WO2015064873A1 - Simulated driving training apparatus for agricultural tractor - Google Patents

Abstract

Disclosed is a simulated driving training apparatus for an agricultural tractor. The apparatus comprises: an agricultural tractor body which includes at least one driving operation device, and generates a driving operation control signal by the operation device; and a virtual space simulation device for generating and displaying a virtual space having a topography including a road or an agricultural land, and a virtual tractor and an actuator moving or working in the virtual space, and for controlling the moving or working of the virtual tractor in response to the control signal. According to the present invention, it is possible to allow an agricultural tractor driver to have feeling of actually driving the tractor, to prevent a possible overturn accident when the agricultural tractor driver drives on an unpaved road, and to prevent an accident caused by violation of traffic rules or the poor driving of the agricultural tractor driver in an agricultural road or an approach road of paddies and fields.

Description

Simulation driving training device for agricultural tractor

The present invention relates to an agricultural tractor, and more particularly to a simulator of the agricultural tractor. In order to prevent traffic accidents during agricultural machinery work due to inexperienced operation of agricultural tractors, or to move traffic, the agricultural tractors are provided to provide driving training for agricultural tractors. It relates to a simulated driving training device.

In general, a simulator is a device for simulating physical and electrical phenomena, and refers to a device that uses mechanical or electrical and electronic devices designed to operate in the same or similar manner in order to analyze a motion occurring in a real situation.

The main applications of these simulators are complex operational situations in which technical and economically difficult conditions, such as piloting of aircraft, ships, and automobiles, nuclear reactor driving, disaster preparedness training, airport control training, and weapon control training, are repeatedly reproduced. The back is reproduced in the same way as the actual scene through the computer.

In particular, the vehicle simulator receives a driver's driving operation device, a road environment, and the like to perform a simulation to output a vehicle movement and sound.

At this time, the dynamic situation motion corresponding to the movement of the vehicle is transmitted to the platform so that the driver can feel the actual driving of the vehicle.

These vehicle simulators are applied to road driving situations such as driving on highways, downtown and local roads, driving on slopes, and dangerous situations such as reproducing traffic accidents such as collisions and overturns, and are used for driving practice, driver assistance system development, and traffic safety research. do.

For example, we develop a low-cost car driving exerciser for beginners who want to obtain a driver's license at home and abroad, and simulate the characteristics and performance of the aircraft to effectively conduct tactical flight training and flight situation recognition of student pilots and fighter pilots in the Air Force. Also, it is used as a textbook for improving processing capacity, and test evaluation of virtual reality-based car telematics and various active safety systems of vehicles have been developed.

As such, there are many cases where simulators have been developed and used for automobiles, airplanes, munitions, and play equipment, but there are hardly any examples developed specifically for agriculture.

For example, in Japan, driving training is provided for the basic operation of tractors, combines, rice transplanters, etc., to experience risks on slopes and slopes, how to avoid them, and to experience the elderly. There is a problem that there is a risk of leading to a real accident when driving on a real road or slope.

In addition, 93% of agricultural machine farming accidents are inadvertent for drivers and driving inexperience, and 98% of traffic accidents are due to driver carelessness and violation of traffic laws, and most of agricultural machine accidents are caused by human factors.

Accordingly, there is a need to develop a virtual reality education device for agricultural tractors that can prevent accidents by providing driving training to farmers who work with agricultural machinery in farming operations and road driving similar to actual situations.

Accordingly, an object of the present invention is to calculate the inclination angle in the virtual space through the contact of the ground in the virtual space and the vehicle in the virtual space, and calculates the calculated inclination angle and the data output from at least one sensor provided in the agricultural vehicle simulator By transmitting the dynamic situation motion of the vehicle in the virtual space to the motion platform device connected to the agricultural simulator vehicle body based on the output data, to create an audiovisual and motion simulation environment in the driver's seat of the vehicle To provide a simulation driving training device for agricultural tractors.

In the virtual space, an agricultural tractor body that calculates the inclination angle through contact with the ground of the terrain, controls the movement of the vehicle by at least one control device when driving the vehicle in the virtual space, and provides a simulation environment to the driver ; And generating a vehicle in the virtual space using a wheel collision body of unity, which is a game physics engine, and at least one sensor and potentiometer of the agricultural vehicle body and frictional force between the vehicle and the ground of the virtual space. And a simulation driving education apparatus for an agricultural tractor including a virtual space simulation device for controlling driving force, acceleration, deceleration, or stopping of the vehicle based on data received from the POTENTIOMETER, and controlling an actuator connected to the vehicle. It is done.

According to the present invention, the driver of the agricultural tractor has a feeling of actually driving the tractor, to prevent possible overturning accidents when driving the agricultural tractor off-road, and inadequate operation of the agricultural tractor in the driveway of the agricultural road or paddy field In addition, accidents caused by violation of traffic laws can be prevented.

Figure 1 illustrates a tractor driving simulation training apparatus for farming according to an embodiment of the present invention.

2 is a schematic plan view of the agricultural tractor simulation driving training apparatus according to an embodiment of the present invention.

