JP7144358B2 - Cooperative traveling system for work vehicle and work vehicle - Google Patents

Description

The present invention relates to a cooperative traveling system for a work vehicle and a work vehicle.

Conventionally, Patent Literature 1 is known as a work vehicle coordination system. The work vehicle coordination system of Patent Document 1 is a work vehicle coordination system that performs ground work by a parent work vehicle and an unmanned child work vehicle that follows the master work vehicle. A position detection module, a child position detection module that detects the position of the child work vehicle, a parent travel trajectory calculation unit that calculates the travel trajectory of the parent work vehicle from the position of the parent work vehicle, and a turn-back travel start point of the child work vehicle. and a turn-back travel target calculation unit that calculates a turn-back travel completion point.

JP 2014-178759 A

In the work vehicle cooperation system of Patent Document 1, the child work vehicle can be caused to travel following the parent work vehicle. Here, the child work vehicle may be illuminated by an illumination lamp provided on the parent work vehicle, and the parent work vehicle may be illuminated by an illumination lamp provided on the child work vehicle, and it is necessary to consider the mutual illumination. In particular, since the parent work vehicle is manned and operated, it is desirable to control the lighting of the child work vehicle when the lighting of the child work vehicle faces the master work vehicle.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a work vehicle cooperative traveling system and a work vehicle capable of performing appropriate lighting when at least two work vehicles travel in cooperation. do.

The technical means of the present invention for solving this technical problem are characterized by the following points.
A work vehicle coordinated traveling system includes a first work vehicle having a first illumination lamp and a first control device that controls the first illumination lamp, a second illumination lamp, and a second control device that controls the second illumination lamp. a first positioning device for detecting a first traveling direction of the first work vehicle; a second positioning device that detects two traveling directions, wherein the second control device controls the second illumination lamp based on the first traveling direction and the second traveling direction.

The second control device dims the second illumination lamp when the first traveling direction and the second traveling direction face each other.
The second illumination lamp includes a headlamp provided in the front portion of the second work vehicle, and the second control device, when the first traveling direction and the second traveling direction are the same , The headlamps are not dimmed, and the headlamps are dimmed when the first travel direction and the second travel direction face each other.

The second illumination lamp includes a work lamp provided at a rear portion, and the second control device controls the first work vehicle and the second work vehicle so that the first traveling direction and the second traveling direction face each other. The work light is turned on when the two pass each other.
The work vehicle includes a display device that displays the vehicle body positions of the first work vehicle and the second work vehicle, and the display device can set the timing of dimming and/or blinking of the second lighting. .

The display device has a distance input unit for inputting a distance between the first work vehicle and the second work vehicle as the timing.
The display device has a time input unit for inputting the time until the first work vehicle and the second work vehicle pass each other as the timing.
The first work vehicle is a manned work vehicle, and the second work vehicle is an unmanned work vehicle.

According to the present invention, proper lighting can be performed when at least two work vehicles travel in cooperation.

1 is a diagram showing a cooperative traveling system for work vehicles; FIG. It is a figure which shows the block diagram of a tractor. 1 is a plan view of a tractor; FIG. FIG. 4 is an explanatory diagram of a light source; FIG. 2 is a diagram showing an example of a manned working vehicle and an unmanned working vehicle traveling in cooperation; FIG. 4 is a diagram showing an example in which a manned traveling direction X1 and an unmanned traveling direction X2 face the same direction; It is a figure which shows an example when the manned advancing direction X1 and the unmanned advancing direction X2 are facing each other. FIG. 10 is a diagram showing an example of control regarding the second illumination light of the tractor when cooperative work is being performed; FIG. 10 is a diagram showing an example of control regarding the first and second illumination lights of the tractor during cooperative work; FIG. 13 is a diagram showing an example of a setting screen M15 of the display device; 1 is an overall view of a tractor; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a cooperative traveling system for work vehicles. The work vehicle cooperative traveling system is a cooperative traveling system in which the first work vehicle 1A and the second work vehicle 1B travel in cooperation with each other. In this embodiment, the first work vehicle 1A is a manned work vehicle driven by a driver, and the second work vehicle 1B is an unmanned work vehicle driven unmanned. Either of the first work vehicle 1A and the second work vehicle 1B may be manned or unmanned, or both may be manned or both may be unmanned.

