Patent Application
20240196775
This application claims foreign priority of JP2022-200121 filed Dec. 15, 2022, and JP2023-062201 filed Apr. 6, 2023, the disclosure of which is hereby incorporated by reference in its entirety.
The present invention relates to an operation control method, an operation control system, and an operation control program for a work machine including a machine body and a work implement attached to the machine body.
Conventionally, there is known a work machine capable of automatically traveling in a field, the work machine including an operation unit that accepts an operation of switching start or end of automatic steering and an operation of setting a start point of a travel reference line of the automatic steering (for example, see Patent Document 1).
In the work machine described in Patent Document 1, a coupling section configured with a three point link mechanism or the like is provided at a rear portion of a machine body (vehicle body), and a work implement (work device) such as a tiller is coupled to the coupling section, whereby the work implement can be towed by the machine body.
In the above-described work machine, for example, horizontal control for controlling the tilt of the work implement with respect to the machine body is required depending on the content of work, the condition of the field, or the like. Regarding the horizontal control, for example, when the user (operator) needs to adjust the tilt angle or the like of the work implement with respect to the machine body, the work efficiency may be reduced depending on the skill level of the user.
It is an object of the present invention to provide an operation control method, an operation control system, and an operation control program capable of improving work efficiency in a work machine including a machine body and a work implement attached to the machine body.
An operation control method according to the present invention includes, for a work machine including a machine body and a work implement attached to the machine body, displaying a horizontal control operation screen relating to horizontal control that controls a tilt of the work implement with respect to the machine body, and performing setting related to the horizontal control in accordance with a user operation on a control operation unit included in the horizontal control operation screen.
Further, the operation control system according to the present invention includes a display processing unit and a setting processing unit. The display processing unit displays a horizontal control operation screen relating to horizontal control that controls the tilt of the work implement with respect to the machine body, for a work machine including the machine body, and the work implement attached to the machine body. The setting processing unit performs setting related to the horizontal control in accordance with a user operation on a control operation unit included in the horizontal control operation screen.
Further, an operation control program according to the present invention is a program, for a work machine including a machine body and a work implement attached to the machine body, for causing one or more processors to execute displaying a horizontal control operation screen relating to horizontal control that controls a tilt of the work implement with respect to the machine body, and performing setting related to the horizontal control in accordance with a user operation on a control operation unit included in the horizontal control operation screen.
According to the present invention, it is possible to provide an operation control method, an operation control system, and an operation control program capable of improving work efficiency in a work machine including a machine body and a work implement attached to the machine body.
The following embodiments are concrete examples of the present invention, and are not intended to limit the technical scope of the present invention.
An automatic travel system 100 according to a basic configuration of the present invention (an example of the operation control system of the present invention) includes a work machine 10, a satellite 202 (see
The work machine 10 travels in the field F illustrated in
The target route R illustrated in
Further, the automatic travel system 100 includes an operation terminal 17 operated by an operator. In other words, the operation terminal 17 constitutes the automatic travel system 100, which is an example of the operation control system, together with the work machine 10 and the like. The operation terminal 17 is, for example, a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer. Dedicated application software (program) is installed in the operation terminal 17 configured with a general-purpose terminal, and the operation terminal 17 functions as the operation terminal 17 of the automatic travel system 100 by activating the application software. The operation terminal 17 can mutually communicate with the work machine 10. The term “can communicate” referred to in the present disclosure means that information can be transmitted/received directly or indirectly through a communication network (network) or a relay or the like by wired or wireless (radio wave or optical medium) communication methods, as appropriate. For example, the communication network includes the Internet, LAN (Local Area Network), WAN (Wide Area Network), a public telephone network, a mobile telephone network, a packet network, a wireless LAN, or the like.
For example, the operator performs an operation to register various types of information (work machine information, field information, work information, and the like) on the operation terminal 17. Further, in a location away from the work machine 10, the operator can grasp travel status, work status, and the like of the work machine 10 by a travel trajectory displayed on the operation terminal 17. In the present embodiment, as an example of the basic configuration, as illustrated in
As illustrated in
The communication unit 15 is a communication interface that connects the work machine 10 to a communication network by wire or wirelessly and executes data communication in accordance with a predetermined communication protocol with an external device (an operation terminal, etc.) via the communication network.
The storage unit 12 is a non-volatile storage unit, such as a hard disk drive (HDD) or a solid state drive (SSD), that stores various types of information. The storage unit 12 stores control programs such as an operation control program for causing the vehicle control device 11 to perform operation control processing (see
The travel device 13 is a drive unit that causes the work machine 10 to travel. As illustrated in
The engine 131 is a drive source such as a diesel engine or a gasoline engine driven by fuel supplied to a fuel tank (not illustrated). The travel device 13 may include an electric motor as a drive source, together with the engine 131 or instead of the engine 131. A generator (not illustrated) is connected to the engine 131, and electric power is supplied from the generator to electric components, such as the vehicle control device 11 provided in the work machine 10, a battery, and the like. The battery is charged by electric power supplied from the generator. The electric components such as the vehicle control device 11, the positioning device 16, and the operation terminal 17 provided in the work machine 10 can be driven by the electric power supplied from the battery even after the engine 131 is stopped.
A drive force of the engine 131 is transmitted to the front wheel 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheel 133 via the transmission 134 and the rear axle 136. Moreover, the drive force of the engine 131 is transmitted to the work implement 14 via a power take-off (PTO) shaft (not illustrated). The travel device 13 performs a travel action in accordance with a command of the vehicle control device 11.
The work implement 14 is, for example, a tiller, a seeder, a mower, a plow, or a fertilizer applicator and is detachably mounted to the machine body 101 of the work machine 10. Thus, the work machine 10 can perform various kinds of work with the use of each work implement 14.
In the work machine 10, the work implement 14 may be supported by a lifting-lowering mechanism (not illustrated) so as to be lifted and lowered. The vehicle control device 11 can lift and lower the work implement 14 by controlling the lifting-lowering mechanism. For example, the vehicle control device 11 lowers the work implement 14 to a work position when the operator performs, by a lifting-lowering lever 14L (see
Further, the vehicle control device 11 outputs a work stop command to the work implement 14 when acquiring a work stop instruction. When acquiring the work stop instruction, the vehicle control device 11 stops driving of the PTO shaft to stop an action (work) of the work implement 14.
The steering wheel 137 is an operation unit operated by the operator or the vehicle control device 11. For example, the travel device 13 changes an angle of the front wheel 132 by a hydraulic power steering mechanism (not illustrated) or the like in response to the operation of the steering wheel 137 by the operator or the vehicle control device 11 to change a travel direction of the work machine 10.
Moreover, the travel device 13 includes a main speed change lever, a PTO switch, a reverser lever, a shift lever, an accelerator, a clutch, a brake, and the like. For example, the travel device 13 increases the vehicle speed of the work machine 10 when the operator performs a speed increasing operation of increasing the vehicle speed of the work machine 10 by the main speed change lever, and decreases the vehicle speed of the work machine 10 when the operator performs a speed decreasing operation of decreasing the vehicle speed of the work machine 10 by the main speed change lever. The reverser lever is an operation tool for switching between forward movement and backward movement of the work machine 10 and can be set to “forward”, “neutral”, and “backward”.
Moreover, for example, the travel device 13 transmits the drive force of the engine 131 to the work implement 14 via the PTO shaft to activate the work implement 14 when the operator performs an operation to set the PTO switch to ON (for example, an operation to place the PTO switch in an “ON” position) and blocks the transmission of the drive force from the engine 131 to the work implement 14 to stop the action of the work implement 14 when the operator performs an operation to set the PTO switch to OFF (for example, an operation to place the PTO switch in an “OFF” position).
Further, the travel device 13 brakes rotations of the front wheel 132 and the rear wheel 133 with the use of an electromagnetic brake in response to an operation of the brake. Further, the travel device 13 switches a gear of the transmission 134 to a forward gear, a backward gear, or the like in response to an operation of the shift lever and switches a travel mode of the work machine 10 to forward, backward, or the like. Furthermore, the travel device 13 controls a rotation speed of the engine 131 in response to an operation of the accelerator.
The positioning device 16 is a communication device including a positioning control unit 161, a storage unit 162, a communication unit 163, a positioning antenna 164, and the like. For example, as illustrated in
The positioning control unit 161 is a computer system having one or more processors, and a storage memory such as a non-volatile memory and a random access memory (RAM). The storage unit 162 is a non-volatile memory or the like that stores a positioning control program for causing the positioning control unit 161 to execute positioning processing, and data such as positioning information and movement information. For example, the positioning control program is non-temporarily recorded on a computer-readable recording medium such as a CD or a DVD and is read out by a predetermined reading device (not illustrated) to be stored in the storage unit 162. The positioning control program may be downloaded from a server (not illustrated) to the positioning device 16 via the communication network to be stored in the storage unit 162.
The communication unit 163 is a communication interface that connects the positioning device 16 to the communication network by wire or wirelessly and executes data communication with an external device such as a base station server in accordance with a predetermined communication protocol via the communication network.
The positioning antenna 164 is an antenna which receives a radio wave (global navigation satellite system (GNSS) signal) transmitted from a satellite.
The positioning control unit 161 calculates the current position of the work machine 10 on the basis of a Global Navigation Satellite System (GNSS) signal received by the positioning antenna 164 from a satellite. For example, in a case where the work machine 10 automatically travels in the field F, when the positioning antenna 164 receives radio waves (transmission time, orbit information, etc.) respectively transmitted from multiple satellites 202, the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite 202 and calculates the current position (the latitude and longitude) of the work machine 10 on the basis of the calculated distance. Further, the positioning control unit 161 may perform positioning by a real-time kinematic method (RTK-GNSS positioning method (RTK method)) in which the current position of the work machine 10 is calculated using correction information corresponding to a base station (a reference station) 201 close to the work machine 10. In this way, the work machine 10 automatically travels using the positioning information based on the RTK method. The current position of the work machine 10 may be the same position as the position at which the positioning was performed (for example, the position of the positioning antenna 164), or may be a position shifted from the position at which the positioning was performed.
The operation terminal 17 is a device that is operated by the operator riding on the work machine 10, and displays various types of information and accepts operations of the operator. Specifically, the operation terminal 17 displays various setting screens to accept various setting operations from the operator, and displays a guidance screen to display information regarding the work machine 10 under traveling. A specific configuration of the operation terminal 17 will be described below.
The vehicle control device 11 has a control device such as a central processing unit (CPU), a read only memory (ROM), and a RAM. The CPU is a processor that performs various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a basic input/output system (BIOS) and an operating system (OS) for causing the CPU to execute various kinds of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various kinds of information, and is used as a temporary storage memory (work area) for various kinds of processing executed by the CPU. Further, the vehicle control device 11 controls the work machine 10 by causing the CPU to execute various kinds of control programs stored in advance in the ROM or the storage unit 12. Furthermore, the vehicle control device 11 causes the CPU to execute various types of processing in accordance with the automatic travel program. The vehicle control device 11 is an example of an action processing unit of the present invention.