3 illustrates a front view of a steering wheel part according to an embodiment of the present invention.

4 illustrates a rotation angle according to the rotation of a steering wheel according to an embodiment of the present invention.

5 illustrates a configuration of a steering wheel unit according to an embodiment of the present invention.

6 illustrates a steering wheel according to an embodiment of the present invention.

7A and 7B illustrate an accelerator pedal unit according to an embodiment of the present invention.

8A and 8B illustrate a pedal part and a right brake potentiometer (POTENTIOMETER) according to an embodiment of the present invention.

9A and 9B illustrate a clutch pedal unit, a brake unit, a left brake potentiometer and a clutch potentiometer according to an embodiment of the present invention.

10 illustrates a peripheral speed gear unit according to an exemplary embodiment of the present invention.

11A and 11B illustrate a sub transmission gear unit and a power take off (PTO) unit according to an embodiment of the present invention.

12 illustrates a position control lever according to an embodiment of the present invention.

13 illustrates a differential locking device and a four-wheel drive device according to an embodiment of the present invention.

Figure 14 illustrates a forward and backward shuttle according to an embodiment of the present invention.

15 is a block diagram of a virtual space simulation apparatus according to an embodiment of the present invention.

16 illustrates a rotation angle of a trailer according to an embodiment of the present invention.

17 and 18 illustrate parameters for calculating torque according to an embodiment of the present invention.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the text.

However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "having" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described in the specification, and that one or more other features It should be understood that it does not exclude in advance the possibility of the presence or addition of numbers, steps, actions, components, parts or combinations thereof.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 illustrates an agricultural tractor simulation driving training apparatus according to an embodiment of the present invention, Figure 2 is a schematic plan view of the agricultural tractor simulation driving training apparatus according to an embodiment of the present invention.

1 and 2, the agricultural tractor simulation driving apparatus according to an embodiment of the present invention includes an agricultural tractor body 1, a virtual space simulation apparatus 2, and a motion platform 3.

In addition, the agricultural tractor body includes a display unit 600, agricultural tractor body driver's seat 601, the pedal unit 20, the transmission gear unit 30, the operation unit 40.

The agricultural tractor body 1 includes at least one driving manipulator 10, 20, 30 and 40, and generates a driving maneuver control signal by the manipulator.

Here, the operation control signal generated by the operation apparatus is transmitted to the virtual space simulation apparatus 2, and is calculated by an arithmetic expression stored in advance in the virtual space simulation apparatus 2 that has received the operation control signal, Based on the calculation result, the operation of the motion platform 3 is controlled.

According to one embodiment, the agricultural tractor body 1 of the present invention, the steering wheel unit 10 for rotating the virtual tractor to the left and right, the pedal unit for controlling the acceleration, deceleration, shift, stop and stop of the virtual tractor. (20), the gear shift of the virtual tractor, the transmission gear unit 30 for controlling the actuator connected to the rear of the virtual tractor and the differential lock of the virtual tractor, four-wheel drive switching, the driving direction of the vehicle and the actuator It includes an operation unit 40 for controlling the angle from the ground of the.

3 is a front view of a steering wheel unit 10 according to an embodiment of the present invention, Figure 4 shows a rotation angle according to the rotation of the steering wheel 122, Figure 5 is a steering wheel unit ( 10 shows a configuration of FIG. 6, and FIG. 6 shows a steering wheel 122.

3, 4, 5, and 6, the steering wheel part 10 is provided at a first position inside the agricultural tractor body 1, and the steering wheel 122 is rotatable at a steering angle of left and right, respectively. A friction force providing unit (not shown) which is mechanically connected by using the steering wheel 122 and the first gear shaft 101 and provides a frictional force to the rotation of the steering wheel 122, and the steering wheel 122. It is mechanically connected using the first gear shaft 101, and includes a rotation limiting portion (not shown) for limiting the rotation of the steering handle (122).

The friction force providing unit (not shown) is connected to the steering wheel 122 and is located at a universal joint 121 and a lower end of the universal joint 121 to transmit a rotation angle of the steering wheel 122. The first cam shaft gear 102 and the second cam shaft gear (rotated by the rotation of the first gear 103 in the position engaged with the first gear 103, the first gear 103 that rotates corresponding to ( 104, a center of rotation which is connected to each of the first camshaft gear 102 and the second camshaft gear 104 and is the same as the center of rotation of each of the first camshaft gear 102 and the second camshaft gear 104. And are respectively connected to the first cam shaft 108 and the second cam shaft 109, the first cam shaft 108 and the second cam shaft 109, respectively, and the first cam shaft 109 and the second cam shaft are rotated. A first friction gear 105 having the same rotational center as the rotational center of each of the camshafts 109, each rotating, and having an asymmetrical friction side; The third friction gear 104 and the fourth friction gear 107 rotated in engagement with the second friction gear 106, the first friction gear 105, and the second friction gear 106, respectively, and the steering wheel part. (10) A first elastic force is provided by the elastic spring 112 disposed on one surface, and the first friction force is provided to each of the third friction gear 104 and the fourth friction gear 107 by using the elastic force. It includes an LM guide 110 and the second LM guide 111, and is connected to the third friction gear 104 and the fourth friction gear 107, the third friction gear 104 and the fourth friction gear First servo motor 114 having the same rotation center as each rotation center and receiving a steering wheel control signal from the virtual space simulation apparatus 2 to control the rotation angle of the steering wheel 122. And a second servomotor 115.

