JP2018170992A - Autonomous travel system for farm work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travel system for a farm work vehicle capable of operating safely an autonomously-traveling work vehicle.SOLUTION: Autonomous travel of a farm work vehicle 1 is controlled by a remote handling device 70 communicable with the farm work vehicle 1. The remote handling device 70 sets a work route in a work area H1 by a work area H1 where the farm work vehicle 1 works and by a work content by the farm work vehicle 1, and calculates and displays a work time when a work is performed along the set work route.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an autonomous traveling system for agricultural work vehicles that performs autonomous traveling of the agricultural work vehicle by communication between an operation device and the agricultural work vehicle.

  2. Description of the Related Art In recent years, an autonomous traveling system that autonomously travels an unmanned work vehicle on which an operator is not boarding has been developed in order to efficiently and easily perform farm work on a farm field (see Patent Documents 1 and 2). In the autonomous traveling systems of Patent Documents 1 and 2, an operator can remotely operate an operation device such as a tablet-type personal computer in order to monitor autonomous traveling of a work vehicle in a work field such as a farm field.

International Publication No. 2015/119263 JP 2006-093125 A

  By the way, when a travel route (work route) in the work area is generated so that the work vehicle is automatically driven by the autonomous travel system, the work time may take longer than expected. In addition, when a remotely operated operator monitors a work vehicle at a work place, if a work route having a long work time is generated, it may be difficult to monitor the work vehicle due to sunset.

  This invention is made | formed in view of said present condition, and makes it the technical subject to provide the autonomous running system of the agricultural working vehicle which can operate the agricultural working vehicle in autonomous running safely.

  The present invention relates to an autonomous traveling system for an agricultural work vehicle in which autonomous traveling of the agricultural work vehicle is controlled by a remote operation device capable of communicating with the agricultural work vehicle, wherein the remote operation device includes a work area in which the agricultural work vehicle operates. The work route in the work area is set according to the work content of the farm work vehicle, and the work time when working along the set work route is calculated and displayed. .

  In the autonomous traveling system, the remote control device may calculate the work time by changing a vehicle speed of a straight route in the work route when receiving a reduction in the work time.

  In the autonomous traveling system, the remote control device may calculate the work time by changing the turn time of the turn route in the work route when receiving the reduction of the work time.

  In the autonomous traveling system, the remote operation device may reset the work route that shortens the work time when the work time is shortened.

  In the autonomous traveling system, the remote operation device may set the work route by inputting a desired work time.

  In the autonomous traveling system, the remote operation device may set the work route by inputting a desired work end time.

  According to the present invention, since the work time is calculated together with the work route setting and displayed on the remote control device, the operator recognizes the work time by the autonomous traveling of the farm work vehicle, and the work by the farm work vehicle is executed. The vehicle can travel safely and can autonomously run agricultural vehicles. In addition, since the work time can be changed according to the reception of the shortening of the work time, the work route can be set so that the work can be completed in a safe time zone in which the agricultural work vehicle can be monitored. Furthermore, since the work route can be set by inputting the work time or the end work time, the work can be completed at the work time desired by the operator.

It is a whole view showing composition of an autonomous running system in an embodiment. It is a side view of the tractor which is an agricultural work vehicle in the autonomous running system of FIG. It is a top view of the tractor. It is a functional block diagram of the tractor. It is a timing chart which shows the authentication operation | movement for the start of autonomous driving | running | working. It is a timing chart which shows the communication operation | movement during autonomous driving | running | working. It is a timing chart which shows the communication operation | movement when abnormality generate | occur | produces during autonomous driving | running | working. It is explanatory drawing which shows the communication state at the time of autonomous driving | running | working of a tractor. It is a flowchart which shows the operation | work route setting operation | movement in a remote control device. It is a figure which shows the selection screen of the work area in a remote control device. It is a figure which shows the selection screen of the working machine in a remote control device. It is a figure which shows the display screen of the work route in a remote control device. It is a timing chart which shows collation operation | movement of the work history in a server. It is a whole side view of an unmanned tractor and a manned tractor. It is the whole side view of a plurality of unmanned tractors monitored with one remote control device.

<Autonomous driving system>
DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. First, an autonomous traveling system that autonomously travels a tractor that is an example of an agricultural vehicle according to the present invention will be described below with reference to FIGS. In the following description, a tractor that performs autonomous traveling and autonomous work may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels and operates by direct operation by an operator may be referred to as a “manned tractor”. .

  In this embodiment, the difference between the unmanned tractor and the manned tractor is whether or not the operator directly operates, and the configuration as the tractor is common to unmanned and manned. That is, even an unmanned tractor can be operated (boarded) by an operator and operated directly (in other words, it can be used as a manned tractor). Moreover, even if it is a manned tractor, an operator can get off and can perform autonomous driving | running | working and autonomous work (in other words, it can be used as an unmanned tractor).