Specifically, the vehicle control device 11 controls the travel of the work machine 10. For example, when a travel mode of the work machine 10 is manual travel (manual travel mode), the vehicle control device 11 causes the work machine 10 to manually travel on the basis of an operation of the operator (manual steering). For example, the vehicle control device 11 acquires operation information corresponding to driving operations by the operator, such as a steering wheel operation, a speed change operation, a shift operation, an accelerator operation, and a brake operation, and causes the travel device 13 to execute the travel action on the basis of the operation information.
Further, when the travel mode of the work machine 10 is automatic travel (automatic travel mode), the vehicle control device 11 causes the work machine 10 to automatically travel on the basis of position information (positioning information) indicating the current position of the work machine 10, which is measured and positioned by the positioning control unit 161. For example, when the work machine 10 satisfies an automatic travel start condition and acquires a travel start instruction from the operator, the vehicle control device 11 starts automatic travel of the work machine 10 on the basis of the positioning information. Moreover, the vehicle control device 11 causes the work machine 10 to automatically travel in accordance with the target route R (work route) (se
Further, when the work machine 10 reaches an end (end point) of the work route, the vehicle control device 11 switches the travel mode to manual travel. The vehicle control device 11 may switch the travel mode to the manual travel when determining that the work machine 10 has reached the end point or may switch the travel mode to the manual travel in response to an operation of the operator. When the travel mode is switched to the manual travel, for example, the operator causes the work machine 10 to travel while turning (manually travel) by manual steering (see
The end point of each work route on which the work machine 10 is caused to automatically travel corresponds to a position of a start point of a non-work route (turning route) on which the work machine 10 is caused to manually travel, and a start point of each work route corresponds to a position of an end point of the non-work route (turning route).
As described above, the vehicle control device 11 switches the travel mode in response to an operation by the operator on the operation terminal 17 to cause the work machine 10 to automatically travel on the work route (target route R) by automatic steering and to manually travel on the non-work route (turning route) by manual steering. Further, the vehicle control device 11 causes the work machine 10 to execute actions (a sound emission action, a display action, a travel control action, etc.) according to a setting operation of the operator at the end point of each work route.
Further, the “automatic travel” referred to in the present disclosure includes “autonomous travel” in which the work machine 10 autonomously travels without depending on an operation of the operator, and “semi-automatic travel” in which only steering is automated, for example, as is the case with straight travel assist.
The “autonomous travel” is, for example, a travel mode in which the vehicle speed and the like are automatically controlled in addition to the automatic steering of the steered wheels (the front wheels 132) in such a manner that the work machine 10 travels along the target route R. The “straight travel assist” is, for example, a travel mode in which only the automatic steering of the steered wheels (front wheels 132) is performed and the vehicle speed and the like are controlled by the operation of the operator in such a manner that the work machine 10 travels along a straight route parallel to a straight line (reference line) serving as a reference. That is, in the “semi-automatic travel”, the work machine 10 cannot travel without the operation of the operator, but the burden on the operator for steering is reduced, and the work machine 10 can travel along the target route R such as a straight route, which leads to an improvement in work efficiency. In addition, since the steered wheels (front wheels 132) are automatically steered in both of the autonomous travel and the semi-automatic travel, it can be said that this is one mode of the automatic steering.
In the basic configuration, unless otherwise specified, “automatic travel” is “straight travel assist” in which only steering is automated and the work machine 10 is caused to travel along a straight route. In other words, as illustrated in
As illustrated in
The operation display unit 73 is a user interface including a display unit such as a liquid crystal display or an organic electroluminescent (EL) display, which displays various types of information, and an operation unit such as an operation button or a touch panel, which accepts operations. The operation display unit 73 displays various display screens in response to an instruction from the operation control unit 71. Moreover, the operation display unit 73 accepts an operation of the operator on each of the display screens.
Further, the operation unit includes an automatic travel button 171 with which the operator issues a travel start instruction when causing the work machine 10 to start automatic travel, and a shift button 172 with which a correction operation (shift operation) for correcting a positional deviation between the work machine 10 and the target route is performed (see
For example, as illustrated in
The storage unit 72 is a non-volatile storage unit such as an HDD or an SSD that stores various kinds of information. The storage unit 72 stores a control program such as an operation control program for causing the operation terminal 17 to execute operation control processing (see
The operation control unit 71 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that performs various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a basic input/output system (BIOS) and an operating system (OS) for causing the CPU to execute various kinds of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various kinds of information, and is used as a temporary storage memory (work area) for various kinds of processing executed by the CPU. Further, the operation control unit 71 controls the operation terminal 17 by causing the CPU to execute various control programs stored in advance in the ROM or the storage unit 72.
Specifically, as illustrated in
The display processing unit 711 displays various types of information on the operation display unit 73. For example, the display processing unit 711 displays on the operation display unit 73 an operation screen for generating a target route, an operation screen (guidance screen D1 in
The acceptance processing unit 712 accepts various operations by the operator. For example, the acceptance processing unit 712 accepts, from the operator, an operation to input setting information for causing the work machine 10 to automatically travel, an operation to generate a target route for automatic travel, an operation to start or stop automatic travel, and the like.
The generation processing unit 713 generates the target route R on which the work machine 10 is caused to automatically travel. For example, the generation processing unit 713 generates the target route R including a plurality of straight routes (work routes) arranged at predetermined intervals (regular intervals) on the basis of the reference line L1 passing through a point A (first reference point) and the point B (second reference point) in the field F.
Hereinafter, an example of the procedure for generating the target route R will be described. For example, the display processing unit 711 displays on the operation display unit 73 an operation screen (not illustrated) that accepts, from the operator, a setting operation to set the reference line L1. The operator moves the work machine 10 to a desired position in the field F and presses a point A registration button (not illustrated). For example, the operator moves the work machine 10 to an outer peripheral end of the field F and presses the point A registration button. When the operator presses the point A registration button, the generation processing unit 713 registers the current position of the work machine 10 as a first reference point (point A). When the generation processing unit 713 registers the point A, the display processing unit 711 displays on the operation display unit 73 the operation screen (not illustrated) that accepts a registration operation of a second reference point (point B). The operator causes the work machine 10 to manually travel in a direction (target direction) in which the work machine 10 is desired to travel and work (see
When acquiring position information of the point A and the point B, the generation processing unit 713 registers a straight line passing through the point A and the point B as the reference line L1 (see
The generation processing unit 713 generates a travel route (target route R) including the reference line L1 and a plurality of straight lines parallel to the reference line L1. For example, the generation processing unit 713 generates a plurality of parallel straight lines at equal intervals with reference to the reference line L1 on the basis of a work width (a lateral width of the work implement 14) and a lap width (a width that overlaps an adjacent worked area) set in advance (see
According to the above-described method, the target route R can be generated using the reference line L1 passing through the two points (point A and point B) at both ends of the field F (see
The generation method of the target route R is not limited to the above-described method, and may be, for example, a method of generating the target route R on the basis of a reference line generated from the point A and an orientation of the work machine 10 (“point A+vehicle azimuth angle”) or a method of generating the target route R on the basis of a reference line generated from the point A and a set azimuth angle (“point A+set azimuth angle”).
After the target route R is generated, the operator issues an instruction to the work machine 10 to start automatic travel in the field F (travel start instruction). For example, when the automatic travel start condition is satisfied and automatic travel is possible by the work machine 10 being positioned within a predetermined range from the target route R and within a predetermined direction with respect to the target route R (see
Subsequently, the operator presses the automatic travel button 171 (see
Further, when the operator presses the automatic travel button 171 in a state where the guidance screen D1 is displayed on the operation terminal 17, the display processing unit 711 displays a message indicating that the work machine 10 is automatically traveling (for example, “traveling with straight travel assist”) on the guidance screen D1, as illustrated in
Here, when the operator tries to start the automatic travel, a display screen different from the guidance screen D1 (see
When the setting related to the horizontal control is completed, the operator issues a travel start instruction for starting automatic travel. For example, the operator presses the automatic travel button 171 (see
Further, in a case where the automatic travel button 171 is pressed in a state where a display screen different from the guidance screen D1 is displayed on the operation terminal 17, the vehicle control device 11 does not start automatic travel of the work machine 10 even when the travel start instruction is accepted. When the display screen transitions to the guidance screen D1 (see
In this way, when the automatic travel button 171 is operated by the operator in a state where the guidance screen D1 (see
On the other hand, when the automatic travel button 171 is operated by the operator in a state where a non-guidance screen (the UFO operation screen D3 (see
That is, when the automatic travel button 171 is operated by the operator in a state where the guidance screen D1 is displayed on the operation terminal 17, the vehicle control device 11 causes the work machine 10 is to execute automatic travel, and when the automatic travel button 171 is operated by the operator in a state where the non-guidance screen is displayed on the operation terminal 17, the vehicle control device 11 does not cause the work machine 10 to execute automatic travel. Moreover, when the automatic travel button 171 is operated by the operator and the automatic travel start condition is satisfied in a state where the guidance screen D1 is displayed on the operation terminal 17, the vehicle control device 11 causes the work machine 10 is to automatically travel, and when the automatic travel button 171 is operated by the operator in a state where the non-guidance screen is displayed on the operation terminal 17, the vehicle control device 11 does not cause the work machine 10 to automatically travel even if the automatic travel start condition is satisfied.
Further, when the automatic travel button 171 is operated by the operator in a state where the guidance screen D1 is displayed on the operation terminal 17, the display processing unit 711 displays information indicating that automatic travel has started (see
In this way, a different function is assigned to the automatic travel button 171 in accordance with the content of the display screen displayed on the operation terminal 17. In the above-described example, the automatic travel button 171 functions as a shortcut button for transitioning to the guidance screen D1 when the automatic travel button 171 is pressed in a state where the non-guidance screen (the UFO operation screen D3, the home screen D2, or the like) is displayed. According to the above-described configuration, the operator can transition the non-guidance screen to the guidance screen D1 by pressing the automatic travel button 171, and can start the automatic travel by pressing the automatic travel button 171 again. Therefore, it is possible to improve the convenience of the operation unit (automatic travel button 171).
Here, after the automatic travel of the work machine 10 is started, the operator can shift the guidance screen D1 (see
In this way, the operator can switch the guidance screen D1 to another display screen while the work machine 10 is automatically traveling. Further, even when the operator switches the guidance screen D1 while the work machine 10 is automatically traveling, the vehicle control device 11 causes the work machine 10 to continue automatic travel. According to the above-described configuration, since the operator can perform various operations by switching the display screen even when the work machine 10 is automatically traveling, convenience can be improved.