The rotation limiting part (not shown) is connected to the first gear shaft 101, the second gear 116 is connected to the rotation center having the same rotation center as the rotation center of the first gear shaft 101, the A third gear 119 provided with a rotation limiting stopper 120 that engages with the second gear 116 and limits the rotational angle of the steering wheel 122, and is spaced apart from the upper portion of the third gear 119. And a limiting member 118 configured to limit rotation of the rotation limiting latch 120, a second gear shaft 121 and a first rotational center having the same rotational center as the rotational center of the third gear 119. A first potentiometer 117 connected to the gear shaft 101 to output the steering angle of the steering wheel as a first measured value and to transmit the first measured value to the virtual space simulation apparatus 2; It includes.

In one embodiment, the first gear 103 which rotates with the same center of rotation as the first gear shaft 101 rotates in engagement with the first cam shaft gear 102 and the second cam shaft gear 104, and details. Preferably has a gear ratio of 1: 3. For example, when the first gear 103 rotates 180 °, the first friction gear 105 and the second friction gear 106 rotate 60 °.

In one embodiment, the first friction gear 105 and the second friction gear 106 have an asymmetric friction surface, the friction surface may have a gear tooth or a flat friction surface.

In one embodiment, the first servomotor 114 and the second servomotor 115 are electrically connected to the virtual space simulation apparatus 2 to control the return rotation after the steering wheel 122 rotates. To receive a signal.

In one embodiment, the first servomotor 114 and the second servomotor 115 have the same rotation center as the third friction gear 104 and the fourth friction 107 gear and are mechanically connected to each other. In addition, the first servo motor 114 and the second servo motor 115 may be a low inertia small capacity servomotor having a capacity of 0.1 kW for speed control with a speed reducer of 1/5 or more.

7A and 7B illustrate an accelerator pedal unit 260 according to an embodiment of the present invention, and FIGS. 8A and 8B illustrate a pedal unit 20 and a right brake potentiometer according to an embodiment of the present invention. 9A and 9B illustrate a clutch pedal unit 200, a brake unit 220 and 240, a left brake potentiometer 223 and a clutch potentiometer according to an embodiment of the present invention. 202 is shown from the side.

Referring to Figures 7a, 7b, 8a, 8b, 9a and 9b, the closing portion 20 of the present invention is provided in a second position inside the agricultural tractor body 1, the acceleration pedal unit 260, the acceleration pedal A brake unit mechanically connected by using a clutch pedal unit 200 spaced apart from the unit 260 and a first concentric shaft 269 rotating with the same rotation center as the rotation center of the clutch pedal unit 200. Include.

The acceleration pedal unit is connected to an accelerator pedal 261 and the accelerator pedal 261, and has a second center of rotation that is the same as the center of rotation of the accelerator pedal 261 and rotates, the second concentric shaft 262. Is connected to the shaft 262, having a rotation center equal to the rotation center of the second concentric shaft 262, and flexible to prevent the accelerator pedal 261 from being separated from the second concentric shaft 262 (FLEXIBLE) It is connected to the coupler 263 and the second concentric shaft 262, and outputs the rotation angle of the accelerator pedal 261 as a second measurement value, the second measurement value to the virtual space simulation apparatus (2) And a second potentiometer 264 for transmitting.

In one embodiment, the second potentiometer 264 senses the rotation angle of the accelerator pedal 261 operated by the driver of the agricultural tractor body 1, the virtual simulation of the sensed result value Send to the device.

In one embodiment, the flexible coupler 263 is the second potentiometer to measure the rotation angle of the accelerator pedal 261 even if the axis of the second concentric shaft 262 and the accelerator pedal 261 is not concentric. Enable sensing at 264.

The clutch pedal 201 unit 200 measures a rotation angle of the clutch pedal 201 and the clutch pedal 201, and transmits the third measured value to the virtual space simulation apparatus 2. A tensioner, a first connection pulley (PULLEY) 203 connecting the first concentric shaft 269 and the third potentiometer 202 and the agricultural vehicle body 1 are provided on the clutch pedal 201 And a first pressure sensor 205 and a clutch pedal 201 for outputting the operating state as a fourth measured value and transmitting the fourth operating value to the virtual space simulation apparatus 2. Press to turn on the first pressure sensor 205 when the clutch pedal 201 is operated, and to turn off the first pressure sensor 205 when the clutch pedal 201 is not operated. Member 204.

In one embodiment, the pressing member 204 presses the first pressure sensor 205 by the pressing member 204 when the user of the agricultural tractor body 1 steps on the clutch pedal 201. . The resultant value measured by the first pressure sensor 205 is transmitted to the virtual space simulation apparatus 2, and the solenoid 302 included in the peripheral speed gear part 300 of the present invention is based on the transmitted resultant value. Can be controlled. As a result of the measurement, that is, if the user presses the clutch pedal 201 for a predetermined time or more, in detail, if the user presses the clutch pedal 201 for more than about 10 seconds, the solenoid 302 may be operated to prevent malfunction or mechanical damage of the solenoid 302. The operation of 302 is controlled.