  Furthermore, the autonomous traveling is a configuration in which the tractor 1 is provided for traveling by the autonomous traveling control device 51 or the like included in the tractor shown in FIG. 4, and the tractor 1 travels along a predetermined route. Means that. Further, in this specification, the autonomous work means that the configuration that the tractor 1 is equipped with for work is controlled by the autonomous traveling control device 51 and the like, and the tractor 1 performs work along a predetermined route.

  As shown in FIG. 1, in the autonomous traveling system of the present embodiment, the remote operation device 70 operated by the operator performs wireless communication with the tractor 1 in the field (work area) H <b> 1, thereby The autonomous traveling of the tractor 1 that acquires position information (positioning information) by communication is controlled. The unmanned tractor 1 communicates with the server 100 installed in the management center C1 through a communication network N1 such as a telephone line network, and the driving information of the tractor 1 is transmitted to the server 100 together with position information (positioning information) and time information. Sent to. The server 100 accumulates driving information of the unmanned tractor 1 together with position information and time information, and stores it as work history information.

  A reference station (portable reference station) 60 is installed in the vicinity of the farm field H1, and the reference station 60 includes position information serving as a reference point that is an installation position, and a signal from the positioning satellite 63 (hereinafter referred to as “satellite signal”). Is directly received by the positioning antenna 61, and a signal from the positioning satellite 63 (hereinafter referred to as "vehicle signal") received by the unmanned tractor 1 by the wireless communication antenna 64 is indirectly received.

  The reference station 60 uses the reference station communication device 62 to calculate position correction information from the satellite signal and the vehicle signal by the RTK positioning method or the like, and transmits the position correction information to the tractor 1 through the wireless communication antenna 64. The tractor 1 corrects the satellite positioning information measured by the positioning antenna 6 (see FIG. 2) by using the correction information transmitted from the reference station 60, and the current position information of the tractor 1 (for example, latitude information / longitude information). )

  In the field H1, the remote control device 70 performs wireless communication with the tractor 1 without communication connection to the communication network N1, receives the driving information of the tractor 1 together with position information and time information, and serves as work history information. Remember. The operator operates the remote operation device 70 while visually confirming the situation in the field H1 and the state of the tractor 1, thereby starting the autonomous traveling and the tractor 1 connected to the remote operation device 70 in communication. Stop can be instructed.

  In the operator's office O1, the remote control device 70 is connected to an access point 90 such as a router connected to the communication network N1 via an ONU (Optical Network Unit) or a modem. The remote operation device 70 can communicate with the server 100 via the communication network N1 by establishing communication connection with the access point 90 in the office O1. Then, the remote control device 70 becomes communicable with the server 100. The work history information of the tractor 1 already stored is transmitted to the server 100.

  When the server 100 receives the work history information from the remote control device 70 (hereinafter referred to as “additional work history information”), the server 100 has already received and stored the work history information (hereinafter referred to as “basic work history”). Information)). Then, the server 100 collates the basic work history information and the additional work history information to generate updated work history information in which the additional work history information is added to the basic work history information, and the name of the operator who operated the tractor 1 It is memorized with the model etc.

  The external terminal device (service tool) 80 is a terminal device owned by a service person of the sales company or manufacturing company of the tractor 1, and can communicate with the tractor 1 by being wired to the tractor 1. When the tractor 1 connected to the external terminal device 80 communicates with the server 100 via the communication network N1, for example, software (firmware) update in a control device or the like in the tractor 1 or failure diagnosis of the tractor 1 can be performed. Executed.

<Tractor>
Next, the tractor 1 will be described below with reference to FIGS. As shown in FIG.2 and FIG.3, the tractor 1 is equipped with the body 2 which autonomously travels the agricultural field H1. The machine body 2 is provided with a work machine 3 detachably. The work machine 3 is used for farm work. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine. A desired work machine 3 is selected from these as required, and the machine body 2 Can be attached to. The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3. The airframe 2 which is the airframe of the tractor 1 has a front portion supported by a pair of left and right front wheels 7 and 7 and a rear portion supported by a pair of left and right rear wheels 8 and 8. The front wheels 7 and 7 and the rear wheels 8 and 8 constitute a traveling part.

  A bonnet 9 is disposed at the front of the machine body 2. The bonnet 9 accommodates an engine 10 that is a drive source of the tractor 1. The engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.

  Behind the bonnet 9 is a cabin 11 on which an operator boardes. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to steer, a seat 13 for the operator to sit on, and various operating devices for performing various operations. Yes. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although illustration is omitted, examples of the operation device include a monitor device, a throttle lever, a main transmission lever, a lift lever, a PTO switch, a PTO transmission lever, and a plurality of hydraulic transmission levers. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device is configured to display various information of the tractor 1. The throttle lever is for setting the rotational speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The raising / lowering lever is for raising / lowering the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch is used to intermittently transmit power to a PTO shaft (power extraction shaft) protruding outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work machine 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever is used to change the power input to the work machine 3, and specifically, is used to change the rotation speed of the PTO shaft. The hydraulic shift lever is for switching the hydraulic external take-off valve.

  As shown in FIG. 1, a chassis 20 constituting the framework is provided at the lower part of the body 2. The chassis 20 includes a body frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The mission case 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the mission case 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the mission case 22 to the rear wheel 8.