In a case where the guidance screen D1 (see
Further, the functions that the operator can operate on the guidance screen D1 while the work machine 10 is automatically traveling may be limited. For example, a setting icon K2 displayed on the guidance screen D1 (see
In consideration of safety, the information of the route setting can be set and changed only when the work machine 10 is stopped, and the setting and the change are prohibited during the automatic travel. Accordingly, when the work machine 10 is automatically traveling, the display processing unit 711 displays (grays out) the setting icons K2 on the guidance screen D1 in a non-selectable manner, as illustrated in
When stopping the automatic travel of the work machine 10 (automatic travel OFF), the operator performs an automatic travel stop operation. For example, the operator presses the automatic travel button 171 while the work machine 10 is automatically traveling. When the automatic travel stop operation is accepted, the vehicle control device 11 stops the automatic travel and switches to the manual travel. For example, when the operator presses the automatic travel button 171 while the work machine 10 is automatically traveling in a state where the guidance screen D1 illustrated in
Moreover, for example, when the operator presses the automatic travel button 171 while the work machine 10 is automatically traveling in a state where the home screen D2 illustrated in
In this way, while the work machine 10 is automatically traveling, when the automatic travel button 171 is operated by the operator in a state where the guidance screen D1 (see
In the above-described basic configuration, the automatic travel is started or stopped in response to the operation on the automatic travel button 171, and the display screen on the operation terminal 17 is switched. That is, the automatic travel button 171 is an example of the operation unit of the present invention. The operation unit of the present invention is not limited to the automatic travel button 171, and may be any operation unit capable of operating the work machine 10. For example, the operation unit of the present invention may be an operation unit that changes the posture of the work implement 14 between the working posture and the non-working posture. Specifically, the operation unit of the present invention may be a lifting-lowering lever 14L (see
Here, the operation control unit 71 of the operation terminal 17 may accept, from the operator, an operation to set whether to start the automatic travel of the work machine 10 in interlock with a change in the posture of the work implement 14.
For example, on the guidance screen D1 (see
Further, in the case where the work implement interlock function is set to ON and the guidance screen D1 (see
Even in the case where the work implement interlock function is set to ON, when a display screen different from the guidance screen D1 (the non-guidance screen such as the home screen D2 (see
Further, in the case where the work implement interlock function is set to ON, when the operator stops the automatic travel, the operator performs an operation to place the lifting-lowering lever 14L in the “lifting” position. When the operator performs the operation to place the lifting-lowering lever 14L in the “lifting” position, the vehicle control device 11 lifts the work implement 14 up to the non-work position, and stops the automatic travel of the work machine 10.
Regardless of whether the guidance screen D1 or the non-guidance screen is displayed on the operation terminal 17, the vehicle control device 11 lifts the work implement 14 up to the non-work position in response to the lifting operation of the lifting-lowering lever 14L and stops the automatic travel of the work machine 10. Thus, the operator can stop the automatic travel and the work by performing the operation of lifting the work implement 14. Further, the pressing operation of the automatic travel button 171 can be omitted. Therefore, it is possible to improve the convenience.
Further, in the case where the work implement interlock function is set to ON and the guidance screen D1 (see
The operation to stop the automatic travel when the work machine 10 is automatically traveling is not limited to the operation of the automatic travel button 171 and the operation of the lifting-lowering lever 14L described above, and may be, for example, a steering wheel operation. Specifically, when the operator riding on the work machine 10 rotates (steers) the steering wheel 137 by a predetermined angle or more during the automatic travel of the work machine 10, the vehicle control device 11 stops the automatic travel. For example, in a case where the work machine 10 is automatically traveling and the UFO operation screen D3 illustrated in
Further, in a case where the work machine 10 is automatically traveling, the operation to stop the automatic travel may be, for example, an operation (action) in which the operator leaves the seat (cockpit) in the cabin 18. Specifically, when the operator riding on the work machine 10 stands up from the seat during the automatic travel of the work machine 10, the vehicle control device 11 stops the automatic travel. For example, in a case where the work machine 10 is automatically traveling and the UFO operation screen D3 illustrated in
The factor that stops the automatic travel is not limited to each of the above cases, and includes, for example, a decrease in the positioning accuracy (position accuracy) of the work machine 10, an action abnormality, and the like. The aforementioned warning message includes a message indicating these factors.
Hereinafter, an example of the operation control processing executed by the vehicle control device 11 and the operation terminal 17 (operation control unit 71) will be described with reference to
In step S1, the operation control unit 71 determines whether an automatic travel start instruction has been accepted from the operator. For example, the operator moves the work machine 10 to a work start position and presses the automatic travel button 171 (see
In step S2, the vehicle control device 11 determines whether the work machine 10 satisfies the automatic travel start condition. Specifically, the vehicle control device 11 determines whether the work machine 10 is positioned within a predetermined distance from the target route R and within a predetermined direction with respect to the target route R. If determining that the work machine 10 satisfies the automatic travel start condition (S2: Yes), the vehicle control device 11 shifts the processing to step S3. If determining that the work machine 10 does not satisfy the automatic travel start condition (S2: No), the vehicle control device 11 returns the processing to step S1.
In step S3, the operation control unit 71 determines whether the display screen displayed on the operation terminal 17 is the guidance screen D1 for automatic travel (see
If the work machine 10 satisfies the automatic travel start condition, the operation control unit 71 displays, on the guidance screen D1, a message indicating that the work machine 10 has entered a state where automatic travel is possible (for example, “straight travel assist can be started”) (see
In step S31, the operation control unit 71 transitions (shifts) the non-guidance screen to the guidance screen D1. For example, when the operator presses the automatic travel button 171 in a state where the UFO operation screen D3 illustrated in
In step S4, the vehicle control device 11 causes the work machine 10 to start automatic travel, and the operation control unit 71 displays, on the guidance screen D1, a message indicating that the work machine 10 is automatically traveling (for example, “traveling with straight travel assist”) (see
Thus, for example, the work machine 10 performs predetermined work (for example, tillage work) while automatically traveling on the work route Ra1 (see
Next, in step S5, the operation control unit 71 determines whether an automatic travel stop instruction has been accepted from the operator. For example, the operator presses the automatic travel button 171 (see
In step S6, the operation control unit 71 determines whether the display screen displayed on the operation terminal 17 is the guidance screen D1 (see
In step S7, the vehicle control device 11 causes the work machine 10 to stop automatic travel, and the operation control unit 71 displays, on the guidance screen D1, a message indicating that the automatic travel of the work machine 10 has been stopped (for example, “straight travel assist stopped”) (see
In step S61, the vehicle control device 11 stops the automatic travel of the work machine 10, and the operation control unit 71 transitions (shifts) the non-guidance screen to the guidance screen D1. For example, when the operator presses the automatic travel button 171 in a state where the UFO operation screen D3 illustrated in
In step S8, the vehicle control device 11 and the operation control unit 71 determine whether the work by the work machine 10 is finished. For example, when the work machine 10 has reached the end point of the work route Ra12 included in the target route R, the vehicle control device 11 and the operation control unit 71 determine that the work by the work machine 10 is finished. If the work is finished (S8: Yes), the aforementioned operation control processing ends. On the other hand, if the work is not finished (S8: No), the processing returns to step S1, and the vehicle control device 11 and the operation control unit 71 repeat the processing described above.
As described above, the work machine 10 according to the basic configuration causes the work machine 10 to execute a first action (for example, automatic travel) when an operation unit (automatic travel button 171, lifting-lowering lever 14L, etc.) that can operate the work machine 10 is operated by a user (operator) in a state where a first display screen (guidance screen D1) relating to the automatic travel of the work machine 10 is displayed on the operation terminal 17, and does not cause the work machine 10 to execute the first action when the aforementioned operation unit is operated by a user in a state where a second display screen (non-guidance screen) different from the first display screen is displayed on the operation terminal 17.
According to the above configuration, the work machine 10 is caused to start automatic travel when the operator issues an automatic travel start instruction in a state where the guidance screen D1 relating to automatic travel is displayed on the operation terminal 17, whereas the work machine 10 is not caused to start automatic travel when the operator issues an automatic travel start instruction in a state where the guidance screen D1 relating to automatic travel is not displayed on the operation terminal 17. Here, in a case where the automatic travel start instruction is issued by the operator when the guidance screen D1 relating to automatic travel is not displayed, there is a possibility that the instruction is not intended by the operator. In this regard, according to the above configuration, it is possible to prevent the work machine 10 from starting automatic travel due to an unintentional automatic travel start instruction from the operator.
Further, the work machine 10 according to the basic configuration displays information regarding automatic travel on the first display screen when the operation unit (automatic travel button 171 or the like) that can operate the work machine 10 is operated by the user (operator) in a state where the first display screen (guidance screen D1) relating to automatic travel of the work machine 10 is displayed on the operation terminal 17, and transitions a second display screen different from the first display screen (non-guidance screen) to a display screen (for example, guidance screen D1) relating to automatic travel when the operation unit is operated by the user in a state where the second display screen is displayed on the operation terminal 17.
According to the above configuration, information indicating that automatic travel has started is displayed on the guidance screen D1 when the operator issues an automatic travel start instruction in a state where the guidance screen D1 relating to automatic travel is displayed on the operation terminal 17, whereas the screen is transitioned to the guidance screen D1 when the operator issues the automatic travel start instruction in a state where the guidance screen D1 relating to automatic travel is not displayed on the operation terminal 17. In this way, since a plurality of functions (functions such as an automatic travel start instruction and screen transition) according to the content of the display screen are assigned to one operation unit (for example, the automatic travel button 171), it is possible to improve the convenience of the operation unit.
The operation unit of the present invention may be provided in the work machine 10 (for example, the automatic travel button 171, the lifting-lowering lever 14L, or the like), or may be provided outside the work machine 10. For example, the operation unit of the present invention may be provided in an operation terminal 17 (a tablet terminal, a smartphone, or the like) capable of communicating with the work machine 10. For example, the automatic travel button 171 which is the operation unit of the present invention may be displayed as an icon image on a display screen (for example, a display screen different from the guidance screen D1) of the operation terminal 17, or may be provided as a physical switch on the operation terminal 17. Further, the operation terminal 17 of the present invention may be configured to be brought into the work machine 10 and taken out from the work machine 10.
The present invention is not limited to the above-described embodiment. For example, the operation unit of the present invention may be an operation unit that accepts, from the user, an operation to change the position or orientation of the target route of the work machine 10. Specifically, the operation unit of the present invention may be a shift button 172 (see
For example, when the shift button 172 is operated by the operator in a state where the work machine 10 is executing automatic travel, the position or orientation of the target route of the work machine 10 is changed. On the other hand, when the shift button 172 is operated by the operator in a state where the work machine 10 is not executing automatic travel, an action according to the display content of the operation terminal 17 is executed.