In this embodiment, the manned working vehicle 1A and the unmanned working vehicle 1B are tractors. However, the work vehicle 1 is not limited to a tractor, and may be an agricultural machine (agricultural vehicle) such as a combine harvester or a transplanter.
The common configuration of the manned work vehicle 1A and the unmanned work vehicle 1B will be described assuming that the manned work vehicle 1A and the unmanned work vehicle 1B are tractors.

10 shows a side view of the tractor 1. FIG. Hereinafter, the front side of the driver sitting in the driver's seat 10 of the tractor (work vehicle) 1 is defined as the front side, the rear side of the driver is defined as the rear side, the left side of the driver is defined as the left side, and the right side of the driver is defined as the right side. Also, the horizontal direction, which is the direction orthogonal to the front-rear direction of the work vehicle 1, will be described as the width direction of the vehicle body.
As shown in FIG. 10, the tractors 1A and 1B include a vehicle body (running vehicle body) 3 having a running device 7, a prime mover 4, and a transmission 5. As shown in FIG. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of a tire type or a crawler type. Also, the rear wheel 7R may be of a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The transmission device 5 can switch the driving force of the traveling device 7 by changing speed, and can switch the traveling device 7 between forward and reverse. A cabin 9 is provided in the vehicle body 3, and a driver's seat 10 is provided in the cabin 9. - 特許庁

A connecting portion (elevating device) 8 configured by a three-point link mechanism or the like is provided at the rear portion of the vehicle body 3 . The work device 2 can be attached to and detached from the connecting portion 8 . By connecting the working device 2 to the connecting portion 8 , the working device 2 can be towed by the vehicle body 3 . The work device 2 includes a tillage device for tilling, a fertilizer spraying device for spraying fertilizer, an agricultural chemical spraying device for spraying agricultural chemicals, a harvesting device for harvesting, a harvesting device for cutting pasture grass, a spreading device for spreading pasture grass, etc. Examples include a grass collecting device for collecting pasture grass, a forming device for forming pasture grass, and the like. In addition, in FIG. 10, the example which attached the tilling apparatus as the working apparatus 2 is shown.

As shown in FIG. 2, the transmission 5 includes a main shaft (propulsion shaft) 5a, a main transmission section 5b, an auxiliary transmission section 5c, a shuttle section 5d, and a PTO power transmission section 5e. The propelling shaft 5a is rotatably supported by the housing case of the transmission 5, and power from the crankshaft of the prime mover 4 is transmitted to the propelling shaft 5a. The main transmission portion 5b has a plurality of gears and a shifter for changing the connection of the gears. The main transmission section 5b changes the rotation input from the propulsion shaft 5a and outputs it (changes speed) by appropriately changing the connection (engagement) of a plurality of gears with a shifter.

The auxiliary transmission portion 5c has a plurality of gears and a shifter for changing the connection of the gears, like the main transmission portion 5b. The sub-transmission portion 5c appropriately changes the connection (engagement) of a plurality of gears with a shifter, thereby changing and outputting (shifting) the rotation input from the main transmission portion 5b.
The shuttle portion 5 d has a shuttle shaft 12 and a forward/reverse switching portion 13 . Power output from the auxiliary transmission portion 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward/rearward movement switching unit 13 is composed of, for example, a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, that is, the forward movement and the reverse movement of the tractors 1A and 1B, by turning on/off the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device. The rear wheel differential device rotatably supports a rear axle 29R to which the rear wheels 7R are attached.

The PTO power transmission section 5 e has a PTO propulsion shaft 14 and a PTO clutch 15 . The PTO propulsion shaft 14 is rotatably supported and can transmit power from the propulsion shaft 5a. The PTO propulsion shaft 14 is connected to the PTO shaft 16 via a gear or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch or the like, and the power of the propelling shaft 5a is transmitted to the PTO propelling shaft 14 or not transmitted to the PTO propelling shaft 14 by turning on or off the hydraulic clutch. state.