The brake units 220 and 240 are connected to the first concentric shaft 269, and the left brake pedal 221 and the left brake pedal rotate about the same rotation center as the rotation center of the first concentric shaft 269. A fourth potentiometer 223 and the first concentric shaft 269 for measuring the rotation angle of the rotary part 221 and outputting it as a fifth measured value and transmitting the fifth measured value to the virtual space simulation apparatus 2; ) Is connected to the second connection pulley 224 connecting the fourth potentiometer 223 and the first concentric shaft 269 to the same rotation center as the rotation center of the first concentric shaft 269. A fifth cloth for measuring a rotation angle of the rotating right brake pedal 241 and the right brake pedal 241 and outputting it as a sixth measured value and transmitting the sixth measured value to the virtual space simulation apparatus 2; A third connecting the tension meter 242 and the first concentric shaft 269 to the fifth potentiometer 242. And a connection pulley 244.

The left brake pedal 221 senses a seventh measurement value by sensing a connection state between the brake connection groove and the left brake pedal 221 and the right brake pedal 241 to be used simultaneously with the right brake pedal 241. The first and second brake pedals 243 and the left brake pedal may be output to the first proximity sensor 222 and the brake connection groove to transmit the seventh measured value to the virtual space simulation apparatus 2. And a brake connecting pin 243 to which 221 can be connected.

In one embodiment, the brake connecting pin 243 is characterized in that the connecting pin to step on the left brake 221 and the right brake 241 at the same time.

FIG. 10 illustrates a peripheral gear unit 300 according to an embodiment of the present invention, and FIGS. 11A and 11B illustrate an auxiliary gear unit 330 and a PTO unit 360 according to an embodiment of the present invention. It is shown.

10, 11a and 11b, the transmission gear unit 30 is a peripheral gear unit 300 capable of shifting the gear GEAR of the virtual tractor by at least one stage, and dependent on the peripheral gear of the virtual tractor. And a PTO (POWER TAKE OFF, 360) unit that transmits power to the actuator connected to the at least one gear and the actuator connected to the virtual tractor, and selects at least one gear.

The peripheral speed gear unit 300 is provided at a third position inside the agricultural tractor body 1, the peripheral speed gear handle 301, the third LM guide 303 located at the lower end of the peripheral speed gear handle, A solenoid 302 positioned above the third LM guide 303 and electrically fixing the peripheral gearbox handle 301, and the first, second, third, fourth, and first neutrals of the virtual tractor ( Peripheral gear cover 304 having a 'H' type groove for displaying the peripheral gear stage including the N) stage in the middle of each of the two vertical grooves and one horizontal groove, the virtual space simulation apparatus ( 2) transmits the eighth to eleventh measurement values, and the second to fifth proximity sensors 305 and the second, which are located in the remaining four grooves, except for the neutral (N) stage, among the main gear stages. Located around the fifth to fifth proximity sensor 305, the peripheral speed gear handle is a neutral (N) end of the main gear stages; It comprise at least one ball plunger (BALL PLUNGER, not shown) that allows to be fixed to a position except.

The sub transmission gear unit 330 is provided at a fourth position inside the agricultural tractor body 1, and the fourth LM guide 332 located at the lower end of the sub transmission gear handle 333 and the sub transmission gear handle 333. And a linear groove positioned above the fourth LM guide 332 and displaying sub-gear gear stages including first stage, second stage, three stage, four stage and the second neutral (N) stage of the virtual space tractor. And a twelfth to fifteenth measurement values to the sub-gear gear cover 334 and the virtual space simulation apparatus 2, and the remaining four gears, except for the neutral (N) stage, Located near the sixth to ninth proximity sensors 331 and the sixth to ninth proximity sensors positioned in the sub transmission gear stages, and the sub transmission gear handle 333 is a neutral (N) end of the sub transmission gear stages. At least one ball plunger (not shown) to be fixed to a position other than the.

The PTO unit 360 is provided at a fifth position inside the agricultural tractor body 1, and includes a PTO gear handle 363 and a fifth LM guide 361 located at a lower end of the PTO gear handle 363. 5 PTO cover located above the LM guide 361 and having a straight groove for indicating the PTO gear stages comprising the 540 rpm stage, the third neutral (N) stage, the 750 rpm stage and the 1000 rpm stage to the actuator of the virtual tractor. 364) a sixteenth to eighteenth measurement values are transmitted to the virtual space simulation apparatus 2, and among the PTO gear stages, except for the neutral (N) stage, At least one of the tenth to twelfth proximity sensors 362 and the tenth to twelfth proximity sensors, wherein the PTO gear handles can be fixed at positions other than the neutral (N) end of the PTO gear stages. Ball plungers (not shown).

