators of the terminal device and the server. The network may include a 3G, 4G, 5G, or any other cellular mobile communications network and the Internet, for example. The communicator 190 may have a function of communicating with a mobile terminal that is used by a supervisor who is situated near the work vehicle 100. With such a mobile terminal, communication may be performed based on any arbitrary wireless communication standard, e.g., Wi-Fi (registered trademark), 3G, 4G, 5G or any other cellular mobile communication standard, or Bluetooth (registered trademark).
The drive device 340 in the implement 300 shown in
An example operation of self-traveling of the work vehicle 100 will be described. The work vehicle 100 according to an example embodiment of the present disclosure can automatically travel both inside and outside a field. Inside the field, the work vehicle 100 drives the implement 300 to perform predetermined agricultural work while traveling along a previously-set target path. Upon detecting an obstacle with the obstacle sensors 130 while traveling inside the field, the work vehicle 100 halts traveling and performs operations of presenting an alarm sound from the buzzer 192, transmitting an alert signal to the terminal device and the like. Inside the field, the positioning of the work vehicle 100 is performed based mainly on data output from the GNSS unit 110. On the other hand, outside the field, the work vehicle 100 automatically travels along a target path set for an agricultural road or a general road outside the field. While traveling outside the field, the work vehicle 100 utilizes the data acquired by the cameras 120 or the LiDAR sensor 140. When an obstacle is detected outside the field, the work vehicle 100 avoids the obstacle or halts in that place. Outside the field, the position of the work vehicle 100 is estimated based on data output from the LiDAR sensor 140 or the cameras 120 in addition to positioning data output from the GNSS unit 110.
The configurations and operations according to the above example embodiments are only exemplary illustrations, and the present disclosure is not limited to the above example embodiments. For example, various above example embodiments may be combined as appropriate to provide another example embodiment.
The display systems according to the foregoing example embodiments may be mounted on a work vehicle (agricultural machine or a construction machine) lacking such functions as an add-on. Such systems may be manufactured and sold independently from the agricultural machine. A computer program for use in such systems may also be manufactured and sold independently from the work vehicle. The computer program may be provided in a form stored in a computer-readable, non-transitory storage medium, for example. The computer program may also be provided through downloading via telecommunication lines (e.g., the Internet).
The techniques according to example embodiments of the present disclosure are applicable to display systems for agricultural machines or construction machines.
While example embodiments of the present invention have been described above, it is to be understood that variations and modifications will be apparent to those skilled in the art without departing from the scope and spirit of the present invention. The scope of the present invention, therefore, is to be determined solely by the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2022-088211 | May 2022 | JP | national |
This application claims the benefit of priority to Japanese Patent Application No. 2022-088211 filed on May 31, 2022 and is a Continuation Application of PCT Application No. PCT/JP2023/018796 filed on May 19, 2023. The entire contents of each application are hereby incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/JP2023/018796 | May 2023 | WO |
| Child | 18958673 | US |