Moreover, the tractors 1A and 1B are provided with a steering device 11. As shown in FIG. The steering device 11 has a steering wheel (steering wheel) 11a, a steering shaft (rotating shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. is doing. The auxiliary mechanism 11 c includes a hydraulic pump 21 , a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22 . The control valve 22 is an electromagnetic valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

Therefore, when the driver operates the steering wheel 11a, the switching position and the opening degree of the control valve 22 are switched according to the steering wheel 11a, and the steering cylinder 23 is turned left or right according to the switching position and the opening degree of the control valve 22. By extending and contracting to the right, the steering direction of the front wheels 7F can be changed. That is, the tractors 1A and 1B (vehicle bodies 3) can be manually steered by the steering device 11. FIG.

At least the tractor 1B (body 3) can be steered automatically. As shown in FIG. 2, the steering device 11 of the tractor 1B has an automatic steering mechanism 25. As shown in FIG. The automatic steering mechanism 25 is a mechanism for automatically steering the vehicle body 3, and automatically steers the vehicle body 3 based on the position of the vehicle body 3 (body position) and a preset travel line. The automatic steering mechanism 25 has a steering motor 26 and a gear mechanism 27 . The steering motor 26 is a motor whose rotation direction, rotation speed, rotation angle, etc. can be controlled based on the current position. The gear mechanism 27 includes a gear provided on the steering shaft 11b and rotating together with the steering shaft 11b, and a gear provided on the rotating shaft of the steering motor 26 and rotating together with the rotating shaft. When the rotary shaft of the steering motor 26 rotates, the steering shaft 11b automatically rotates (turns) via the gear mechanism 27, and the steering direction of the front wheels 7F is changed so that the vehicle body position coincides with the planned travel line. can do. Note that the above-described steering device 11 is an example, and is not limited to the above-described configuration. The automatic steering mechanism 25 may also be provided in the steering device 11 of the tractor 1A.

The tractors 1A, 1B are equipped with a communication device 18 and a positioning device 40. As shown in FIG. The communication device 18 is a short-distance communication device, or a communication device that performs wireless communication using a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. is possible. The communication method of the communication device 18 is not limited, and may be, for example, the IEEE802.15.1 series of communication standards, the IEEE802.11 series of communication standards, or other communication methods.

The positioning device 40 can detect its own position (positioning information including latitude and longitude) using satellite positioning systems (positioning satellites) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives satellite signals (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and detects the vehicle body position (for example, latitude and longitude) based on the satellite signal. . The positioning device 40 is attached to the vehicle body 3, that is, the roof of the cabin 9 provided in the vehicle body 3, or the like. The positioning device 40 has a receiving device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42 . The receiving device 41 is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite.

The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The roll angle, pitch angle, yaw angle, etc. of the vehicle body 3 can be detected by the inertial measurement device 42 . In addition, the positioning device 40 can detect the azimuth (moving direction) of the vehicle body 3 from the vehicle body position such as latitude and longitude, acceleration, angular velocity, and the like. It should be noted that the mounting location of the positioning device 40 is not limited to the example described above as long as it is mounted on the vehicle body 3 .

As shown in FIGS. 2 and 3, each of the tractors 1A and 1B has a plurality of lamps 36. As shown in FIG. A plurality of illumination lights 36 are provided on the vehicle body 3 . A plurality of illumination lamps 36 illuminate in different directions. The plurality of illumination lights 36 includes headlights 37 and work lights 38 .
The headlight 37 is provided on the front portion of the vehicle body 3 . The headlights 37 include a first headlight 37L and a second headlight 37R. The first headlight 37L is arranged on the left front side of the bonnet 24 and can illuminate the front left side of the vehicle body 3 . The second headlight 37</b>R is arranged on the front right side of the bonnet 24 and can illuminate the front right side of the vehicle body 3 . The headlights 37 (the first headlight 37L, the second headlight 37R) can change the irradiation direction with respect to the vehicle body 3 (bonnet 24). As shown in FIG. 4, the headlights 37 (first headlight 37L, second headlight 37R) include a plurality of light sources 33 such as LED lamps and HID lamps. The light source 33 includes a high beam light source 33a and a low beam light source 33b. Incidentally, the tractors 1A and 1B are provided with an illumination changeover switch 69. As shown in FIG. It is possible to switch between the high beam and the low beam by the illumination changeover switch 69. When switched to the high beam, the light source 33a lights, and when switched to the low beam, the light source 33b lights.