12 illustrates a position control lever 400 according to an embodiment of the present invention, and FIG. 13 illustrates a differential locking device 420 and a four-wheel drive device 440 according to an embodiment of the present invention. 14 illustrates a forward and backward shuttle 460 according to an embodiment of the present invention.

12, 13 and 14, the operation unit 40 is a position control lever 400 for controlling the height of the actuator connected to the virtual space tractor, the left drive wheel and the right drive wheel of the virtual space tractor in one axis. A differential locking device 420 for fixing the connection, a four-wheel drive device 440 for controlling at least one driving wheel at the same time or the front driving wheel and the rear driving wheel of the virtual space tractor, and the forward or backward of the virtual space tractor in one direction Forward and backward shuttle 460 to move to.

The position control lever 400 is provided at a sixth position inside the agricultural tractor body 1, and a position control lever handle 401 capable of reciprocating between the seventh position 404 and the eighth position 405. And a variable link section 402 connected to the opposite end of the position control lever handle and converting the reciprocating motion into a rotary motion and one end of the variable link section, and transmitting the nineteenth measured value to the virtual space simulation apparatus 2. And a sixth potentiometer 403 provided at the center of the rotational movement.

In one embodiment, the position control lever 400 may be used to control the position of the actuator when the actuator connected to the rear of the tractor of the virtual space, in particular, the rotor work or trailer.

The differential locking device 420 is provided in a ninth position inside the agricultural tractor body, the differential locking support unit 426, the differential cover unit 427 is provided with at least one circular groove and covers the differential locking support, A differential lock handle 421 vertically penetrating at least one circular groove of the differential cover unit and capable of vertically reciprocating, and provided at one end of the differential lock handle 421 and having at least one rail and at least one engaging groove; 1 variable rail unit 422, one end is fixed to the differential lock support portion, the other end is fixed to the differential latch 425 that can be caught in at least one locking groove, one end is fixed to the differential lock support portion 426, the other side The virtual space simulation is performed by sensing the presence / absence of the differential spring unit 423 and the first variable rail unit 422, one end of which imparts elastic force to the first variable rail unit 422. A value (2), it includes a first proximity sensor 13, 424 for transmitting the 20 measured values.

The four-wheel drive device 440 is provided at the tenth position inside the agricultural tractor body 1, the four-wheel drive unit 446, the four-wheel cover unit is provided with at least one circular groove and covers the four-wheel drive support ( 447), a four-wheel drive handle 441 that vertically penetrates at least one circular groove of the four-wheel cover unit and is capable of vertically reciprocating, and is provided at one end of the four-wheel drive handle 441 and at least one rail and at least one hook. A second variable rail unit 442 having a groove, one end of which is fixed to the four wheel drive supporter 446, and one end of which the four wheel latch 445 can be caught in at least one locking groove, and one end of the four wheel driving. It is fixed to the support 446, the other end senses the presence or absence of the access of the four-wheel spring unit 443 and the second variable rail unit 442 to give an elastic force to the second variable rail unit 442, The virtual space simulation apparatus 2, the 21st And a fourteenth proximity sensor 444 for transmitting the measured value.

The forward and backward shuttle 460 is provided at the eleventh position inside the agricultural tractor body 1, the shuttle support portion 469 having at least one circular groove on the top, vertically penetrates the at least one circular groove, A shuttle shaft 462 having a rotating shaft vertically penetrating the center point of the circular groove, is fixed to one end of the shuttle shaft 462, the shuttle shaft 462 to the first to third angles (465, 464, 463) The virtual space simulation apparatus 2 having a forward and backward handle 461 and a central axis that is the same as the rotation axis of the shuttle shaft 462 and corresponding to the first to third angles 465, 464, and 463 in order. ), Which may be disposed to face the fifteenth to seventeenth proximity sensors 466, 467, and 468 and the fifteenth to seventeenth proximity sensors 466, 467, and 468. The sensor recognition member 470 is included.

FIG. 15 illustrates a configuration of a virtual space simulation apparatus 2 according to an embodiment of the present invention. FIG. 16 illustrates a rotation angle of a trailer according to an embodiment of the present invention. FIGS. 17 and 18. Is a formula for calculating a torque according to an embodiment of the present invention.

15, 16, 17, and 18, the virtual simulation apparatus 2 of the present invention includes a sensing data receiver 2a, a simulation data transmitter 2b, and a central computing unit 2c.

The data receiver 2a receives at least one measurement value from the at least one sensor, that is, a pressure sensor, a proximity sensor, and potentiometers.

The central computing unit 2c may calculate an engine torque optimized for the agricultural machine of the present invention through the following Equation 1 and FIGS. 17 and 18.