  As shown in FIG. 4, the tractor 1 is an engine control device that can communicate with each other via a vehicle bus line 18 as a control unit for controlling the operation (forward, reverse, stop, turn, etc.) of the airframe 2. 15, a machine control device 16 and a work machine control device 17 are provided. An output side of the engine control device 15 is electrically connected to a common rail device 41 as a fuel injection device provided in the engine 5. On the other hand, the input side of the engine control device 15 is electrically connected to a rotational speed sensor 31 that detects the rotational speed of the engine 5.

  The output side of the machine control device 16 includes a transmission 42 including a hydraulic transmission that shifts the power from the engine 5, and left and right braking devices that brake power transmission to the left and right rear wheels 8 in the rear axle 24. 26 or the like. On the other hand, the input side of the machine control device 16 is electrically connected to a vehicle speed sensor 32 that detects the rotational speed of the rear wheel 8, a tilt angle sensor 33 that detects the tilt angle and the tilt angular speed of the fuselage 2, and the like. In addition, the output side of the work implement control device 17 is electrically connected to the work implement lifting / lowering actuator 44, and the input side of the work implement control device 17 detects the posture or operation state of the work implement 3. And electrically connected.

  The tractor 1 includes a vehicle-mounted terminal device 19 connected to the vehicle bus line 18, and the vehicle-mounted terminal device 19 can be connected to the communication network N1 via a wireless telephone line or the like. That is, the tractor 1 can communicate with the server 100 of the management center C1 by connecting to the communication network N1 through the vehicle-mounted terminal device 19. Further, the tractor 1 is provided with a vehicle bus line 18 and an external terminal (not shown) that can be connected, and an external terminal device (service tool) 80 such as a computer operated by a serviceman is electrically connected to the vehicle bus line 18. It is configured to be connectable.

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close by the engine control device 15, so that high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10. The injection pressure, the injection timing, and the injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

  Specifically, the transmission 42 is, for example, a movable swash plate type hydraulic continuously variable transmission, and is provided in the transmission case 22. By controlling the transmission 42 by the main unit control device 16 and adjusting the angle of the swash plate as appropriate, the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.

  The lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either. By controlling the elevating actuator 44 by the work machine control device 17 and appropriately moving the work machine 3 up and down, for example, farm work can be performed by the work machine 3 at a desired height in the field area.

  The tractor 1 including the control devices 15 to 17 as described above is configured such that the control devices 15 to 17 communicate with each other via the vehicle bus line 18 based on various operations of an operator boarded in the cabin 11. By controlling each part (the machine body 2, the work machine 3, etc.), the farm work can be executed while traveling in the farm field. In addition, the tractor 1 according to the embodiment can autonomously travel based on a predetermined control signal output from the remote operation device 70, for example, without an operator boarding.

  Specifically, as shown in FIG. 4, the tractor 1 is added with various configurations such as an autonomous traveling control device 51 for enabling autonomous traveling. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.

  Next, the structure with which the tractor 1 is provided for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 2 to 4, the tractor 1 includes an autonomous traveling control device 51, a steering control device 52, a positioning survey device 53, a wireless communication router (low power data communication device) 54, and a steering actuator 43. A positioning antenna 6, a wireless communication antenna unit 48, and the like.

  The autonomous traveling control device 51 and the steering control device 52 are configured to be able to communicate with the engine control device 15, the machine control device 16, and the work implement control device 17 via the vehicle bus line 18. In addition, the autonomous traveling control device 51 is connected to each of the positioning surveying device 53 and the wireless communication router 54 via the autonomous traveling bus line 56 in the autonomous traveling communication system different from the steering communication system using the vehicle bus line 18. Mutual communication is possible.

  The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels (as an unmanned tractor) along a predetermined route, the steering control device 52 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 rotates at the rotation angle.

  Further, the steering control device 52 receives a detection signal of the rotation angle of the steering handle 12 from the steering angle sensor 35, and via the vehicle bus line 18, the engine control device 15, the machine control device 16, and the work implement control device 17. By communicating with each, steering according to the vehicle speed of the tractor 1 can be executed. Note that the steering actuator 43 does not adjust the turning angle of the steering handle 12, but may adjust the steering angle of the front wheel 7 of the tractor 1. In this case, the steering handle 12 even if turning is performed. Does not rotate.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). The positioning antenna 6 is disposed on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the positioning surveying device 53, and the positioning surveying device 53 calculates the position information of the tractor 1 (strictly, the positioning antenna 6) as, for example, latitude / longitude information. The position information calculated by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 and used for controlling the tractor 1.

  The positioning surveying device 53 is electrically connected to the first wireless communication antenna 48a in the wireless communication antenna unit 48, and will be described later through a first wireless communication network (for example, a wireless communication network in the 920 MHz band) using specific low power wireless. Communicates with a reference station (portable reference station) 60 to be used. The wireless communication antenna unit 48 is disposed on the upper surface of the roof 14 in the cabin 11. The positioning surveying device 53 corrects the satellite positioning information of the tractor 1 (mobile station) by receiving correction information (positioning correction information) from the reference station 60 installed at the agricultural field proximity position via the first wireless communication antenna 48a. Then, the current position of the tractor 1 is obtained. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied.