The work light 38 is fixed to the roof 9a forming the upper part of the cabin 9. As shown in FIG. The work lights 38 include a first work light 38L and a second work light 38R. The first work light 38L is arranged on the left side of the front part of the roof 12a, and can illuminate the oblique front left of the vehicle body 3 from the rear side of the bonnet 24. - 特許庁The second work light 38R is arranged on the right side of the front part of the roof 6a, and can illuminate the oblique front right of the vehicle body 3 from the rear side of the bonnet 24. - 特許庁

As shown in FIG. 1, the tractors 1A and 1B are provided with a display device 45 and a control device 60. As shown in FIG. The display device 45 is a device capable of displaying various information regarding the tractors 1A and 1B, and is capable of displaying at least operating information of the tractors 1A and 1B. The display device 45 is provided in front of the driver's seat 10 .
The tractors 1A and 1B each have a control device 60. As shown in FIG. The control device 60 performs various controls for the tractors 1A and 1B, such as control for the tractors 1A and 1B to travel in cooperation with each other. Hereinafter, for convenience of explanation, the control device 60 of the manned work vehicle (tractor) 1A is referred to as the "first control device 60A", and the control device 60 of the unmanned work vehicle (tractor) 1B is referred to as the "second control device 60B". ”. The positioning device (first positioning device) 40 of the tractor 1A is referred to as the "manned positioning device 40A", and the positioning device (second positioning device) 40 of the tractor 1B is referred to as the "unmanned positioning device 40B".

FIG. 5 shows an example of travel routes L1a and L1b when the manned work vehicle 1A and the unmanned work vehicle 1B travel in cooperation, that is, when cooperative work is performed. As shown in FIG. 5, in cooperative work, for example, an unmanned work vehicle (tractor) 1B runs ahead while performing work, and a manned work vehicle (tractor) 1A follows the tractor 1B while running. I do. In the cooperative work, the tractor 1A and the tractor 1B make turns in a turn area A1 such as a headland, and repeat straight traveling in a work area A2. The travel routes L1a and L1b can be generated in advance by an external device such as a server or a personal computer, or can be generated by inputting predetermined information to the display device 45. FIG. In the cooperative work, before starting traveling, the tractor 1A is set to be manned by operating the display device 45 or by operating an operation tool arranged around the driver's seat 10, and the tractor 1A is set to be manned. Unattended can be set for 1B. Alternatively, manned or unmanned settings may be made by transmitting manned or unmanned settings to the tractors 1A and 1B from portable terminals such as tablets and smartphones.

The second control device 60B controls the automatic steering mechanism 25 of the steering device 11 so as to follow the travel route L1b set for the tractor 1B. The second control device 60B sets the steering direction and the steering angle by the automatic steering mechanism 25, for example, so that the deviation between the vehicle body position (unmanned vehicle body position) detected by the unmanned positioning device 40B and the travel route L1b is minimized. steer while Further, the second control device 60B controls the rotational speed of the prime mover 4, the shift stage of the transmission 5, etc. so as to achieve the travel speed (vehicle speed) set corresponding to the travel route L1b. Further, the second control device 60B refers to the position of the unmanned vehicle body, and when the tractor 1B is in the work area A2, lowers the lifting device 8 to perform the work by the work device 2, and the tractor 1B moves to the turn area A1. When the worker is in the room, the work by the working device 2 is temporarily stopped by raising the lifting device 8 . That is, the second control device 60B executes control such as automatic traveling of the tractor 1B so that the tractor 1B performs work while traveling along the traveling route L1b. Operation information when the tractor 1B travels, such as the position of the unmanned vehicle body, steering angle, vehicle speed, number of rotations of the prime mover, working width of the working device 2, etc., is transmitted from the communication device 18 to the tractor 1A.