Equation 1

Where m is the tractor weight, r _r is the vertical distance from the slope to the rear wheel center, r _f is the vertical distance from the slope to the front wheel center, I _r is the moment of inertia around the rear wheel axis, and I _f is the inertia around the front wheel axis. Moment, a is the acceleration of the tractor, h is the center of gravity height, k is the slope of the road slope, l (El) is the distance between the wheels, l _f (l _r ) is the distance from the center of the tractor to the front (rear) wheel center, and F _L is Lifting force, F _wL is air resistance, M _L is rotational moment by wind, M _f (M _r ) is front and rear wheel moments for driving and braking, R _xf (R _xr ) is front (rear) reaction force in x direction , R _zf (R _zr ) is the forward (rear) wheel z direction reaction force, F _nf (F _nr ) is the forward (rear) wheel normal force, F _tf (F _tr ) is the forward (rear) wheel tangential force, r _f (r _r ) is the front (rear) wheel axle center height, and e _f (e _r ) is the front (rear) road contact eccentric distance.

The driving torque of the wheel is calculated by considering the main / second gear ratio and the loss in the engine torque, and is calculated by considering the stages of the acceleration pedal and the main / second gear among the measured values received from the at least one sensors.

The central computing unit 2c may calculate the trailer rotation angle of the present invention through the following Equations 2 to 4 and FIG. 16.

Equation 2

Equation 3

Equation 4

Here, Equation 3 is an equation required when l _p is different from b _t, and Equation 4 is an equation required when l _p is _equal to b _t .

In addition, CG of Figure 16 is the center of gravity of the front and rear and right and left of the tractor, O is the center of rotation of the tractor and trailer, B is the center of the hinge connecting the tractor and trailer, A is the center of the wheel axis of the trailer, θ is Δ _o is the angle between the vertical axis of the tractor and the right front wheel, δ _i is the angle between the vertical axis of the tractor and the left front wheel, w _r is the vertical distance between the rear wheel of the tractor, w _f is The vertical distance between the front wheels of the tractor, R is the distance from the center of rotation of the tractor and trailer to the center of gravity of the tractor, and R _t is the distance from the center of rotation of the tractor and trailer to the center of the trailer wheel axle.

Equation 5

Where θ _x is the actual rotation angle at the distance the tractor has moved by x, θ _ref is the trailer rotation angle before the trailer is steered, θ _tar is the angle at which the trailer is finally rotated when steering the steering wheel, τ is the time constant The distance traveled by the vehicle when the trailer turn angle reaches 63.2%.

Here, θ calculated using Equations 3 and 4 is substituted into θ _tar of Equation 5, and finally the rotation angle of the trailer is calculated.

In the detailed description of the present invention described above with reference to the preferred embodiments of the present invention, those skilled in the art or those skilled in the art having ordinary skill in the art will be described in the claims to be described later It will be understood that various modifications and variations can be made in the present invention without departing from the scope of the present invention.

Claims (21)

