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WO2019021910A1 - Système de déplacement automatique - Google Patents

Système de déplacement automatique Download PDF

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Publication number
WO2019021910A1
WO2019021910A1 PCT/JP2018/026955 JP2018026955W WO2019021910A1 WO 2019021910 A1 WO2019021910 A1 WO 2019021910A1 JP 2018026955 W JP2018026955 W JP 2018026955W WO 2019021910 A1 WO2019021910 A1 WO 2019021910A1
Authority
WO
WIPO (PCT)
Prior art keywords
regeneration
control unit
vehicle
automatic travel
automatic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/026955
Other languages
English (en)
Japanese (ja)
Inventor
良平 上田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yanmar Co Ltd
Original Assignee
Yanmar Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yanmar Co Ltd filed Critical Yanmar Co Ltd
Publication of WO2019021910A1 publication Critical patent/WO2019021910A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL-COMBUSTION ENGINES
    • F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
    • F01N3/02—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust
    • F01N3/021—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters
    • F01N3/023—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles
    • F01N3/025—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for cooling, or for removing solid constituents of, exhaust by means of filters using means for regenerating the filters, e.g. by burning trapped particles using fuel burner or by adding fuel to exhaust

Definitions

  • the present invention relates to an automatic travel system that causes a work vehicle to automatically travel along an automatic travel path.
  • the current position of the work vehicle is acquired using the satellite positioning system, and the work vehicle is automatically traveled along a previously generated automatic travel path (see, for example, Patent Document 1). ).
  • a previously generated automatic travel path see, for example, Patent Document 1.
  • the control unit determines the grace period and the schedule It is possible to appropriately predict whether or not it is necessary to perform the second regeneration process during execution of the automatic travel control while having a relatively simple configuration of comparing the travel time. As a result, since the second regeneration process can be performed in advance before starting the automatic traveling control based on the appropriate prediction, the second regeneration process can be performed at an optimal timing.
  • the route generation unit 33 of the wireless communication terminal 3 When performing automatic travel of the tractor 2, the user operates the touch panel etc. of the wireless communication terminal 3 to generate information for generating the automatic travel routes K1, K2, such as information on the field area, the tractor 2 and the work machine 5 I have registered.
  • the route generation unit 33 of the wireless communication terminal 3 generates the automatic travel routes K1 and K2 on which the tractor 2 automatically travels based on the registration information and the like. For example, as shown in FIG. 3, in the field H, the route generation unit 33 sets the automatic traveling routes K1 and K2 as a straight route K1 for performing work such as tillage while automatically traveling the tractor 2 and a straight route K1 A turn circuit K2 for turning the tractor 2 on the next straight path K1 is generated.
  • the automatic travel routes K1 and K2 shown in FIG. 3 are merely examples, and the route generation unit 33 can appropriately change what automatic travel routes K1 and K2 are generated.
  • the wireless communication terminal 3 when the user operates the touch panel to instruct start of automatic traveling, the wireless communication terminal 3 transmits an instruction for starting automatic traveling to the tractor 2.
  • the vehicle-side control unit 22 receives an instruction to start automatic traveling, and the position information acquisition unit 24 acquires the current position information of the vehicle (the current position of the tractor 2) while automatically traveling. Automatic travel control is performed to cause the tractor 2 to automatically travel along the routes K1 and K2.
  • the vehicle-side control unit 22 determines that the prediction content of the wireless communication terminal 3 is It is displayed on the display unit 34 to make the user recognize the prediction content.
  • the operation of the parking regeneration control will be described based on FIG. Incidentally, in the following description, it is assumed that the user's operation on the regeneration switch 35 is determined in a predetermined step on the premise that the user does not board the tractor 2, but the user's operation on the vehicle side regeneration switch 26 is also It may be determined simultaneously.
  • the vehicle-side control unit 22 sets the reference engine rotation speed associated with the straight path K1 to a predetermined rotation speed or more, and the reference engine rotation speed associated with the rotation circuit K2 to a predetermined rotation speed or more. Then, the DPF regeneration control unit 23 performs reset regeneration processing (step # 25).
  • the display unit of the wireless communication terminal 3 displays a display indicating that the reset reproduction process is continued after the automatic travel control ends.
  • a display control signal for displaying on 34 can also be output.
  • step # 14 can be omitted, and automatic travel control can be performed without determining whether or not the pre-execution condition for reset reproduction is established.
  • the second route only a part of the plurality of rotation circuits K2 may be used as the second route, and the other automatic travel routes K1 and K2 may be used as the first route.
  • the first route and the second route are used. It is possible to appropriately change how to set. For example, in the automatic travel paths K1 and K2, a portion of the path where the discharge of high temperature exhaust gas can not be permitted can be the first path, and a portion of the path where the discharge of high temperature exhaust gas can be permitted can be the second path.
  • the first route and the second route can be set according to various conditions such as the control work status and the surrounding status.
  • the vehicle-side control unit 22 performs the parking regeneration processing by the DPF regeneration control unit 23 at the timing when the regeneration switch 35 or the vehicle-side regeneration switch 26 is operated by the user, and also the regeneration switch 35 or vehicle If the state where the side regeneration switch 26 is not operated continues for the set time or more, the parking regeneration processing by the DPF regeneration control unit 23 can be automatically performed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Processes For Solid Components From Exhaust (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