For example, when the guidance screen D1 illustrated in
On the other hand, when the guidance screen D1 illustrated in
Further, when the UFO operation screen D3 illustrated in
The operation of changing the setting contents by the shift button 172 includes an operation of changing the offset change amount. For example, in a case where the change amount (shift amount) of the target route when the right side of the shift button 172 is pressed once is set to “X1”, if the operator presses the shift button 172 during the automatic travel of the work machine 10, the target route is shifted by “X1”. On the other hand, when the shift amount is set to “X1” and the work machine 10 is not automatically traveling, if the operator presses the shift button 172, the shift amount can be changed from “X1” to “X2”. If the shift amount is changed to “X2”, the target route is shifted by “X2” when the operator presses the shift button 172 during automatic travel of the work machine 10. As described above, a function of changing the setting information (“shift amount” in the above example) relating to the original function (“shift route” in the above example) of the operation unit may be assigned to the operation unit.
As described above, the operation control unit 71 changes the setting content of the work machine 10 when the operation unit (for example, the shift button 172) is operated by an operator in a state where the work machine 10 is not executing automatic travel and a setting screen relating to the work machine 10 is displayed on the operation terminal 17. Thus, since a plurality of functions are assigned to the aforementioned operation unit, it is possible to improve the convenience of the aforementioned operation unit.
Although the setting item of “sensitivity” can be set on the guidance screen D1 illustrated in
As another embodiment of the present invention, the second display screen of the present invention may be a non-display screen (turned-off screen) in which the operation display unit 73 is turned off. For example, when the operator presses down the icon of “OFF” on the home screen D2 (see
For example, when the automatic travel button 171 is operated by the operator to start automatic travel (travel start instruction) in a state where the operation display unit 73 is in the turned-off screen state, the vehicle control device 11 does not cause the work machine 10 to start automatic travel, and the display processing unit 711 turns on the operation display unit 73 (turns on the screen) and displays the guidance screen D1 (transitions the tuned-off screen to the guidance screen D1). Moreover, when the automatic travel button 171 is operated by the operator to stop automatic travel (travel stop instruction) in a state where the operation display unit 73 is in the turned-off screen state during the automatic travel of the work machine 10, the vehicle control device 11 causes the work machine 10 to stop automatic travel, and the display processing unit 711 turns on the operation display unit 73 (turns on the screen) and displays the guidance screen D1.
Further, in the case where the work implement interlock function is set to ON, if the operation display unit 73 is the turned-off screen, the vehicle control device 11 does not start the automatic travel of the work machine 10 even if the operator performs an operation to place the lifting-lowering lever 14L in the “lowering” position. In this case, the vehicle control device 11 executes only the action of lowering the work implement 14, and does not execute the automatic travel action. In addition, in this case, the display processing unit 711 turns on the operation display unit 73 (turns on the screen) and displays the display screen before the turn-off (does not transition the screen to the guidance screen D1).
Moreover, in the case where the work implement interlock function is set to ON, if the operation display unit 73 is the turned-off screen, when the operator performs an operation to place the lifting-lowering lever 14L in the “lifting” position, the vehicle control device 11 lifts the work implement 14 up to the non-work position and stops the automatic travel of the work machine 10, and the display processing unit 711 turns on the operation display unit 73 (turns on the screen) and displays the guidance screen D1 (transitions the turned-off screen to the guidance screen D1) to display a message indicating that the automatic travel has been stopped (for example, “straight travel assist stopped”).
The operation control system of the present invention may be configured with the operation terminal 17 alone or may be configured with a server provided with each of the processing units included in the operation terminal 17. Further, the operation control system may be configured with the work machine 10 provided with the operation terminal 17.
An automatic travel system 100A (an example of the operation control system) according to the present embodiment is different from that of the basic configuration mainly in the configurations of the operation control unit 71 and the vehicle control device 11 and the mode of the display screen displayed on the operation terminal 17. Hereinafter, the same configurations as those in the basic configuration will be denoted by the same reference numerals, and the explanation will be omitted as appropriate.
In the automatic travel system 100A according to the present embodiment, as illustrated in
The setting processing unit 714 executes setting processing of performing various settings in accordance with operations of a user (operator) on various display screens displayed on the operation display unit 73. In the present embodiment, the setting processing unit 714 performs settings related to horizontal control in accordance with a user operation on the control operation unit (first operation elements K531 and K532, etc., see
The travel control processing unit 111 performs travel control relating to the travel of the work machine 10. Specifically, for example, the travel control processing unit 111 adjusts the moving speed (vehicle speed) of the work machine 10 by controlling the transmission 134 of the travel device 13 in accordance with the operation of a main speed change lever 181 by the user (operator). Further, for example, the travel control processing unit 111 controls the number of revolutions of the engine 131 of the travel device 13 in accordance with the operation of an accelerator lever 184 by the user (operator).
The acceleration adjustment processing unit 112 performs acceleration adjustment for adjusting the acceleration until the moving speed (vehicle speed) of the work machine 10 reaches a target speed (target vehicle speed). The “acceleration” referred to in the present disclosure means a change rate (inclination) of a speed with respect to a time from a current speed which is a current moving speed of the work machine 10 to a target speed different from the current speed when the target speed is set. That is, as the acceleration increases, the time required to reach the target speed from the current speed decreases, but the speed change shock increases, and as the acceleration decreases, the time required to reach the target speed from the current speed increases, but the speed change shock decreases.
Further, the acceleration at the time of acceleration of the work machine 10 is defined as positive (plus) acceleration, and the acceleration at the time of deceleration of the work machine 10 is defined as negative (minus) acceleration. Therefore, when a positive acceleration acts on the work machine 10 traveling at a certain moving speed (vehicle speed), the work machine 10 accelerates and the vehicle speed changes to the high speed side, whereas when a negative acceleration acts, the work machine 10 decelerates and the vehicle speed changes to the low speed side. The negative acceleration is synonymous with “deceleration”.
In the present embodiment, the acceleration adjustment processing unit 112 can adjust at least the acceleration (that is, “negative acceleration”) until the moving speed of the work machine 10 reaches the target vehicle speed at the time of deceleration of the work machine 10 in accordance with a user operation. Further, the acceleration adjustment processing unit 112 can also adjust the acceleration (that is, “positive acceleration”) until the moving speed of the work machine 10 reaches the target vehicle speed at the time of acceleration of the work machine 10 in accordance with a user operation.
In short, in the present embodiment, it is possible to adjust both the acceleration at the time of deceleration and the acceleration at the time of acceleration of the work machine 10, that is, both the negative acceleration and the positive acceleration in accordance with the operation of the user (operator).
Specifically, for example, when the operator changes the target speed by operating the main speed change lever 181, the travel control processing unit 111 controls the travel device 13 (transmission 134) to change the moving speed of the work machine 10 in such a manner that the moving speed of the work machine 10 matches the changed target speed. Here, the travel control processing unit 111 determines the change rate of the moving speed of the work machine 10 on the basis of the acceleration adjusted by the acceleration adjustment processing unit 112. For example, when the acceleration is set to be small, the travel control processing unit 111 gradually changes the moving speed of the work machine 10 by gradually changing the target speed. Conversely, when the acceleration is set to be large, the travel control processing unit 111 steeply changes the moving speed of the work machine 10 by steeply changing the target speed.
Further, in
The main speed change lever 181 accepts an operation (an acceleration operation and a deceleration operation) for steplessly increasing and decreasing the vehicle speed of the work machine 10. The sub speed change lever 182 accepts an operation of switching the speed range of the work machine 10 across a plurality of speed ranges. As an example, an auxiliary transmission has three speed ranges of “C stage”, “first speed”, and “second speed”, and each time the speed range of the auxiliary transmission is switched from “C stage” to “first speed” and further from “first speed” to “second speed” in response to the operation of the sub speed change lever 182, the speed range of the work machine 10 becomes high (high speed). The “C stage” and the “first speed”, which are low speed stages, are used for work such as tillage work, and the “second speed” is not used for work.
The reverser lever 183 accepts an operation for switching between forward and reverse of the work machine 10. If the reverser lever 183 is in “forward” or “reverse”, the vehicle speed of the work machine 10 does not become “0” even if the vehicle speed is minimized by the main speed change lever 181, and the work machine 10 travels at a very low speed in the travel direction instructed by the reverser lever 183. When the reverser lever 183 is operated to the “neutral” position, the vehicle speed of the work machine 10 becomes “O” and the work machine 10 stops. The accelerator lever 184 accepts an operation of adjusting the number of revolutions of the engine 131. The brake pedal 185 accepts an operation for braking the work machine 10. The clutch pedal 186 accepts an operation for interrupting the power of the engine 131.
Hereinafter, modes of display screens displayed on the operation terminals 17 in the automatic travel system 100A according to the present embodiment will be described with reference to
Further, the design, arrangement, and size of the object on the display screen described below are merely examples, and can be appropriately changed. The objects or regions in the display screen may or may not be clearly demarcated by the boundary lines.
Here, the automatic travel system 100A (an example of the operation control system) executes processing relating to display of various display screens in the operation control method when a specific start operation set in advance for executing the operation control program is performed. The start operation includes, for example, connection of the operation terminal 17 to the vehicle control device 11 of the work machine 10 (activation of application software), and login to a dedicated site that requires input of a user identification (ID) and a password. Meanwhile, when a specific end operation set in advance is performed on the operation terminal 17, the automatic travel system 100A ends the processing relating to the display of the various display screens in the operation control method. The end operation includes, for example, logout, disconnection of the operation terminal 17 from the vehicle control device 11 of the work machine 10, and the like.
First, a home screen Dp1 displayed on the operation display unit 73 of the operation terminal 17 by the operation control method according to the present embodiment will be described with reference to
The home screen Dp1 is a basic display screen to be displayed on the operation display unit 73 by the operation control method. The display screen displayed on the operation display unit 73 including a touch panel display can be changed from the home screen Dp1 to various display screens including an operation screen (guidance screen D1) or the like in accordance with an operation on the operation display unit 73. The home screen Dp1 corresponds to the home screen D2 (see
As illustrated in
In the main region G1 of the home screen Dp1, a plurality of home icons K101 to K110 are displayed. Each of the plurality of home icons K101 to K110 is an object that accepts an operation of the user (operator). An individual function is assigned to each of the plurality of home icons K101 to K110. For example, when the home icon K101 to which the function of “tractor information” is assigned is operated by the user (operator), the home screen Dp1 transitions to a tractor information screen Dp2 indicating “tractor information” (see
Further, a plurality of shortcut keys K11 to K15 are displayed in the main region G1 of the home screen Dp1. Each of the plurality of shortcut keys K11 to K15 is an object that accepts an operation of the user (operator). An individual function is assigned to each of the plurality of shortcut keys K11 to K15. For example, when the shortcut key K13 to which the function of “tractor information” is assigned is operated by the user (operator), the home screen Dp1 transitions to the tractor information screen Dp2 indicating “tractor information”. Meanwhile, when the shortcut key K14 to which the function of “tractor settings” is assigned is operated by the user (operator), the home screen Dp1 transitions to a tractor settings screen Dp3 indicating “tractor settings”.