  In this embodiment, for example, RTK positioning is applied, and in addition to the positioning antenna 6 being provided in the tractor 1 on the mobile station side, a reference station 60 having a reference station positioning antenna 61 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field. The position information of the reference point that is the installation position of the reference station 60 is set in advance. The reference station 60 is provided with a reference station communication device 62 capable of communicating via a first wireless communication network established between the positioning surveying device 53 of the tractor 1 and a communication device using the first wireless communication antenna 48a.

  In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 6 of the tractor 1 on the mobile station side for which position information is to be obtained. ing. The reference station 60 generates correction information including the measured satellite positioning information and the reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station communication device 62 To the first wireless communication antenna 48 a of the tractor 1. The positioning surveying device 53 of the tractor 1 (corresponding to the mobile station) corrects the satellite positioning information measured by the positioning antenna 6 by using the correction information transmitted from the reference station 60, thereby obtaining the current position information ( For example, latitude information / longitude information) is obtained.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. GNSS-RTK is a positioning method that has been corrected based on the information of a reference station whose position is known and improved in accuracy, and there are a plurality of methods depending on the distribution method of information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details are omitted in this embodiment.

  Further, the positioning surveying device 53 can measure not only the position information of the tractor 1 (airframe 2) by satellite positioning, but also the front and rear, right and left tilt angle information by inertial surveying. The inclination angle information measured by the positioning surveying device 53 is acquired by the autonomous traveling control device 51 in a state associated with the position information (latitude / longitude information) and used for controlling the tractor 1. In addition, the positioning surveying device 53 can also measure the height position of the positioning antenna 6 with respect to the farm scene, and thus the vehicle height of the tractor 1 (airframe 2).

  The wireless communication antenna unit 48 is disposed on the top surface of the roof 14 of the cabin 11 of the tractor 1 and first and second wireless communication antennas 48a and 48b that are connected to communicate with the first and second wireless communication networks having different frequency bands. It has. The first wireless communication network is constructed by, for example, a specific low-power radio in the 920 MHz band having a high data transmission speed in order to communicate the positioning correction information by the reference station 60. The second wireless communication network is constructed by, for example, a 2.4 GHz band low-power data communication system in order to allow high-speed data communication such as image data to be performed at high speed. A part of the antennas 48 a and 48 b may be disposed in the cabin 11.

  The first wireless communication antenna 48 a is electrically connected to the positioning survey device 53, and the second wireless communication antenna 48 b is electrically connected to the wireless communication router 54. The wireless communication router 54 connected to the second wireless communication antenna 48b communicates with the remote control device 70 capable of displaying an image operated by an operator outside the tractor 1 through the second wireless communication network. The wireless communication router 54 receives the control signal from the remote operation device 70 and transmits it to the autonomous travel control device 51 via the autonomous travel bus line 56.

  The wireless communication router 54 receives a captured image of the camera 36 by performing wireless communication with the camera 36 that captures the front of the tractor 1 via the second wireless communication network. The camera 36 is attached to an upper position of the cabin 11 and photographs a state of a farm field such as the vicinity of the hood 6 in front of the cabin 11. In the present embodiment, the camera 36 is integrally attached to the wireless communication antenna unit 48, but may be attached to a plurality of locations such as a side position and a rear position of the roof 14 of the cabin 11.

  Specifically, the remote control device 70 is configured as a tablet personal computer including a touch panel. The operator can check the information displayed on the touch panel of the remote operation device 70 (for example, information on a field necessary for autonomous traveling). In addition, the operator operates the remote control device 70 to transmit a control signal for controlling the tractor 1 to the autonomous traveling control device 51 of the tractor 1. Note that the remote operation device 70 of the embodiment is not limited to a tablet personal computer, and may be configured by, for example, a notebook personal computer. Alternatively, a monitor device mounted on another tractor different from the tractor 1 can be a remote control device.

  The autonomous traveling control device 51 compares the work route generated by the remote operation device 70 with the position information of the tractor 1 and autonomously operates at a predetermined traveling speed while the tractor 1 performs a predetermined work along the work route. In order to run, the steering angle of the tractor 1, the target engine speed, the gear ratio, and the like are calculated and communicated with the control devices 15 to 17 and 52 through the vehicle bus line 18. Thereby, the tractor 1 can perform farm work by the work implement 3 while autonomously traveling along the work route. In this way, the route in the field area (traveling area) where the tractor 1 autonomously travels may be referred to as a “work route” in the following description. In the field area (running area), the area (work area) to be farmed by the work machine 3 of the tractor 1 is determined as an area excluding the headland and the margin from the entire field area. Are set based on these registered points and the work width of the tractor 1 when the registration work of the registered points is executed.