An agricultural tractor body comprising at least one driving manipulator and generating a driving maneuver control signal by the manipulator; And A virtual space having a terrain including a road or farmland, and a virtual tractor and an actuator moving or performing work in the virtual space and displaying the same; and controlling the movement or work of the virtual tractor in response to the control signal Virtual space simulation apparatus; Simulation driving training device for an agricultural tractor comprising a. According to claim 1, The agricultural tractor body, A steering wheel unit rotating the virtual tractor from side to side; A pedal unit controlling acceleration, deceleration, shift, stop and stop of the virtual tractor; A shift gear unit configured to shift gears of the virtual tractor and control the actuator connected to a rear surface of the virtual tractor; And An operation unit for controlling the differential locking of the virtual tractor, four-wheel drive switching, a traveling direction of the vehicle, and an angle from the ground of the actuator; Simulation driving training device for agricultural tractors comprising a. The method of claim 2, wherein the steering wheel portion, It is provided in a first position inside the agricultural tractor body, A steering wheel rotatable at right and left steering angles; A friction force providing unit mechanically connected to the steering handle using a first gear shaft and providing a friction force to the rotation of the steering handle; And A rotation limiter mechanically connected to the steering wheel using the first gear shaft and limiting rotation of the steering wheel; Simulation driving training device for an agricultural tractor comprising a. According to claim 3, The frictional force providing unit, A universal joint connected to the steering handle to transmit a rotation angle of the steering handle; A first gear positioned at a lower end of the universal joint and rotating corresponding to the rotation angle; A first camshaft gear and a second camshaft gear rotated by the rotation of the first gear in a position engaged with the first gear; A first camshaft and a second camshaft connected to each of the first camshaft gear and the second camshaft gear, the first camshaft and the second camshaft having a same rotational center as that of each of the first camshaft gear and the second camshaft gear; First and second friction gears connected to the first camshaft and the second camshaft, respectively having the same rotational center as the rotational centers of the first camshaft and the second camshaft, respectively, and having an asymmetric friction side. 2 friction gear; A third friction gear and a fourth friction gear engaged with the first friction gear and the second friction gear, respectively, to rotate; A first LM guide and a second LM guide provided with an elastic force by an elastic spring disposed on one side of the steering wheel part and providing frictional force to each of the third friction gear and the fourth friction gear by using the elastic force; And It is connected to the third friction gear and the fourth friction gear, has a rotation center equal to the rotation center of each of the third friction gear and the fourth friction gear, and receives a steering wheel control signal from the virtual space simulation apparatus, A first servomotor and a second servomotor for controlling the rotation angle of the steering wheel; Simulation driving training device for an agricultural tractor comprising a. The method of claim 3, wherein the rotation limiting unit, A second gear connected to the first gear shaft, the second gear being rotated with the same center of rotation as the center of rotation of the first gear shaft; A third gear that is engaged with the second gear to rotate and has a rotation limit latch for limiting the rotation angle of the steering handle; A limiting member spaced apart from the upper portion of the third gear and configured to limit rotation of the rotation limiting latch; A second gear shaft rotating with the same rotation center as that of the third gear; And A first potentiometer connected to the first gear shaft for outputting a steering angle of the steering wheel as a first measured value and transmitting the first measured value to the virtual space simulation apparatus; Simulation driving training device for an agricultural tractor comprising a. The method of claim 3, wherein the steering angle, Simulation driving training device for agricultural tractors, characterized in that 450 ° ~ 550 °. The method of claim 2, wherein the closed portion, The second position inside the agricultural tractor body, An acceleration pedal unit; A clutch pedal unit spaced apart from the acceleration pedal unit; And A brake unit mechanically connected using a first concentric shaft that rotates and has the same rotation center as that of the clutch pedal unit; Simulation driving training device for agricultural tractors comprising a. The method of claim 7, wherein the acceleration pedal unit, Accelerator pedal; A second concentric shaft connected to the accelerator pedal and rotating with the same rotation center as that of the accelerator pedal; A flexible coupler connected to the second concentric shaft and having the same rotation center as the rotation center of the second concentric shaft and preventing the accelerator pedal from being separated from the second concentric shaft; And A second potentiometer connected to the second concentric shaft, outputting a rotation angle of the accelerator pedal as a second measured value, and transmitting the second measured value to the virtual space simulation apparatus; Simulation driving training device for agricultural tractors comprising a. The method of claim 7, wherein the clutch pedal unit, Clutch pedal; A third potentiometer for measuring a rotation angle of the clutch pedal, outputting a measurement result value as a third measurement value, and transmitting the measured result value to the virtual space simulation apparatus; A first connection pulley (PULLEY) connecting the first concentric shaft and the third potentiometer; A first pressure sensor provided in the agricultural vehicle body, sensing an operating state of the clutch pedal, and outputting the operating state as a fourth measured value to the virtual space simulation apparatus; And A pressing member connected to one side of the clutch pedal to turn on the first pressure sensor when the clutch pedal is operated and to turn off the first pressure sensor when the clutch pedal is not operated; Simulation driving training device for agricultural tractors comprising a. The method of claim 7, wherein the brake unit, A left brake pedal connected to the first concentric shaft and rotating about the same rotation center as the rotation center of the first concentric shaft; A fourth potentiometer for measuring a rotation angle of the left brake pedal and outputting the fifth measured value to the virtual space simulation apparatus; A second connection pulley connecting the first concentric shaft and the fourth potentiometer; A right brake pedal connected to the first concentric shaft and rotating about the same rotation center as the rotation center of the first concentric shaft; A fifth potentiometer for measuring a rotation angle of the right brake pedal and outputting the sixth measured value and transmitting the sixth measured value to the virtual space simulation apparatus; And A third connection pulley connecting the first concentric shaft and the fifth potentiometer; Simulation driving training device for agricultural tractors comprising a. The method of claim 10, wherein the left brake pedal, A brake connecting groove to be used simultaneously with the right brake pedal; A first proximity sensor configured to sense a connection state between the left brake pedal and the right brake pedal, output a seventh measurement value, and transmit the seventh measurement value to the virtual space simulation apparatus; And A brake connection pin which is connected to the brake connection groove to connect the right brake pedal and the left brake pedal; Simulation driving training device for agricultural tractors comprising a. The method of claim 2, wherein the transmission gear portion, Peripheral speed gear unit which