The plurality of shortcut keys K11 to K15 are arranged in a lower end portion of the main region G1. The plurality of shortcut keys K11 to K15 are displayed at the same positions as those in the home screen Dp1, for example, on display screens other than the home screen Dp1, such as the tractor information screen Dp2 and the tractor settings screen Dp3. That is, the plurality of shortcut keys K11 to K15 are basically constantly displayed on the operation display unit 73 of the operation terminal 17.
Fuel remaining amount information G11, urea water remaining amount information G12, title information G13, antenna reception information G14, and date information G15 are displayed in the strip region G2 of the home screen Dp1. These pieces of information are displayed in a row in the strip region G2 in the order of the fuel remaining amount information G11, the urea water remaining amount information G12, the title information G13, the antenna reception information G14, and the date information G15 from the left.
As the fuel remaining amount information G11, a graph indicating the remaining amount of fuel (diesel oil) is displayed. As the urea water remaining amount information G12, a graph indicating the remaining amount of urea water is displayed. As the title information G13, the title of the current display screen (“HOME” in the case of the home screen Dp1) is displayed. The antenna reception information G14 indicates the reception status of the positioning antenna 164, and the date information G15 indicates the current date.
The strip region G2 is displayed at the same position as that in the home screen Dp1, for example, on display screens other than the home screen Dp1, such as the tractor information screen Dp2 and the tractor settings screen Dp3. That is, the strip region G2 is basically constantly displayed on the operation display unit 73 of the operation terminal 17.
The display position of each piece of information in the strip region G2 is fixedly determined. Therefore, for example, in the work machine 10 that does not use the urea water, the title information G13 is displayed on the right of the fuel remaining amount information G11 with a space for displaying the urea water remaining amount information G12.
As illustrated in
Further, in the present embodiment, as illustrated in
Further, the home screen Dp1 can be customized. Specifically, when any one of the plurality of home icons K101 to K114 is long-pressed on the home screen Dp1, the display screen transitions from the home screen Dp1 to a customization screen Dp13 such as that illustrated in
Similarly, when any one of the plurality of the shortcut keys K11 to K15 is long-pressed on the home screen Dp1, the display screen transitions from the home screen Dp1 to a shortcut registration screen Dp14 such as that illustrated in
Next, screen transition patterns of display screens displayed on the operation display unit 73 of the operation terminal 17 by the operation control method according to the present embodiment will be described with reference to
A turning setting screen Dp23 is a display screen for setting the turning mode of the work machine 10, and is displayed when a home icon (not illustrated) to which the function of “turning mode setting” is assigned is operated on the home screen Dp1. A link setting screen Dp24 is a display screen for setting a link between the work machine 10 and an external device, and is displayed when the home icon K112 is operated on the home screen Dp1.
A loader setting screen Dp25 is a display screen for setting the operation of the (front) loader attached to the work machine 10, and is displayed when the home icon K114 is operated on the home screen Dp1. A global navigation satellite system (GNSS) setting screen Dp26 is a display screen for setting the positioning device 16 of the work machine 10, and is displayed when the home icon K110 is operated on the home screen Dp1.
The detail setting screens Dp211 to Dp213 are display screens for setting the “travel system” related to the automatic travel of the work machine 10, and the detail setting screens Dp214 and Dp215 are display screens for setting the “UFO system” related to the horizontal control of the work machine 10. The detail setting screens Dp211 to Dp213 and the detail setting screens Dp214 and Dp215 are alternately switched by the operation of a travel system key K212 or a UFO system key K213 in each screen. That is, when the travel system key K212 is operated, the detail setting screens Dp211 to Dp213 of the “travel system” are displayed, and when the UFO system key K213 is operated, the detail setting screens Dp214 and Dp215 of the “UFO system” are displayed.
Each of the detail setting screens Dp211 to Dp213 includes three tabs K214 to K216, and the detail setting screens Dp211 to Dp213 are switched by a selection operation of the tabs K214 to K216. That is, when the tab K214 of “FUNCTION SWITCHING” is operated, the detail setting screen Dp211 for settings related to function switching is displayed. When the tab K215 of “MAX ENGINE RPM” is operated, the detail setting screen Dp212 for settings related to the maximum number of revolutions of the engine 131 is displayed. When the tab K216 of “MAX VEHICLE SPEED” is operated, the detail setting screen Dp213 for settings related to the maximum vehicle speed of the work machine 10 is displayed.
Each of the detail setting screens Dp214 and Dp215 includes two tabs K217 and K218, and the detail setting screens Dp214 and Dp215 are switched by a selection operation of the tabs K217 and K218. That is, when the tab K214 of “WORK MODE” is operated, the detail setting screen Dp214 for settings related to a work mode is displayed. When the tab K215 of “e-CONTROL” is operated, the detail setting screen Dp215 for settings related to automatic work control is displayed.
When a text box of work name is selected in each of the detail setting screens Dp211 to Dp215, a character input screen Dp216 is displayed. The character input screen Dp216 is a screen for accepting text input by the user (operator), and the text input here is input to the text box of each of the detail setting screens Dp211 to Dp215.
Each of power tread screens Dp281 to Dp283 is a display screen for setting a tread or the like of the travel device 13, and is displayed when the home icon K106 is operated on the home screen Dp1. Further, each of the power tread screens Dp281 to Dp283 includes three tabs K281 to K283, and the power tread screens Dp281 to Dp283 are switched by a selection operation of the tabs K281 to K283. That is, when the tab K281 of “REAR WHEEL TREAD ADJUSTMENT” is operated, the power tread screen Dp281 for settings related to the rear wheel tread is displayed.
When the tab K282 of “FRONT WHEEL BOLT POSITION” is operated, the power tread screen Dp282 for settings related to the front wheel bolt position is displayed. When the tab K283 of “FRONT WHEEL TURNING ANGLE BOLT DIMENSION” is operated, the power tread screen Dp283 for settings related to the maximum turning angle of the steered wheels (front wheels) of the work machine 10 is displayed.
The UFO operation screen Dp5 is a display screen for setting related to the horizontal control of the work implement 14, and is displayed when the home icon K102 is operated on the home screen Dp1. The UFO operation screen Dp5 corresponds to the UFO operation screen D3 (see
Specifically, if the safety brake has not been checked in a predetermined period (for example, on the day), first, the robot setting screen Dp601 of the robot setting screens Dp601 to Dp612 is displayed. During the display of the robot setting screen Dp601, when a condition that the parking brake is OFF and the reverser lever 183 is in the “neutral” position is satisfied, the screen transitions to the robot setting screen Dp602. During the display of the robot setting screen Dp602, when a check start key K601 is operated the screen transitions to the robot setting screen Dp603. During the display of the robot setting screen Dp603, a brake device is automatically controlled, and the operation of the safety brake is checked. At this time, if the operation check fails, the screen transitions to a robot setting screen Dp604 indicating a check failure. On the other hand, if the operation check is successful, the screen transitions to the robot setting screen Dp605 indicating that the check is successful.
Further, when the safety brake is checked in a predetermined period (for example, on the day), or when a predetermined time elapses after the transition to the robot setting screen Dp605, the screen transitions to the robot setting screen Dp606.
During the display of the robot setting screen Dp606, when the status button of the remote operation terminal (tablet) for remote operation in the robot tractor mode is pressed and the work start condition of being ready is satisfied, the screen transitions to the robot setting screen Dp607. During the display of the robot setting screen Dp607, when a robot mode start key K607 is operated the screen transitions to the robot setting screen Dp608. In this state, the work machine 10 is still stopped and does not start automatic traveling.
During the display of the robot setting screen Dp608, when an automatic travel start operation is performed on the remote operation terminal, the screen transitions to the robot setting screen Dp609. While the display of the robot setting screen Dp609 is being displayed, the work machine 10 performs automatic traveling (autonomous traveling). During the display of the robot setting screen Dp609, when a pause operation is performed on the remote operation terminal, the screen transitions to the robot setting screen Dp610. While the robot setting screen Dp610 is being displayed, the work machine 10 is stopped, and when a restart operation is performed on the remote operation terminal, the screen transitions to the robot setting screen Dp609.
During the display of any of the robot setting screens Dp608 to Dp610, when an abnormality occurs in the function relating to the automatic traveling of the work machine 10 or the operator directly operates the work machine 10, the screen transitions to the robot setting screen Dp611. Further, the screen also transitions to the robot setting screen Dp609 when the work of the work machine 10 is completed or an emergency shutdown operation is performed on the remote operation terminal while the robot setting screen Dp611 is being displayed.
During the display of the robot setting screen Dp611, when a condition that the reverser lever 183 is in the “neutral” position, the accelerator lever 184 is in the minimum position, and the power take off (PTO) switch is turned OFF is satisfied, the screen transitions to the robot setting screen Dp612. During the display of the robot setting screen Dp612, when a robot mode end key K612 is operated, the screen transitions to the robot setting screen Dp606. At this time, the robot tractor mode ends, and the work machine 10 returns to manual traveling.
Further, in the present embodiment, as illustrated in
Further, the tractor information screen Dp2 can be customized. Specifically, when an item swap key K21 is operated on the tractor information screen Dp2, the display screen transitions from the tractor information screen Dp2 to a customization screen Dp201 such as that illustrated in
UFO sensitivity setting screens Dp321 to Dp324 are display screens for setting the sensitivity of the horizontal control of the work implement 14, and are displayed when the setting icon K32 associated with the UFO sensitivity is operated on the tractor settings screen Dp3.
Each of the UFO sensitivity setting screens Dp321 to Dp324 includes four tabs K321 to K324, and the UFO sensitivity setting screens Dp321 to Dp324 are switched by a selection operation of the tabs K321 to K324. That is, when the tab K321 of “UFO SENSITIVITY” is operated, the UFO sensitivity setting screen Dp321 for setting the sensitivity of the horizontal control with respect to the tilt of the work machine 10 is displayed. When the tab K322 of “AUTO SENSITIVITY” is operated, the UFO sensitivity setting screen Dp322 for setting an operation in response to a change in the rear cover is displayed. When the tab K323 of “PLOWING SPEED” is operated, the UFO sensitivity setting screen Dp323 for setting the lowering speed of the work implement 14 at the start of tilling is displayed. When a tab K324 of “CENTRIFUGAL FORCE CORRECTION” is operated, the UFO sensitivity setting screen Dp324 for setting centrifugal force correction is displayed.
Turning sensitivity setting screens Dp341 to Dp343 are display screens for setting the turning sensitivity of the work machine 10, and are displayed when a setting icon (not illustrated) associated with the turning sensitivity is operated on the tractor settings screen Dp3.