  The autonomous traveling control device 51 stops fuel injection in the common rail device 41 and communicates with the machine control device 16 by communication with the engine control device 15 when the operator performs a stop operation on the remote control device 70. By making the transmission 42 neutral by communication, a braking operation by a brake device 26 described later is applied. At this time, the autonomous traveling control device 52 controls the steering actuator 43 so that the handle 12 is set to the neutral position by communication with the steering control device 51, and directs the left and right front wheels 7, 7 in the straight traveling direction. It is good.

  The autonomous traveling control device 51 is in a communication state with the reference station 60 in the positioning surveying device 53 (communication state in the first communication network), and in a communication state with the remote control device 70 in the wireless communication router 54 (communication state in the second communication network). ) Confirm each via the autonomous bus line 56. When the autonomous traveling control device 51 confirms that the communication state in any of the first and second communication networks is cut off, the autonomous traveling control device 51 communicates with the engine control device 15 and the transmission control device 16 to thereby determine the autonomousness of the tractor 1. Stop driving. Note that the autonomous traveling control device 51 determines that the communication with the communication partner has been interrupted when the positioning surveying device 53 and the wireless communication router 54 have not received a signal from the communication partner for a predetermined period or longer. .

  Furthermore, the tractor 1 is provided with a pair of left and right brake devices 26 and 26 that brake the left and right rear wheels 8 and 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right brake devices 26, 26 are configured to brake both the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the turning angle of the handle 12 becomes equal to or larger than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turn automatically performs a braking operation according to a command from the machine control device 16 ( So-called auto brake).

  The reference station 60 includes a reference station wireless communication antenna 64 that distributes correction information, a reference station positioning antenna 61 that receives a signal from the positioning satellite 63, and a reference station communication device that is electrically connected to the wireless communication antenna 64 and the positioning antenna 61, respectively. 62. The reference station 60 is installed at a reference point for specifying the position of the tractor (work vehicle) 1 serving as a mobile station. The portable reference station 60 installed at the reference point sends a signal from the positioning satellite 63 received by the reference station positioning antenna 61 to the reference station communication device 62, and the reference station communication device 62 measures the satellite positioning information and the reference point position information. The correction information including etc. is generated. Then, the reference station 60 distributes the correction information generated by the reference station communication device 62 via the first wireless communication network. The reference station 60 may be configured to be disassembled into a plurality of members, and each disassembled member may be configured to have a size that can be accommodated in a predetermined case and transported.

<Basic processing operation in autonomous driving system>
Next, the basic processing operation in the autonomous traveling of the unmanned tractor 1 in the agricultural field H1 will be described below with reference to FIGS. As shown in FIGS. 5 to 8, when the key switch is turned on for the unmanned tractor 1 in the field H <b> 1, the control devices 15 to 17, 51, 52, the positioning survey device 53, and the wireless communication router 54 are powered on. At the same time, the engine 10 is driven to enter an idling state. At this time, the unmanned tractor 1 is stopped by the braking action of the left and right brake device 26. On the other hand, when the power source of the remote control device 70 is turned on, a display 146 constituted by a touch panel is displayed and the device side software is activated.

  The unmanned tractor 1 controls the communication operation of the wireless communication router 54 by the autonomous traveling control device 51, so that the wireless communication router 54 starts searching for the remote control device 70 that can communicate through the second wireless communication network. That is, the wireless communication router 54 generates a communication confirmation signal including a tractor ID (identifier) unique to the unmanned tractor 1 and transmits it from the second wireless communication antenna 48b. The remote operation device 70 stores in advance the tractor ID of the unmanned tractor 1 that can communicate with the autonomous traveling system. Then, when receiving the communication confirmation signal including the tractor ID, the remote operation device 70 authenticates the communication with the wireless communication router 54 of the unmanned tractor 1 when the received tractor ID matches the previously stored tractor ID. .

  After authenticating the communication with the unmanned tractor 1, the remote control device 70 generates a response signal to the communication confirmation signal and transmits it to the wireless communication router 54 of the unmanned tractor 1. The remote operation device 70 generates a response signal including a device ID (identifier) unique to the own device, and transmits the response signal to the wireless communication router 54 through the second wireless communication network. The unmanned tractor 1 stores in advance the device ID of the remote operation device 70 that can communicate with the autonomous traveling system in the autonomous traveling control device 51 or the wireless communication router 54. Therefore, when the unmanned tractor 1 receives the response signal at the wireless communication router 54 via the second wireless communication antenna 48b, the remote operation is performed when the device ID in the received response signal matches the device ID stored in advance. Communication with the device 70 is authenticated.

  As described above, when communication is established between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the unmanned tractor 1 notifies the server 100 that the communication has been established. At this time, the unmanned tractor 1 transmits the tractor ID of the unmanned tractor 1 and the device ID of the remote control device 70 to the server 100 from the vehicle-mounted terminal device 19 via the communication network N1.

  Further, when the key switch of the unmanned tractor 1 is turned ON and the positioning surveying device 53 is turned on, the position information (unmanned tractor 1) is obtained by communicating with the positioning satellite 63 and the reference station 60 through the antennas 6 and 48a. (Latitude / longitude information). Then, after the above-described authentication process between the unmanned tractor 1 (wireless communication router 54) and the remote control device 70, the position information of the unmanned tractor 1 is transmitted to the server 100 together with the tractor ID and the device ID.