The first control device 60A controls the tractor 1A based on the operation of the driver. When the driver performs an operation to raise the lifting device 8 (manipulate the lifting switch 61 in the direction to raise), the lifting device 8 is raised, and an operation to lower the lifting device 8 (in the direction to lower the lifting switch 61) is performed. operation) is performed, the lifting device 8 is lowered. Further, when the accelerator is operated, the first control device 60A increases or decreases the number of revolutions of the prime mover 4 according to the accelerator operation, and when the gear stage operation member for setting the gear stage of the transmission 5 is operated, The gear stage of the transmission 5 and the like are controlled according to the operation of the gear stage operating member. That is, the first control device 60A controls the operation of the tractor 1A based on the operation of operating members such as the lift switch 61 provided on the tractor 1A, and the operation of operating members such as the accelerator and the shift stage operating member. Execute control. Operation information when the tractor 1A travels, for example, the vehicle body position (manned vehicle body position) detected by the manned positioning device 40A, the steering angle, the vehicle speed, the rotation speed of the prime mover, the work width worked by the work device 2, etc. 18 to the tractor 1B.

The travel routes L1a and L1b may be corrected based on the operation information of the tractors 1A and 1B. The first control device 60A and the second control device 60B correct the travel routes L1a and L1b so that, for example, the work traces of the tractor 1A and the work traces of the tractor 1B overlap. The travel routes L1a and L1b may be corrected by the first control device 60A, and the corrected travel route L1b may be transmitted from the tractor 1A to the tractor 1B. Also, the control in the tractors 1A and 1B and the correction and generation of the travel routes L1a and L1b are examples and are not limited.

Lighting switches 65 and 66 that can be switched ON or OFF are connected to the first control device 60A and the second control device 60B, respectively. The illumination switch 65 is a switch for turning on/off the headlamp 37 , and the illumination switch 66 is a switch for turning on/off the work lamp 38 . The lighting switch 65 may be a hardware switch provided around the driver's seat 10 or a software switch displayed on the display device 45 .

The first control device 60A and the second control device 60B turn on the headlights 37 (first headlight 37L, second headlight 37R) when the lighting switch 65 is turned on, and when the light switch 65 is turned off, The headlights 37 (first headlight 37L, second headlight 37R) are turned off.
The first control device 60A and the second control device 60B turn on the work lights 38 (the first work light 38L and the second work light 38R) when the lighting switch 66 is turned on, and turn off the work lights 38 when the light switch 66 is turned off. The lights 38 (first work light 38L, second work light 38R) are turned off.

Now, when the tractor 1A and the tractor 1B perform cooperative work, as shown in FIG. X2 face the same direction, and as shown in FIG. 6B, the manned traveling direction X1 of the tractor 1A and the unmanned traveling direction X2 of the tractor 1B face each other. The second control device 60B of the tractor 1B controls the illumination lamp 36 of the tractor 1B based on the manned traveling direction X1 and the unmanned traveling direction X2. For convenience of explanation, the illuminating lamp 36 of the tractor 1A may be referred to as the "first illuminating lamp 36A", and the illuminating lamp 36 of the tractor 1B may be referred to as the "second illuminating lamp 36B".

As shown in FIG. 6A, when the manned traveling direction X1 and the unmanned traveling direction X2 are the same under the condition that the second illumination lamp 36B of the tokta 1B is turned on, the second control device 60B The illumination lamp 36B is not dimmed, and the second illumination lamp 36B is dimmed when the manned traveling direction X1 and the unmanned traveling direction X2 face each other as shown in FIG. 6B. Dimming of the second illumination lamp 36B is processing to prevent the second illumination lamp 36B from being dazzling, and when the high beam is lit, it is changed to low beam, and when it is low beam, the illuminance is reduced.

FIG. 7 is an example of control of the second illumination light 36B of the tractor 1B during cooperative work.
First, in the cooperative work, in the tractors 1A and 1B, the headlight 37 of the first lighting 36A of the tractor 1A and the headlight 37 of the second lighting 36B of the tractor 1B are turned on to start the cooperative work. and

As shown in FIG. 7, when the cooperative work is started, at least the manned traveling direction X1 detected by the manned positioning device 40A is transmitted from the tractor 1A to the tractor 1B via the communication device 18 of the tractor 1A (S1). After the communication device 18 of the tractor 1B receives the manned traveling direction X1, the second control device 60B of the tractor 1B determines whether the manned traveling direction X1 faces the unmanned traveling direction X2 detected by the unmanned positioning device 40B. (S2).