Each of the turning sensitivity setting screens Dp341 to Dp343 includes three tabs K341 to K343, and the turning sensitivity setting screens Dp341 to Dp343 are switched by a selection operation of the tabs K341 to K343. That is, when the tab K341 of “SPIN TURN” is operated, the turning sensitivity setting screen Dp341 for setting the turning sensitivity at the time of spin turn of the work machine 10 is displayed. When the tab K342 of “BRAKE TURN” is operated, a turning sensitivity setting screen Dp342 for setting the turning sensitivity of the work machine 10 at the time of a brake turn is displayed. When the tab K343 of “LOOSE TURN” is operated, a turning sensitivity setting screen Dp343 for setting the turning sensitivity of the work machine 10 at the time of a loose turn is displayed.
PTO setting screens Dp331 and Dp332 are display screens for settings related to PTO, and are displayed when the setting icon K33 associated with PTO setting is operated on the tractor settings screen Dp3.
Each of the PTO setting screens Dp331 and Dp332 includes two tabs K331 and K332, and the PTO setting screens Dp331 and Dp332 are switched by a selection operation of the tabs K331 and K332. That is, when the tab K331 of the “INTERLOCK SWITCHING” is operated, the PTO setting screen Dp331 for setting the PTO relating to the interlocking with the lifting operation of the work implement 14 is displayed. When the tab K332 of “STOP TIMING” is operated, the PTO setting screen Dp332 for settings related to stopping of the PTO is displayed.
In addition, on the turning sensitivity setting screen Dp34, in a state where the batch key K344 is selected, when the setting key K346 is pressed in a state where the steering wheel (front wheel) is turned to any one side by the operation of the steering wheel 137, the maximum turning angles on both the left side and the right side are collectively set to the steering angle at that time. That is, as an example, as illustrated in the upper right of
Meanwhile, on the turning sensitivity setting screen Dp34, when the individual key K345 is selected as illustrated in the lower left of
In addition, in the PTO setting screen Dp332, as illustrated in the upper part of
A brightness setting screen Dp381 is a display screen for setting the brightness of the operation display unit 73, and is displayed when the setting icon K381 associated with the brightness setting is operated on the monitor settings screen Dp38. In the brightness setting screen Dp381, for example, the brightness in each case of ON and OFF of the headlight of the work machine 10 is divided into two bar graphs and displayed. A date setting screen Dp382 is a display screen for setting the date (and time) to be displayed on the operation display unit 73, and is displayed when the setting icon K383 associated with the date setting is operated on the monitor settings screen Dp38.
A startup lock setting screen Dp383 is a display screen for setting the lock (password, etc.) at the time of startup of the operation display unit 73, and is displayed when the setting icon K385 associated with the startup lock setting is operated on the monitor settings screen Dp38. A camera setting screen Dp384 is a display screen for performing settings related to a camera image to be displayed on the operation display unit 73, and is displayed when the setting icon K382 associated with the camera setting is operated on the monitor settings screen Dp38.
An interrupt display settings screen Dp385 is a display screen for performing settings related to an interrupt display on the operation display unit 73, and is displayed when the setting icon K384 associated with the interrupt display settings is operated on the monitor settings screen Dp38. In the present embodiment, as illustrated in
An initialization screen Dp386 is a display screen for initializing the setting values relating to display setting, and is displayed when the setting icon K386 associated with the initialization setting is operated on the monitor settings screen Dp38. When initialization is performed on the initialization screen Dp386, if a startup lock is set, a password input screen Dp387 for requesting password input is displayed as illustrated in
An offset setting screen Dp391 is a display screen for setting a laser offset position, and is displayed when the setting icon K391 associated with the offset setting is operated on the laser setting screen Dp39. A sensitivity setting screen Dp392 is a display screen for setting laser sensitivity, and is displayed when the setting icon K392 associated with the sensitivity setting is operated on the laser setting screen Dp39.
Next, display screens that can be transitioned from the guidance screen Dp4 will be described.
A work setting screen Dp421 is a display screen for performing the setting of the work implement 14 related to the straight travel assist, and is displayed when the setting icon K421 associated with the work setting is operated on the straight travel assist setting screen Dp42. An initialization screen Dp422 is a display screen for initializing the setting value relating to straight travel assist, and is displayed when the setting icon K425 associated with the initialization setting is operated on the straight travel assist setting screen Dp42.
A reference line setting screen Dp423 is a display screen for setting a reference line used for straight travel assist, and is displayed when the setting icon K424 associated with the reference line setting is operated on the straight travel assist setting screen Dp42. An antenna setting screen Dp424 is a display screen for performing settings related to antenna position adjustment, and is displayed when the setting icon K423 associated with the antenna position adjustment is operated on the straight travel assist setting screen Dp42.
The reference line setting screen Dp423 has a screen configuration in which the list display of the plurality of reference lines and the processing for the reference lines are integrated into one screen. In other words, the reference line setting screen Dp423 includes a reference line list K430 that displays a list of a plurality of reference lines, such as “Line1” and “Line2” . . . , and a plurality of instruction keys K431 to K434.
In the reference line list K430, any one of a plurality of reference lines can be selected. In addition, in a state where any one of the reference lines is selected in the reference line list K430, it is possible to perform processing instructed by the instruction keys K431 to K434 on the reference line.
For example, when the operator presses the instruction key K432 of “CALL” in a state where “Line 2” is selected in the reference line list K430, “Line 2” can be called. Further, when the operator presses the instruction key K431 of “REGISTER” in a state where “Line 4” is selected in the reference line list K430, a new reference line can be registered by updating “Line 4”. The instruction key K433 is a key for instructing to change the name of the reference line, and the instruction key K434 is a key for instructing to erase the reference line.
Further, the screen configuration in which the list display of the plurality of pieces of data and the processing for the data are integrated into one screen can be applied to other than the reference line. For example, in a case where data of a plurality of fields is registered, the list display of the plurality of fields and the processing for the fields may be integrated into one screen.
Each of the display settings screens Dp425 to Dp428 includes four tabs K441 to K444, and the display setting screens Dp425 to Dp428 are switched by a selection operation of the tabs K441 to K444. That is, when the tab K441 of the “WORK HISTORY” is operated, the display settings screen Dp425 for setting whether to fill the work traces is displayed. When the tab K442 of “DEVIATION AMOUNT DISPLAY” is operated, the display settings screen Dp426 for setting whether to display the deviation amount between the target route and the position of the work machine 10 is displayed. When the tab K443 of “OPERATION GUIDE DISPLAY” is operated, the display settings screen Dp427 for setting whether to display the operation guidance on the screen is displayed. When the tab K444 of “DISPLAY INFORMATION” is operated, the display settings screen Dp428 for setting information to be displayed on the guidance screen Dp4 is displayed.
Further, when the item swap key K445 is operated on the display settings screen Dp428, the display screen transitions to a customization screen Dp429. When any item to be changed is selected on the customization screen Dp429, the screen transitions to a customization screen Dp430. On the customization screen Dp430, when an item to be swapped with the change target item selected in the customization screen Dp429 is selected, the item is swapped.
Each of the detail setting screens Dp431 to Dp442 includes a plurality of tabs (here, twelve tabs), and the detail setting screens Dp431 to Dp442 are switched by a tab selection operation. Further, not all of the plurality of tabs are displayed on the same screen, but all of the tabs are displayed by page switching.
The detail setting screen Dp432 has a screen configuration in which the setting of the width (work width) of the work implement 14 and the setting of the width (lap width) in which adjacent work areas overlap each other in the straight travel assist are integrated into one screen. In other words, the detail setting screen Dp432 includes an overlap button K435 and an offset button K436. In a state where the overlap button K435 is selected, on the detail setting screen Dp432, as illustrated in
Next, other transitionable display screens will be described.
As described above, for example, in the display screens such as the detail setting screens Dp211 to Dp213, by adopting the tab division, it is possible to suppress the amount of information to be displayed per screen and to enhance the visibility of individual information. Further, by appropriately displaying a pull-down list, a text box, a numeric keypad, or the like, it is possible to support input of options, text, numbers, or the like by the operator.
Next, the settings related to the speed change feeling (acceleration) of the travel device 13 performed on the travel setting screen Dp31 will be described with reference to
In other words, in the present embodiment, as described above, it is possible to perform the settings related to the speed change feeling (acceleration) of the travel device 13 on the travel setting screen Dp31. Specifically, when the operator performs an operation of designating the acceleration (speed change feeling) on the travel setting screen Dp31, the acceleration adjustment processing unit 112 performs the acceleration adjustment so as to obtain the designated acceleration.
On the travel setting screen Dp31, when the operator presses the minus key K311, the acceleration indicated by the acceleration object Ob31 decreases, as illustrated in the upper right of
When the acceleration is adjusted on the travel setting screen Dp31, the acceleration adjustment processing unit 112 adjusts the change rate (inclination) of the speed with respect to the time from the current speed to the target speed in accordance with the acceleration. That is, as illustrated in
In the operation control method according to the present embodiment, at least the acceleration (that is, “negative acceleration”) until the moving speed of the work machine 10 reaches the target vehicle speed at the time of deceleration of the work machine 10 can be adjusted in accordance with the operation of the user (operator).
Therefore, according to the operation control method according to the present embodiment, for example, in a case where the forward movement and the backward movement of the work machine 10 are switched little by little, it is possible to suppress an impact from being applied to the work machine 10 at the time of deceleration due to sudden deceleration of the work machine 10. In other words, if (the absolute value of) the negative acceleration is adjusted to be small, it is possible to gently decelerate the work machine 10 at the time of deceleration, and it is easy to alleviate the impact applied to the work machine 10 at the time of deceleration. As a result, there is an advantage in that it is possible to avoid a situation where the accuracy of work performed by the work implement 14 decreases due to an impact applied to the work machine 10 during deceleration, or a shock during deceleration is transmitted to the operator.
Further, in the operation control method according to the present embodiment, the acceleration (that is, “positive acceleration”) until the moving speed of the work machine 10 reaches the target vehicle speed at the time of acceleration of the work machine 10 can also be adjusted in accordance with the operation of the user (operator). Therefore, for example, in a case where the forward movement and the backward movement of the work machine 10 are switched little by little, or the like, it is also possible to suppress an impact from being applied to the work machine 10 at the time of acceleration due to sudden acceleration of the work machine 10. In other words, if (the absolute value of) the positive acceleration is adjusted to be small, it is possible to gently accelerate the work machine 10 at the time of acceleration, and it is also easy to alleviate the impact applied to the work machine 10 at the time of acceleration.
Here, the acceleration at the time of deceleration and the acceleration at the time of acceleration are collectively adjusted. That is, the accelerations to be adjusted on the travel setting screen Dp31 are not divided between the deceleration (negative acceleration) and the acceleration (positive acceleration), and the negative acceleration and the positive acceleration are collectively adjusted. As an example, when the acceleration is adjusted to the lowest “0” level on the travel setting screen Dp31, the acceleration is the lowest (in absolute values) at the “0” level both during deceleration and during acceleration. Accordingly, the speed change feeling at the time of deceleration and the speed change feeling at the time of acceleration can be matched with each other, the operator hardly feels a sense of discomfort, and the operability is improved.