  When the server 100 confirms from the tractor ID and the device ID that the tractor 1 and the remote control device can be used in the autonomous traveling system, the server 100 authenticates the unmanned tractor 1 to enable communication between the unmanned tractor 1 and the server 100. . When the server 100 authenticates the unmanned tractor 1, the server 100 reads map information centered on the position information received from the unmanned tractor 1 and transmits the read map information to the unmanned tractor 1. At this time, the server 100 confirms the field (work area) assigned to the operator who operates the unmanned tractor 1 based on the tractor ID and the device ID, and maps the information on the field (work area) as the work target to the map information. And transmitted to the unmanned tractor 1.

  When the vehicle-mounted terminal device 19 receives the map information from the server 100, the unmanned tractor 1 gives the received map information to the wireless communication router 54 via the autonomous traveling control device 51, and the map information is sent from the wireless communication router 54. Transmit to the remote control device 70. The remote control device 70 that has received the map information displays a map including the field (work area) assigned to the operator on the display 146 (see FIG. 10) based on the received map information.

  The operator designates a farm field (work area) to be a work target by the unmanned tractor 1 from the map displayed on the display 146 by operating a touch panel constituting the display 146 of the remote operation device 70. In addition, the operator can use the unmanned tractor 1 to perform operations (cultivation work, sowing work, fertilization work, pricking work, upsetting work, etc.) on the remote control device 70 and the size of the work machine and the work machine. specify.

  The remote operation device 70 generates a work route (work route) for the unmanned tractor 1 to move by calculation based on the designated field and work by the work machine, and displays the work route on the display 146. Thereafter, the remote operation device 70 generates a response signal for permitting autonomous traveling and receives the unmanned tractor 1 (wireless) when an operation for starting autonomous traveling is accepted after the generated work route is selected by the operator's operation. To the communication router 54). The response signal serving as the autonomous travel permission signal includes a field (work area), a work machine, and a work route designated by the operator.

  When the unmanned tractor 1 receives the response signal serving as the autonomous traveling permission signal by the wireless communication router 54, the autonomous traveling control device 51 passes through the engine control device 15, the machine control device 16, the work implement control device 17, and the steering control device 52. The control operation of each part is executed, and the autonomous traveling of the unmanned tractor 1 is started. At this time, the unmanned tractor 1 confirms the farm field (work area), the work machine, and the work route designated by the operator from the received response signal by the autonomous traveling control device 51. Then, the autonomous traveling control device 51 communicates with the engine control device 15, the machine control device 16, the work machine control device 17, and the steering control device 52, so that the machine body 2 along the work route set in the field. Is driven at the set value while moving at a set vehicle speed.

  When the unmanned tractor 1 starts autonomous traveling, the driving state of the machine body 2 and the work machine 3 (engine speed, vehicle speed of the machine body 2, engine load, tilt attitude of the machine body 2, tilt attitude of the work machine 3, The lift position, the braking operation of the left and right brake devices 26, the steering angle of the handle 10, the switching of the PTO switch, etc.) are transmitted to the server 100 together with the position information. The unmanned tractor 1 also transmits drive state information indicating the drive states of the machine body 2 and the work machine 3 to the remote control device 70 together with the position information and time information. The position information is latitude / longitude information calculated by the positioning surveying device 53 based on the information received from the positioning satellite 63 and the reference station 60, and the time information is the control devices 15 to 17, 52, unmanned tractor 1. 53 is information indicating the time counted in any one of 53.

  The unmanned tractor 1 traveling autonomously connects the vehicle-mounted terminal device 19 to the server 100 at every time T1, and transmits driving state information and position information indicating the driving state of the machine body 2 and the work machine 3 to the communication network. It transmits to the server 100 via the network N1. The server 100 associates the driving state information and the position information received every time T1 with the field ID (identifier) and the tractor ID indicating the designated field (working area) together with the reception time (or transmission time) according to the standard time. Remember. Note that the reception time (transmission time) in standard time is the time when the server 100 receives (transmits) the driving state information and the position information from the unmanned tractor 1, and if the field (working area) is in Japan, it is Japan. It may be a time according to standard time, or may be a time according to world standard time.

  In addition, the unmanned tractor 1 includes a drive confirmation information, a position information, and time information indicating the drive states of the machine body 2 and the work implement 3 together with a communication confirmation signal from the wireless communication router 54 every time T2 obtained by dividing the time T1 into n equal parts. Is transmitted to the remote control device 70 via the second wireless communication network. When receiving the communication confirmation signal from the unmanned tractor 1 (wireless communication router 54), the remote control device 70 returns a response signal serving as an autonomous travel permission signal to the unmanned tractor 1 (wireless communication router 54). Further, the remote operation device 70 stores the driving state information, position information, and time information received every time T2 in association with the field ID and the tractor ID indicating the designated field (working area). At this time, the number of items of driving state information stored in the remote operation device 70 may be larger than the number of items of driving state information stored in the server 100.