When the manned traveling direction X1 and the unmanned traveling direction X2 face each other (S2, Yes), the second control device 60B of the tractor 1B performs light reduction processing (S3). In the dimming process, when the headlamp 37 of the second illumination lamp 36B is high beam, even if the illumination changeover switch 69 is on the high beam side, it is switched to low beam. Alternatively, in the dimming process, if the headlight 37 of the second illumination light 36B is low beam, the illuminance of the headlight 37 is reduced below a preset value (default value). When the manned traveling direction X1 and the unmanned traveling direction X2 do not face each other (S2, No), the second control device 60B of the tractor 1B controls the manned traveling direction X1 and the unmanned traveling direction X2. If the direction is the same as the direction X2, the dimming process is not performed.

The second control device 60B of the tractor 1B determines whether or not the manned traveling direction X1 and the unmanned traveling direction X2 face each other (S4) under the condition that the light reduction process is being performed. When the unmanned traveling direction X2 is no longer facing (S4, No), the dimming process is terminated (S5). In the dimming process, the second controller 60B of the tractor 1B returns to the low beam when switching from the high beam to the low beam, and returns the illuminance to the default value when the illuminance of the low beam is reduced.

Note that the first illumination lamp 36A of the tractor 1A may be controlled during cooperative work.
FIG. 8 is an example of control of the first illumination lamp 36A and the second illumination lamp 36B of the tractor 1A and the tractor 1B during cooperative work.
As shown in FIG. 8, when the cooperative work is started, the manned vehicle body position and manned traveling direction X1 are transmitted from the tractor 1A to the tractor 1B via the communication device 18 of the tractor 1A (S10). The unmanned vehicle body position P12 and the unmanned traveling direction X2 are transmitted from the tractor 1B to the tractor 1A via the communication device 18 of the tractor 1B (S11). After the communication device 18 of the tractor 1A receives the unmanned vehicle body position P12 and the unmanned traveling direction X2, the first controller 60A of the tractor 1A determines whether the tractors 1A and 1B pass each other (S12). For example, the first control device 60A determines whether or not the manned direction of travel X1 and the unmanned direction of travel X2 face each other. As shown, the distance (distance in the traveling direction) SD1 between the manned vehicle body position P11 and the unmanned vehicle body position P12 is calculated, and when the distance SD1 becomes equal to or less than a predetermined distance SD2 (threshold value or less), the tractor 1A and the tractor It is judged that 1B and 1B pass each other.

When it is determined that the tractor 1A and the tractor 1B will pass each other (S12, Yes), the first control device 60A performs forward lighting processing to illuminate the front of the tractor 1B (S13). In the front lighting process, the first control device 60A turns on the work lights 38 (first work light 38L, second work light 38R) provided at the rear of the tractor 1A.
On the other hand, after the communication device 18 of the tractor 1B receives the manned vehicle body position P11 and the manned traveling direction X1, the second control device 60B of the tractor 1B also detects the passing of the tractor 1A and the tractor 1B in the same way as the first control device 60A. It is determined whether or not to do so (S21). That is, the second control device 60B determines whether or not the manned traveling direction X1 and the unmanned traveling direction X2 face each other. and the distance (distance in the traveling direction) SD1 of the unmanned vehicle body position P12, and when the distance SD1 becomes equal to or less than a predetermined distance SD2 (threshold value or less), it is determined that the tractor 1A and the tractor 1B pass each other. .

When it is determined that the tractor 1A and the tractor 1B will pass each other (S21, Yes), the second control device 60B performs the light reduction process in the same manner as described above (S22), and the forward lighting process of illuminating the front of the tractor 1A. (S23). In the front lighting process, the second control device 60B turns on the work lights 38 (first work light 38L, second work light 38R) provided at the rear of the tractor 1B.