Further, the operation control method according to the present embodiment further includes suppressing the acceleration in a start period T1, in which the work machine 10 accelerates from the stopped state, to be smaller than the acceleration outside the start period T1. That is, as illustrated in
Accordingly, particularly at the time of starting from a stopped state where an impact is likely to be applied to the work machine 10, the acceleration is suppressed to be small, and the effect of alleviating the impact applied to the work machine 10 is enhanced. Moreover, since there is only the start period T1, the delay time until the target speed is reached is also hardly noticeable to the operator, and is unlikely to lead to decrease in workability.
More specifically, the operation control method according to the present embodiment further includes setting the target speed in response to the operation of the first operation unit. When the target speed is changed in response to the operation of the first operation unit, the acceleration until the moving speed of the work machine 10 reaches the changed target speed is adjusted in accordance with the operation of the user. The “first operation unit” referred to herein includes at least one of the main speed change lever 181, the sub speed change lever 182, and the reverser lever 183. That is, even if the user (operator) operates the first operation unit such as the main speed change lever 181 without being particularly conscious of it, the adjusted acceleration is applied to the actual change in the moving speed of the work machine 10. Therefore, operability is improved.
Further, the operation control method according to the present embodiment further includes decreasing the target speed in response to the operation of the second operation unit different from the first operation unit. In addition, when the target speed is decreased in response to the operation of the second operation unit, the acceleration until the moving speed of the work machine 10 reaches the decreased target speed is adjusted in accordance with the operation of the user. The “second operation unit” referred to herein includes at least one of the brake pedal 185 and the clutch pedal 186. That is, the adjusted acceleration is applied not only when the user (operator) operates the first operation unit such as the main speed change lever 181 to decrease the target speed, but also when the user operates the second operation unit such as the brake pedal 185. Therefore, operability is improved.
Further, the work machine 10 is provided with an auxiliary transmission capable of switching the speed range of the work machine 10 across a plurality of speed ranges. Here, the acceleration can be adjusted in accordance with a user operation only when the vehicle is in a part of the plurality of speed ranges. In other words, the adjusted acceleration is applied only when the speed range of the auxiliary transmission is in a specific speed range, and the adjusted acceleration is not applied when the speed range of the auxiliary transmission is in a speed range other than this. As an example, it is assumed that the acceleration can be adjusted in accordance with a user operation only when the speed range of the auxiliary transmission is “C stage” or “first speed” used for work such as tillage work in response to the operation of the sub speed change lever 182. That is, when the speed range of the auxiliary transmission is the “second speed”, a fixedly determined acceleration is applied, not a value adjusted by the operator. However, this does not apply to the start period T1.
According to this configuration, for example, the acceleration can be adjusted only in a certain situation such as a speed range for work. Therefore, the operability of the work machine 10 is improved.
Further, in the present embodiment, even when the work machine 10 is moving, the acceleration can be adjusted in accordance with the operation of the user. In other words, the travel setting screen Dp31 can be displayed even when the work machine 10 is moving (traveling), and the acceleration can be adjusted on the travel setting screen Dp31 while the work machine 10 is moving. Accordingly, it is not necessary to stop the work machine 10 in order to adjust the acceleration, and it is possible to suppress a reduction in work efficiency.
Here, the operation control method according to the present embodiment includes displaying the travel setting screen Dp31 for acceleration adjustment as described above. In addition, it is possible to adjust the acceleration in accordance with a user operation on the acceleration operation unit included in the travel setting screen Dp31. The “acceleration operation unit” referred to herein includes, for example, the minus key K311 and the plus key K312. That is, the user (operator) can adjust the acceleration on the display screen, and it becomes easy to adjust the parameter of the acceleration which cannot be visually recognized originally.
Further, the present embodiment further includes causing the work machine 10 to autonomously travel. During the autonomous traveling of the work machine 10, the adjustment of the acceleration is disabled. In other words, the acceleration adjusted by the operator is not applied at least during the autonomous traveling in which the control of the vehicle speed or the like is automatically performed, and the acceleration adjusted by the operator is applied only during the manual traveling or the semi-automatic traveling in which the operator performs the control of the vehicle speed or the like. Therefore, the acceleration adjusted by the operator is less likely to affect the work efficiency during autonomous traveling.
In other words, the acceleration adjustment processing unit 112 checks whether the speed range of the auxiliary transmission is “C stage” or “first speed” (S11). If the speed range of the auxiliary transmission is the “C stage” or the “first speed” (S11: Yes), the acceleration adjustment processing unit 112 checks whether the vehicle is traveling autonomously (S12). If the work machine 10 is not traveling autonomously (S12: No), the acceleration adjustment processing unit 112 determines whether the travel setting screen Dp31 has been called (S13). If the travel setting screen Dp31 is called (S13: Yes), the display processing unit 711 displays the travel setting screen Dp31 on the operation display unit 73 (S14). In addition, the acceleration adjustment processing unit 112 adjusts the positive and negative accelerations in accordance with the operation of the user (operator) on the travel setting screen Dp31 (S15).
The automatic travel system 100A repeats the processing of the above steps S11 to S15. However, the flowchart illustrated in
Next, the guidance screen Dp4 relating to the straight travel assist will be described with reference to
On the guidance screen Dp4, as illustrated in
The objects superimposed and displayed on the map M1 include a first operation object Ob41, a second operation object Ob42, an offset guide object Ob43, and hidden route objects Ob44 and Ob45. Further, the objects superimposed and displayed on the map M1 include information icons K401 to K403, a minus key K404, a plus key K405, a viewpoint switching icon K406, and the like.
In the information icons K401 to K403, for example, information related to work by the work machine 10, such as (current) vehicle speed, work width, and lap width, is displayed. The minus key K404 and the plus key K405 are used for the operation for adjusting the sensitivity of the straight travel assist, that is, how strictly the automatic steering is performed along the target route. That is, the user (operator) can lower the sensitivity by operating the minus key K404 or raise the sensitivity by operating the plus key K405 on the guidance screen Dp4. The viewpoint switching icon K406 is an icon for switching between displaying the map M1 with reference to the direction of the reference line L1 and displaying the map M1 with reference to the direction of the work machine 10. That is, each time the user (operator) operates the viewpoint switching icon K406, the viewpoint of the map M1 is switched.
As illustrated in
Specifically, the points A and B registered when the reference line L1 is generated are displayed in gray on the map M1, and the points A and B on the target route (straight route) during traveling are displayed in color. Here, it is preferable that the point A and the point B displayed in color have different colors. That is, by registering the point A and the point B displayed in gray, the reference line L1 is generated so as to connect the point A and the point B.
Here, with the first operation object Ob41, an operation of deleting the registered (that is, gray-displayed) point A can be performed, and an operation of registering the unregistered point A can be performed. Similarly, with the second operation object Ob42, an operation of deleting the registered (that is, gray-displayed) point B can be performed, and an operation of registering the unregistered point B can be performed. In short, the functions assigned to the first operation object Ob41 and the second operation object Ob42 are switched in accordance with the generation status of the target route.
Further, for example, it is determined that the point B is registered at a position away from the point A by a predetermined distance or more, and thus even if the point B is not registered, the point B cannot be registered in a case where the work machine 10 is at a position less than the predetermined distance from the registered point A. In short, the functions assigned to the first operation object Ob41 and the second operation object Ob42 are also switched in accordance with the operation status of the work machine 10.
In this way, the first display screen (the guidance screen Dp4) includes the operation objects (the first operation object Ob41 and the second operation object Ob42) that accept a user operation relating to the generation of the target route R for the automatic steering. In addition, the functions assigned to the operation objects are switched in accordance with at least one of the generation status of the target route R and the operation status of the work machine 10.
Thus, a single first operation object Ob41 (or second operation object Ob42) can have a plurality of functions. Therefore, compared to a case where an individual operation object is prepared for each function, the operation object can be formed larger in the display screen (guidance screen Dp4), and operability is improved.
In the present embodiment, in particular, a plurality of functions which are assignable to the operation object (the first operation object Ob41 and the second operation object Ob42) include at least a function of registration operation of a reference point (point A, point B) serving as a reference of the target route R and a function of deletion operation of the reference point.
Therefore, when it is necessary to generate the reference line L1 as in the case of the straight travel assist, the target route R can be generated relatively easily by using the operation objects (the first operation object Ob41 and the second operation object Ob42).
Further, in the present embodiment, as illustrated in
In addition to this, for example, even if the point B is not registered, when the operation object does not accept an operation, such as when the work machine 10 is at a position less than a predetermined distance from the registered point A, the operation object is displayed in a gray-out (inactive) manner.
In this way, the display mode of the operation object is changed according to the function, and thus operability for the user (operator) is significantly improved.
Further, as illustrated in
For example, if the work machine 10 is deviated to the right side from the target route, the offset amount display frame Ob431 is extended to the right side, whereby the operator can easily visually grasp the deviation from the target route. In particular, the offset amount display frame Ob431 extends in accordance with the offset amount, and the display color of the offset amount display frame Ob431 changes depending on how far the offset amount display frame Ob431 extends. Therefore, the operator can visually recognize the deviation from the target route more easily.
Further, in the present embodiment, the information icons K401 to K403 can be hidden as illustrated in
Here, the information displayed on each of the information icons K401 to K403 can be changed (edited) by long-pressing the information icons K401 to K403. That is, for example, in the example of
In addition, by relatively increasing the number of target routes (straight routes) drawn in the lateral direction on the map M1, the operator can easily grasp the work range of the work machine 10. Further, the hidden route objects Ob44 and Ob45 display the number of target routes (straight routes) hidden (not displayed) on the left side or the right side of the guidance screen Dp4. This makes it easier for the operator to grasp the work range of the work machine 10.
In other words, first, the display processing unit 711 displays the guidance screen Dp4 on the operation display unit 73 (S21). The display processing unit 711 determines whether the point A (first reference point) has been registered (S22). If the point A has been registered (S22: Yes), the display processing unit 711 assigns the deletion operation of the point A to the first operation object Ob41 (S23). If the point A is not registered (S22: No), the display processing unit 711 assigns the registration operation of the point A to the first operation object Ob41 (S24).
In addition, the display processing unit 711 determines whether the point B (second reference point) has been registered (S25). If the point B has been registered (S25: Yes), the display processing unit 711 assigns the deletion operation of the point B to the second operation object Ob42 (S26). If the point B is not registered (S25: No), the display processing unit 711 assigns the registration operation of the point B to the second operation object Ob42 (S27).
The automatic travel system 100A repeats the processing of the above steps S21 to S27. However, the flowchart illustrated in
Next, the UFO operation screen Dp5 related to the horizontal control of the work implement 14 will be described with reference to
The UFO operation screen Dp5 (the UFO operation screen Dp51 relating to the horizontal control) is an example of the “horizontal control operation screen”. The UFO operation screen Dp51 includes a control operation unit that accepts an operation of the user (operator). As illustrated in
The fourth operation elements K561 to K564 are assigned with a function of switching the control mode in the horizontal control. That is, any one of the fourth operation elements K561 to K564 is alternatively selected, and the control mode corresponding to the selected fourth operation elements K561 to K564 is applied. The control modes include an “OFF mode” associated with the fourth operation element K561, a “horizontal mode” associated with the fourth operation element K562, a “slope mode” associated with the fourth operation element K563, and a “maintain mode” associated with the fourth operation element K564.