La présente invention vise à amener une carrosserie de véhicule, telle qu'un véhicule de travail, à se déplacer automatiquement tout en mettant en œuvre un procédé de régénération à un moment opportun. La présente invention comprend une unité de commande qui est apte : à exécuter une commande de déplacement automatique, dans laquelle une carrosserie de véhicule est amenée à se déplacer automatiquement le long d'un trajet de déplacement automatique ; et à mettre en œuvre un procédé de régénération, dans lequel la matière particulaire collectée par un dispositif de purification de gaz d'échappement (11) destiné à purifier un gaz d'échappement provenant d'un moteur (10) est éliminée. En tant que procédé de régénération, l'unité de commande est apte à mettre en œuvre : un premier procédé de régénération dans lequel la matière particulaire est éliminée sans nécessiter l'arrêt de la carrosserie de véhicule ; et un second procédé de régénération dans lequel la matière particulaire est éliminée tout en nécessitant l'arrêt de la carrosserie de véhicule. L'unité de commande est conçue pour empêcher le démarrage de la commande de déplacement automatique dans le cas où au moins le second procédé de régénération doit être mis en œuvre.
PCT/JP2018/026955 2017-07-26 2018-07-18 Système de déplacement automatique Ceased WO2019021910A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017144526A JP6971075B2 (ja) 2017-07-26 2017-07-26 自動走行システム
JP2017-144526 2017-07-26

Publications (1)

Publication Number Publication Date
WO2019021910A1 true WO2019021910A1 (fr) 2019-01-31

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/026955 Ceased WO2019021910A1 (fr) 2017-07-26 2018-07-18 Système de déplacement automatique

Country Status (2)

Country Link
JP (1) JP6971075B2 (fr)
WO (1) WO2019021910A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115299198A (zh) * 2022-09-22 2022-11-08 哈尔滨松倍得装备制造有限公司 一种整地除草机及在整地期进行除草的方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005113752A (ja) * 2003-10-07 2005-04-28 Mitsubishi Fuso Truck & Bus Corp 車両の排気浄化装置
US20110088374A1 (en) * 2009-10-15 2011-04-21 International Engine Intellectual Property Company, Llc Telemetry-based regeneration strategy for an engine exhaust after-treatment device
WO2015119265A1 (fr) * 2014-02-06 2015-08-13 ヤンマー株式会社 Système de commande de conduite
JP2016084761A (ja) * 2014-10-27 2016-05-19 ヤンマー株式会社 作業車両
JP2017047762A (ja) * 2015-09-01 2017-03-09 株式会社クボタ 走行作業機

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005113752A (ja) * 2003-10-07 2005-04-28 Mitsubishi Fuso Truck & Bus Corp 車両の排気浄化装置
US20110088374A1 (en) * 2009-10-15 2011-04-21 International Engine Intellectual Property Company, Llc Telemetry-based regeneration strategy for an engine exhaust after-treatment device
WO2015119265A1 (fr) * 2014-02-06 2015-08-13 ヤンマー株式会社 Système de commande de conduite
JP2016084761A (ja) * 2014-10-27 2016-05-19 ヤンマー株式会社 作業車両
JP2017047762A (ja) * 2015-09-01 2017-03-09 株式会社クボタ 走行作業機

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115299198A (zh) * 2022-09-22 2022-11-08 哈尔滨松倍得装备制造有限公司 一种整地除草机及在整地期进行除草的方法
CN115299198B (zh) * 2022-09-22 2023-11-28 哈尔滨松倍得装备制造有限公司 一种整地除草机及在整地期进行除草的方法

Also Published As

Publication number Publication date
JP6971075B2 (ja) 2021-11-24
JP2019024346A (ja) 2019-02-21

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