  In the wireless communication router 54, the unmanned tractor 1 confirms whether or not a response signal is returned from the remote operation device 70 in response to the communication confirmation signal transmitted every time T2, and returns a response signal from the remote operation device 70. When there is no more than a predetermined time or a predetermined number of times, autonomous running is stopped. That is, when the remote control device 70 is located outside the communicable range with the wireless communication router 54 due to the operator moving to a position away from the unmanned tractor 1, Communication is interrupted. At this time, the autonomous traveling control device 51 determines that the distance is difficult for the operator to monitor the unmanned tractor 1 and stops the autonomous traveling of the unmanned tractor 1. Moreover, if the unmanned tractor 1 stops autonomous running during work, it notifies the server 100 that autonomous running is stopped during work.

  Further, when the remote operation device 70 accepts an operation for stopping autonomous traveling, the remote operation device 70 cuts off communication with the unmanned tractor 1 (wireless communication router 54) and stops returning a response signal. Thereby, the unmanned tractor 1 stops the autonomous traveling by the autonomous traveling control device 51 in order to confirm that the wireless communication router 54 does not return a response signal to the communication confirmation signal. Therefore, when a person or an animal enters the field (working area) H1, or when the unmanned tractor 1 deviates from the work route, an operator who monitors the unmanned tractor 1 appears on the display 146 of the remote control device 70. The unmanned tractor 1 can be stopped by touching a displayed stop button (not shown), and the autonomous traveling system can be operated safely.

<Work route setting process>
Hereinafter, the work route setting process in the remote operation device 70 will be described with reference to FIGS. As shown in FIG. 9, the remote control device 70 that has established communication with the unmanned tractor 1 receives map information from the server 100 through the unmanned tractor 1 and displays a map around the current position of the tractor 1 on the display 146. (STEP501). At this time, the server 100 confirms the field (work area) assigned to the operator who operates the tractor 1 from the tractor ID and the device ID, and uses the information on the field (work area) to be worked as map information. In addition, it is transmitted to the remote operation device 70.

  That is, the server 100 reads out map information including the fields HA to HH around the current position of the tractor 1 based on the position information received from the tractor 1. Then, the server 100 confirms that the field to be operated by the operator confirmed by the device ID is the field HC, HD, HG, HH, and notifies the remote control device 70 together with the map information. Then, as shown in FIG. 10, the remote operation device 70 that has received the map information, based on the received map information, works as farm fields (work areas) HC, HD, HG, HH and farm fields that are not targets. A map including HA, HB, and HF is displayed on the display 146.

  The operator designates a farm field (working area) HD that is a work target by the tractor 1 from the map displayed on the display by operating a touch panel constituting the display 146 of the remote control device 70. When a field (working area) is selected by the operator (“determination” in STEP 502), the remote operation device 70 performs work (cultivation work, sowing work, fertilization work, fertilization work, plowing work) as shown in FIG. , A screen for requesting the operator to specify the setting work, etc. is displayed on the display 46 (STEP 503). Then, the operator operates the touch panel of the remote control device 70 displayed on the screen as shown in FIG. 11 to perform work (cultivation work, sowing work, fertilizing work, fertilizing work, raising work, etc.) by the tractor 1. A work machine 3 (work content) to be performed is designated.

  When the work machine 3 (work content) is selected by the operator (“Determine” in STEP 504), the remote operation device 70 sets a work route from the selected field H1 and the work machine 3, and is set as a standard. The work time based on the vehicle speed is calculated, and the work time is displayed on the screen 146 together with the set work route as shown in FIG. 12 (STEP 505 to STEP 507). At this time, it is assumed that the remote operation device 70 travels on the straight route on the work route at the standard straight vehicle speed VA, and turns on the turn route on the work route with the standard turn time TA. Then, in the set work route, when the length of the straight route is L and the number of turns is RN, it is calculated that it takes work time (L / VA + TA × RN). In this embodiment, for the sake of simplicity, the turning path is 180 ° turning, but in the case of 90 ° turning, a standard turning time is set for 90 ° turning.

  When the remote control device 70 receives a request for time reduction by the operator with respect to the work time and work route based on the linear vehicle speed VA and the turning time TA by the standard setting (“time reduction” in STEP 508), the work content is changed to fertilizer application. It is confirmed whether or not the operation is such that the linear vehicle speed is constant at the standard linear vehicle speed VA, such as operation or sowing operation (STEP 509). In the case of work that allows the change of the straight vehicle speed (YES in STEP 509), the work time (L / Vmax + TA × RN) is calculated by using the straight vehicle speed as the upper limit vehicle speed Vmax, and the work time calculated on the display 146 (L / Vmax + TA) × RN) is displayed (STEP 510 to STEP 511).