The “OFF mode” is a mode in which the horizontal control does not function and the work implement 14 is not fixed to the machine body 101 so as not to be tilted. The “horizontal mode” is a mode in which the work implement 14 is controlled to be kept horizontal even when the machine body 101 is tilted. The “slope mode” is a mode in which the tilt of the work implement 14 is controlled so as to be parallel to the machine body 101 in a tilted state. The “maintain mode” is a mode for traction system work, and is a mode in which control is performed in such a manner that the length of the cylinder for controlling the tilt of the work implement 14 is held constant.
The fourth operation elements K561 to K564 are included in the UFO operation screen Dp51 (horizontal control operation screen) as the control operation unit, and thus the user (operator) can easily perform the operation of switching the control mode in the horizontal control.
The tilt display object Ob5 is a graph representing the currently set tilt of the work implement 14 (in the roll direction of the machine body 101). As an example, when the indicator Ob51 deviates from the center in any of the lateral directions (left and right directions), it indicates that the work implement 14 is tilted with respect to the machine body 101. In addition, as the distance from the center increases (as the distance to the end of the graph decreases), the tilt angle increases. Further, the tilt display object Ob5 is indicated with the center position (that is, the position of the tilt “0”) as a guide.
The first operation elements K531 and K532 are assigned with a function of adjusting the tilt angle of the work implement 14 with respect to the machine body 101. That is, when the operator presses the first operation element K531 formed of the left cursor, the indicator Ob51 of the tilt display object Ob5 moves leftward, and the work implement 14 is tilted downward to the left with respect to the machine body 101. Conversely, when the operator presses the first operation element K532 formed of the right cursor, the indicator Ob51 of the tilt display object Ob5 moves rightward, and the work implement 14 is tilted downward to the right with respect to the machine body 101, as illustrated in
The first operation elements K531 and K532 are included in the UFO operation screen Dp51 (horizontal control operation screen) as the control operation unit, and thus the user (operator) can manually adjust the tilt of the work implement 14 with respect to the machine body 101.
The second operation element K54 is assigned with a function of changing the amount of change in the tilt angle for the operations of the first operation elements K531 and K532. Specifically, the second operation element K54 accepts an operation of switching ON/OFF of the fine adjustment mode. That is, when the operator presses the second operation element K54, the amount of change in the tilt angle (the amount of movement of the indicator Ob51) during the operation of the first operation elements K531 and K532 changes. When the fine adjustment mode is ON, the step size (the amount of change) of the tilt angle with respect to one pressing of the first operation elements K531 and K532 is smaller than that when the fine adjustment mode is OFF.
The second operation elements K54 is included in the UFO operation screen Dp51 (horizontal control operation screen) as the control operation unit, and thus the user (operator) can easily perform manual fine adjustment of the tilt of the work implement 14 with respect to the machine body 101.
The third operation element K55 is assigned with a function of resetting the tilt angle of the work implement 14 adjusted by the first operation elements K531 and K532. Specifically, the third operation element K55 is a return-to-center button, the tilt angle of the work implement 14 with respect to the machine body 101 is set to “0”, and the indicator Ob51 of the tilt display object Ob5 is moved to the center position (that is, the position of the tilt “0”).
The third operation element K55 is included in the UFO operation screen Dp51 (horizontal control operation screen) as the control operation unit, and thus the user (operator) can reset the tilt of the work implement 14 with respect to the machine body 101 only by operating the third operation element K55 without operating the first operation elements K531 and K532 many times.
Moreover, since the tilt display object Ob5 included in the UFO operation screen Dp51 (horizontal control operation screen) is changed in conjunction with the change in the tilt angle of the work implement 14 with respect to the machine body 101, the tilt angle of the work implement 14 can be easily grasped by the tilt display object Ob5. In other words, when the indicator Ob51 of the tilt display object Ob5 is moved by the operation of the first operation elements K531 and K532, the inclination angle of the work implement 14 with respect to the machine body 101 is changed so as to follow the movement.
As described above, the operation control method according to the present embodiment includes displaying the horizontal control operation screen (UFO operation screen Dp51) relating to the horizontal control that controls the tilt of the work implement 14 with respect to the machine body 101, for the work machine 10 including the machine body 101 and the work implement 14 attached to the machine body 101. Further, the operation control method includes performing setting related to the horizontal control in accordance with a user operation on the control operation unit (the first operation elements K531 and K532, and the like) included in the horizontal control operation screen.
Regarding the horizontal control, for example, when the user (operator) needs to adjust the tilt angle or the like of the work implement 14 with respect to the machine body 101, the work efficiency may be reduced depending on the skill level of the user. However, according to the configuration of the present embodiment, since such adjustment can be performed on the UFO operation screen Dp51, the difficulty level is reduced. Therefore, there is an advantage that it is possible to improve the work efficiency of the work machine 10 including the machine body 101 and the work implement 14 attached to the machine body 101.
In the present embodiment, the tilt display object Ob5 is not in conjunction with a change in the tilt angle associated with the switching of the control mode of the horizontal control. That is, as a premise, the tilt display object Ob5 is always included in the UFO operation screen Dp51 regardless of the control mode of the horizontal control. For example, even in the “OFF mode”, the tilt display object Ob5 remains displayed, the indicator Ob51 of the tilt display object Ob5 is moved by the operation of the first operation elements K531 and K532, and the tilt angle of the work implement 14 is also changed.
However, since the tilt angle of the work implement 14 may change along with the switching of the control mode, the interlocking of the tilt display object Ob5 is temporarily released during a period in which the tilt angle of the work implement 14 changes along with the switching of the control mode. Thus, for example, when the control mode is switched from the “slope mode” to the “horizontal mode”, even if the tilt angle of the work implement 14 changes, the indicator Ob51 of the tilt display object Ob5 does not move in accordance with the change in the tilt angle at this time. Therefore, for example, if the indicator Ob51 of the tilt display object Ob5 is at the center position in the control mode before the switching, the indicator Ob51 of the tilt display object Ob5 is at the center position also in the control mode after the switching.
In other words, first, the display processing unit 711 displays the UFO operation screen Dp51 on the operation display unit 73 (S41). The setting processing unit 714 determines whether there is a user operation on the first operation elements K531 and K532 included in the UFO operation screen Dp51 (S42), and if the first operation elements K531 and K532 are operated (S42: Yes), the processing proceeds to step S43. If the first operation elements K531 and K532 are not operated (S42: No), step S43 is skipped, and the processing proceeds to step S44.
In step S43, the setting processing unit 714 changes the tilt angle of the work implement 14 in response to the first operation elements K531 and K532 in consideration of the operation state (ON/OFF of the fine adjustment mode) of the second operation element K54. At this time, the indicator Ob51 of the tilt display object Ob5 also moves.
In addition, the setting processing unit 714 determines whether there is a user operation on the third operation element K55 included in the UFO operation screen Dp51 (S44), and if the third operation element K55 is operated (S44: Yes), the indicator Ob51 of the tilt display object Ob5 is returned to the center (S45). If the third operation element K55 is not operated (S44: No), step S45 is skipped, and the series of processing are ended.
The automatic travel system 100A repeats the processing of the above steps S41 to S45. However, the flowchart illustrated in
Hereinafter, variations of the first embodiment will be described. The variations described below can be applied in combination as appropriate.
The automatic travel system 100A according to the present disclosure includes a computer system. The computer system includes, as main components, at least one processor and at least one memory as hardware. When the processor executes a program (operation control program) recorded in the memory of the computer system, functions as the automatic travel system 100A in the present disclosure are implemented. The program may be recorded in the memory of the computer system in advance, may be provided through an electric communication line, or may be recorded on a non-transitory recording medium, such as a memory card, an optical disk, a hard disk drive, or the like, that is readable by the computer system. Further, some or all of the functional units included in the automatic travel system 100A may be configured as an electronic circuit.
Further, a configuration in which at least some functions of the automatic travel system 100A are integrated in one housing is not an essential configuration of the automatic travel system 100A, and the components of the automatic travel system 100A may be distributed and provided in a plurality of devices. Conversely, in the first embodiment, functions that are distributed in multiple devices may be integrated in a single housing. Furthermore, at least part of the functions of the automatic travel system 100A may be implemented by a cloud (cloud computing) or the like.
Further, the operation terminal 17 is not limited to a general-purpose terminal such as a tablet terminal, a smartphone, or a laptop computer, and may be configured with a dedicated terminal. Furthermore, a plurality of operation terminals 17 may be associated with one work machine 10. In this case, one work machine 10 can be controlled by the plurality of operation terminals 17. Conversely, a plurality of work machines 10 may be associated with one operation terminal 17. In this case, the plurality of work machines 10 can be controlled by one operation terminal 17.
Further, it is not essential that the acceleration at the time of deceleration and the acceleration at the time of acceleration are collectively adjusted, and the acceleration at the time of deceleration and the acceleration at the time of acceleration may be individually adjusted. Furthermore, it is not essential that the acceleration at the time of acceleration (positive acceleration) can be adjusted.
The configuration of the first embodiment can be employed in combination with various configurations (including variations) described in the basic configuration as appropriate.
Hereinafter, a summary of the present disclosure extracted from the above-described embodiments will be described below as supplementary notes. Note that each configuration and processing function explained in the supplementary notes below may be selected, omitted, and combined as appropriate.
An operation control method for a work machine including a machine body and a work implement attached to the machine body, the operation control method comprising:
The operation control method according to Supplementary Note 1, wherein the control operation unit includes a first operation element to which a function of adjusting a tilt angle of the work implement with respect to the machine body is assigned.
The operation control method according to Supplementary Note 2, wherein the control operation unit further includes a second operation element to which a function of changing an amount of change in the tilt angle with respect to an operation of the first operation element is assigned.
The operation control method according to Supplementary Note 2 or 3, wherein the control operation unit further includes a third operation element to which a function of resetting the tilt angle of the work implement adjusted by the first operation element is assigned.
The operation control method according to any one of Supplementary Notes 1 to 4, wherein the control operation unit further includes a fourth operation element to which a function of switching a control mode of the horizontal control is assigned.
The operation control method according to any one of Supplementary Notes 1 to 5, further comprising changing a tilt display object indicating the tilt angle of the work implement included in the horizontal control operation screen in conjunction with a change in the tile angle of the work implement with respect to the machine body.
The operation control method according to Supplementary Note 6, wherein the tilt display object is not in conjunction with a change in the tilt angle associated with switching of a control mode of the horizontal control.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2022-200121 | Dec 2022 | JP | national |