As described above, when the tractors 1A and 1B pass each other, the work lights 38 (the first work light 38L and the second work light 38R) at the rear of the tractors 1A and 1B are turned on so that the front of the other party can be seen. It can illuminate and improve visibility. In the above-described embodiment, both the tractors 1A and 1B perform forward illumination processing, but only the unmanned tractor 1B may perform forward illumination processing.

In the above-described embodiment, when the distance SD1 between the tractor 1A and the tractor 1B becomes equal to or less than the distance SD2, it is determined that they pass each other. It may be determined that the two have passed each other when the elapsed time has reached a predetermined time (passing determination time).
The display device 45 provided on at least one of the tractor 1A and the tractor 1B may display the vehicle body positions of the tractor 1A and the tractor 1B.

The display device 45 can set at least the timing for dimming the second illumination lamp 36B. When a predetermined operation is performed on the display device 45, a setting screen M15 is displayed as shown in FIG. The setting screen M15 includes a first vehicle body display portion 301 showing the tractor 1A and a second vehicle body display portion 302 showing the tractor 1B. The setting screen M15 also includes a distance input section 303 and a time input section 304 . The distance input section 303 is a section for inputting a distance (relative distance) SD2 between the tractor 1A and the tractor 1B. The time input section 304 is a section for inputting the time until the tractor 1A and the tractor 1B pass each other (passing determination time).

By changing the value for inputting the distance SD2 to the distance input section 303, it is possible to change the timing of starting the dimming process of the second lamp 36B when the tractors 1A and 1B face each other. Further, by changing the passing judgment time input to the time input unit 304, when the tractors 1A and 1B face each other, the timing of starting the dimming process of the second illumination lamp 36B after facing each other can be changed. can be done.

The display device 45 may display either the distance input section 303 or the time input section 304 on the setting screen M15. In the above-described embodiment, the distance input unit 303 and the time input unit 304 are items for setting the timing for starting the dimming process of the second illumination lamp 36B. It may be time to do so. In this case, when the distance SD1 between the tractor 1A and the tractor 1B becomes equal to or less than the distance SD2, the second illumination lamp 36B can be blinked in addition to the dimming process. Further, when the elapsed time from when the tractor 1A and the tractor 1B face each other reaches the passing judgment time, the second lamp 36B can be blinked in addition to the dimming process.

Note that even when the travel routes overlap so that the first traveling direction X1 and the second traveling direction X2 intersect, all of the details such as the dimming process described above can be applied.
A work vehicle coordinated traveling system includes a first work vehicle 1A having a first lighting 36A and a first control device 60A that controls the first lighting 36A, a second lighting 36B and the second lighting 36B. A cooperative traveling system for a work vehicle that travels in cooperation with a second work vehicle 1B having a second control device 60B that controls the first positioning device 40A that detects a first traveling direction of the first work vehicle 1A. and a second positioning device 40B that detects the second traveling direction X2 of the second work vehicle 1B. 2 Controls the illumination lamp 36B. According to this, for example, when the first traveling direction X1 and the second traveling direction X2 face each other, the second illumination lamp 36B is dimmed, or the second illumination lamp 36B is used to illuminate the first work vehicle 1A. By illuminating the front, the first work vehicle 1A can be made easier to drive.

The second control device 60B dims the second illumination lamp 36B when the first traveling direction X1 and the second traveling direction X2 face each other. According to this, it is possible to suppress the light emitted by the second illumination lamp 36B of the second work vehicle 1B from entering the line of sight of the driver of the first work vehicle 1A and feeling dazzled, and the driver of the first work vehicle 1A runs in cooperation. In this case, the driving of the first work vehicle 1A can be improved.
The second illumination light 36B includes a headlight provided in the front portion of the second work vehicle 1B, and the second control device 60B controls the front light when the first traveling direction X1 and the second traveling direction X2 are the same. When the first direction of travel X1 and the second direction of travel X2 face each other without dimming the headlights, the dimming of the headlights is performed. According to this, it is possible to appropriately dim the light emitted from the second lighting lamp 36B of the second work vehicle 1B when it is likely to enter the line of sight of the driver of the first work vehicle 1A.