  When the operation is to make the straight vehicle speed constant at the standard straight vehicle speed VA (Yes in STEP 509), or when further reduction is required for the operation time after the change of the straight vehicle speed ("Time reduction" in STEP 512) The minimum turning time Tmin based on the turning vehicle speed that is the upper limit that can prevent the unmanned tractor 1 from turning over when turning is set (STEP 513). When the process proceeds from STEP 509 to STEP 513, the remote control device 70 calculates the work time (L / VA + Tmin × RN) and displays the calculated work time (L / VA + Tmin × RN) on the display 146 (STEP 514). ). On the other hand, when moving from STEP 512 to STEP 513, the remote control device 70 calculates the work time (L / Vmax + Tmin × RN) and displays the calculated work time (L / Vmax + Tmin × RN) on the display 146 (STEP 514). ).

  The remote operation device 70 is required to further reduce the work time after the turning time is changed (“time reduction” in STEP 515), or when the set work route is requested to be changed (STEP 508). ("Route change"), the process proceeds to STEP 505 to reset the work route. In the case of shifting from STEP 508 to STEP 505, the remote operation device 70 calculates the working time based on the standard linear vehicle speed VA and the standard turning time TA in STEP 506. On the other hand, when moving from STEP 515 to STEP 505, the remote operation device 70 calculates the working time based on the changed linear vehicle speed and turning time in STEP 506, and if the working time is not shortened, in STEP 507, STEP 514 The displayed original work route and work time are displayed on the display 146.

  When the operator accepts the work on the work route and the work time displayed on the display 146 and operates the determination button displayed on the display 146 (“determination” in STEP 508, STEP 512, and STEP 515, respectively), the remote control device 70 Transmits the set work route to the unmanned tractor 1. As shown in FIG. 12, the work time is displayed in the screen display after setting the work route, but the work end time predicted from the current time and the work time may be displayed. .

  In this embodiment, the operator requests to reduce the work time for the work time calculated after setting the work route. However, as shown in the flowchart of FIG. It does not matter if the working time is entered. In this case, when the work time desired by the operator is input (“Determine” in STEP 551), the remote operation device 70 sets a work route that can complete the work in a work time close to the time desired by the operator. The work route is displayed on the display 146 with time (STEP 505 to STEP 507). Thereafter, when a request for shortening the time is received, the operation time is changed by changing the linear vehicle speed or the turning time as in the operation according to the flowchart of FIG. The work end time may be input instead of the work time, the work time desired by the operator may be calculated from the current time and the work end time, and the work route may be set.

  The present invention is not limited to the above-described embodiment, and can be embodied in various forms. The configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention. That is, in the above-described embodiment, it is assumed that the single tractor 1 is operated in the field, but the multiple tractors 1 may be operated. At this time, for example, as shown in FIG. 14, a part of the farm work is performed by the unmanned tractor 1 in the field, and the remaining farm work is performed by the manned tractor 1A. By performing cooperative work of farm work, follow-up work, accompanying work, etc. by unmanned tractor 1 and manned tractor 1A, farm work can be shared in a single farm field. Further, in the cooperative work described above, the unmanned tractor 1 may perform the farm work in a certain farm field, and at the same time, the manned tractor 1A may perform the farm work in another farm field. Further, as shown in FIG. 15, any one of the cooperative work, the follow-up work, and the accompanying work may be executed by a plurality of unmanned tractors 1, 1A, 1B.

1 Tractor (work vehicle)
DESCRIPTION OF SYMBOLS 15 Engine control apparatus 16 This machine control apparatus 17 Work implement control apparatus 18 Vehicle bus line 19 Vehicle-mounted terminal apparatus 48 Wireless communication antenna unit 48a First wireless communication antenna 48b Second wireless communication antenna 51 Autonomous traveling control apparatus 52 Steering control apparatus 53 Positioning side quantity device 54 Wireless communication router 56 Autonomous traveling bus line 60 Reference station 63 Positioning satellite 70 Remote control device 80 External terminal device 90 Access point 100 Server C1 Management center H1 Farm field (work area)
N1 communication network O1 office

Claims (6)

An autonomous traveling system for an agricultural work vehicle in which autonomous traveling of the agricultural work vehicle is controlled by a remote control device capable of communicating with the agricultural work vehicle,
Working time when the remote control device sets a work path in the work area based on a work area in which the farm work vehicle works and the work contents by the farm work vehicle, and works along the set work path An autonomous traveling system for agricultural work vehicles characterized by calculating and displaying.   2. The autonomous traveling system for agricultural work vehicles according to claim 1, wherein the remote operation device calculates the work time by changing a vehicle speed of a straight route in the work route when receiving the shortening of the work time. .   2. The autonomy of the agricultural work vehicle according to claim 1, wherein the remote operation device calculates the work time by changing a turn time applied to a turn route in the work route when receiving a reduction in the work time. Traveling system.   2. The autonomous traveling system for agricultural work vehicles according to claim 1, wherein the remote operation device resets the work route that shortens the work time when the work time is shortened.   2. The autonomous traveling system for agricultural work vehicles according to claim 1, wherein the remote operation device sets the work route by inputting a desired work time. 3. The autonomous traveling system for agricultural work vehicles according to claim 1, wherein the remote operation device sets the work route by inputting a desired work end time.

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