can shift the gear (GEAR) of the virtual tractor to at least one stage; A sub transmission gear unit subordinate to the peripheral gear of the virtual tractor and shiftable in at least one stage; And A power take off unit for transmitting power to the actuator connected to the virtual tractor and selecting at least one stage; Simulation driving training device for agricultural tractors comprising a. The method of claim 12, wherein the peripheral speed gear unit, It is provided in a third position inside the agricultural tractor body, Peripheral gear handle; A third LM guide (GUIDE) positioned at the lower end of the peripheral speed gear handle; A solenoid positioned on the third LM guide and electrically fixing the peripheral gearbox handle; Peripheral gear stages including the first stage, second stage, three stage, four stage and the first neutral (N) stage of the virtual tractor are displayed in the middle of each of the two longitudinal grooves and one horizontal groove. Peripheral speed gear cover having a 'shaped groove; Second to fifth proximity sensors which transmit eighth to eleventh measurement values to the virtual space simulation apparatus and are located in the remaining four grooves except for the neutral (N) stage among the main gear stages; And At least one ball plunger (BALL PLUNGER) positioned around the second to fifth proximity sensors and allowing the peripheral gear gear handle to be fixed at a position other than the neutral (N) end of the main gear stages; Simulation driving training device for agricultural tractors comprising a. The method of claim 12, wherein the sub transmission gear unit, A fourth position inside the agricultural tractor body, Sub transmission gear handle; A fourth LM guide located at a lower end of the sub transmission gear handle; A sub transmission gear positioned above the fourth LM guide and having a straight groove for displaying sub transmission gear stages including first, second, third, fourth, and second neutral (N) stages of the virtual space tractor. cover; The sixth to ninth proximity sensors which transmit the twelfth to fifteenth measured values to the virtual space simulation apparatus, and are located in the remaining four sub transmission gear stages except the neutral (N) stage among the sub gear stages. ; And At least one ball plunger positioned around the sixth to ninth proximity sensors and allowing the sub transmission gear handle to be fixed at a position other than the neutral (N) end of the sub transmission gear stages; Simulation driving training device for agricultural tractors comprising a. The method of claim 12, wherein the PTO unit, It is provided in the fifth position inside the agricultural tractor body, PTO gear handle; A fifth LM guide located at the bottom of the PTO gear handle; A PTO cover positioned above the fifth LM guide and having a straight groove for indicating the PTO gear stages including 540 rpm stage, third neutral (N) stage, 750 rpm stage and 1000 rpm stage to the actuator of the virtual tractor; The tenth to twelfth proximity sensors which transmit the sixteenth to eighteenth measurement values to the virtual space simulation apparatus and are located at the remaining three PTO gear stages except the neutral (N) stage among the PTO gear stages. ; And At least one ball plunger positioned around the tenth to twelfth proximity sensors and allowing the PTO gear handles to be fixed at positions other than the neutral (N) end of the PTO gear stages; Simulation driving training device for agricultural tractors comprising a. The method of claim 2, wherein the operating device unit, A position control lever for controlling a height of an actuator connected to the virtual space tractor; A differential locking device for connecting and fixing the left driving wheel and the right driving wheel of the virtual space tractor to one axis; A four-wheel drive device which controls the front drive wheel and the rear drive wheel of the virtual space tractor simultaneously or at least one drive wheel; And Forward and backward shuttle to move the virtual space tractor in one direction of the forward or backward; Simulation driving training device for agricultural tractors comprising a. The method of claim 16, wherein the position control lever, A sixth position inside the agricultural tractor body, A position control lever handle capable of reciprocating between the seventh and eighth positions; A variable link section connected to the opposite end of the position control lever handle and converting the reciprocating motion into a rotational motion; And A sixth potentiometer positioned at one end of the variable link section and transmitting a nineteenth measurement value to the virtual space simulation apparatus, the sixth potentiometer being provided at the center of the rotational motion; Simulation driving training device for agricultural tractors comprising a. The method of claim 16, wherein the differential lock, It is provided at the ninth position inside the agricultural tractor body, Differential lock support; A differential cover unit having at least one circular groove and covering the differential lock support part; A differential locking handle vertically penetrating at least one circular groove of the differential cover unit and capable of vertically reciprocating; A first variable rail unit provided at one end of the differential lock handle and provided with at least one rail and at least one engaging groove; A differential latch, one end of which is fixed to the differential lock supporter and the other end of which may be caught in at least one locking groove; A differential spring unit having one end fixed to the differential lock support part and the other end giving an elastic force to the first variable rail unit; And A thirteenth proximity sensor which senses the presence / absence of the first variable rail unit and transmits a 20th measured value to the virtual space simulation apparatus; Simulation driving training device for agricultural tractors comprising a. The method of claim 16, wherein the four-wheel drive device, It is provided in the tenth position inside the agricultural tractor body, Four-wheel drive support; A four-wheel cover unit provided with at least one circular groove and covering the four-wheel drive support; A four-wheel drive handle vertically penetrating the at least one circular groove of the four-wheel cover unit and capable of vertically reciprocating; A second variable rail unit provided at one end of the four-wheel drive handle and provided with at least one rail and at least one engaging groove; A four-wheel stopper having one end fixed to the four-wheel drive support and having the other end caught in at least one locking groove; A four wheel spring unit having one end fixed to the four wheel drive support unit and the other end having an elastic force applied to the second variable rail unit; And A fourteenth proximity sensor which senses the presence / absence of the second variable rail unit and transmits a 21st measured value to the virtual space simulation apparatus; Simulation driving training device for agricultural tractors comprising a. The method of claim 16, wherein the forward and backward shuttle, It is provided in the eleventh position inside the agricultural tractor body, A shuttle support having at least one circular groove thereon; A shuttle shaft having a rotation axis penetrating the at least one circular groove vertically and vertically penetrating the center point of the circular groove; A forward and backward handle fixed to one end of the shuttle shaft to rotate the shuttle shaft at first to third angles; A fifteenth to seventeenth proximity sensor having the same central axis as that of the shuttle shaft and positioned corresponding to the first to third angles in order, and transmitting the 22nd to 24th measurement values to the virtual space simulation apparatus; And A sensor recognition member which may be disposed to face the fifteenth to seventeenth proximity sensors; Simulation driving training device for agricultural tractors comprising a. The method of claim 1, wherein the actuator, A simulation driving training device for an agricultural tractor, characterized in that the attachment work for trailer or rotorwork.

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