The second illumination lamp 36B includes a work lamp 38 provided at the rear, and the second control device 60B controls the first work vehicle 1A and the second work vehicle so that the first traveling direction X1 and the second traveling direction X2 face each other. When 1B passes each other, the work light 38 is turned on. According to this, when the first work vehicle 1A and the second work vehicle 1B pass each other, the front of the first work vehicle 1A can be illuminated, and the front field of view of the first work vehicle 1A can be extended to the second work vehicle 1B. can be supplemented by a working light 38 of .

The work vehicle coordinated traveling system includes a display device 45 that displays the vehicle body positions of the first work vehicle 1A and the second work vehicle 1B. can be set. According to this, it is possible to arbitrarily change the dimming and/or blinking timing of the second illumination lamp 36B according to the working conditions, the field condition, etc., and it is possible to improve the workability.

The display device 45 has a distance input section 303 for inputting a distance SD2 between the first work vehicle 1A and the second work vehicle 1B as timing. According to this, the distance SD2 can be input according to the working condition, the field condition, the size of the working vehicle, the specification of the second illumination lamp 36B, and the like.
The display device 45 has a time input unit 304 for inputting the time until the first work vehicle 1A and the second work vehicle 1B pass each other ((passing determination time) as timing. The passing judgment time can be input according to the field state, the size of the work vehicle, the specifications of the second illumination lamp 36B, and the like.

The first work vehicle 1A is a manned work vehicle, and the second work vehicle 1B is an unmanned work vehicle. According to this, it is possible to reduce glare when the first work vehicle 1A is manned and driven.
The work vehicles (the first work vehicle 1A and the second work vehicle 1B are equipped with a work vehicle cooperative traveling system. That is, as the work vehicle cooperative traveling system, the first work vehicle 1A has the first illumination lamp 36A. , a first controller 60A and a first positioning device 40A, and the second work vehicle 1B includes a second lighting 36B, a second controller 60B and a second positioning device 40B. Appropriate lighting can be performed when the work vehicles travel in cooperation.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1A: First work vehicle 1B: Second work vehicle 36A: First illumination light 36B: Second illumination light 38: Work light 45: Display device 40A: First positioning device 40B: Second positioning device 60A: First control device 60B: Second control device X1: First traveling direction X2: Second traveling direction 303: Distance input unit 304: Time input unit

Claims (9)

A first work vehicle having a first illumination lamp and a first control device for controlling the first illumination lamp, and a second work vehicle having a second illumination lamp and a second control device for controlling the second illumination lamp A cooperative traveling system for work vehicles that travel cooperatively,
a first positioning device that detects a first traveling direction of the first work vehicle;
a second positioning device that detects a second traveling direction of the second work vehicle;
with
The second control device controls the second illumination lamp based on the first traveling direction and the second traveling direction. 2. The cooperative traveling system for a work vehicle according to claim 1, wherein said second control device dims said second illumination lamp when said first traveling direction and said second traveling direction face each other. the second illumination light includes a headlight provided at the front of the second work vehicle;
When the first traveling direction and the second traveling direction are the same , the second control device does not dim the headlights, and the first traveling direction and the second traveling direction face each other. 3. The cooperative traveling system for a work vehicle according to claim 2, wherein the headlamps are dimmed when the vehicle is in a state of emergency. The second illumination light includes a work light provided at the rear,
4. The second control device turns on the work lamp when the first work vehicle and the second work vehicle pass each other with the first movement direction and the second movement direction facing each other. 2. A cooperative traveling system for the work vehicle described in 1. a display device for displaying vehicle body positions of the first work vehicle and the second work vehicle;
5. The cooperative traveling system for a work vehicle according to claim 2, wherein said display device can set the timing of dimming and/or blinking of said second illumination lamp. 6. The work vehicle cooperative traveling system according to claim 5, wherein the display device has a distance input unit for inputting a distance between the first work vehicle and the second work vehicle as the timing. 6. The work vehicle cooperative traveling system according to claim 5, wherein the display device has a time input unit for inputting a time until the first work vehicle and the second work vehicle pass each other as the timing. 8. The work vehicle cooperative traveling system according to claim 1, wherein the first work vehicle is a manned work vehicle, and the second work vehicle is an unmanned work vehicle. A work vehicle equipped with the work vehicle coordinated traveling system according to any one of claims 1 to 8.

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