JP2019169059A - Travel area shape specification device - Google Patents

Abstract

To simplify a calculation for specifying a shape of a travel area and to appropriately specify the shape of the travel area while easily specifying a boundary portion of the travel area.SOLUTION: A travel area shape specification device includes: a movement locus acquisition unit that acquires a movement locus M1 of a work vehicle 1 on the basis of position information of the work vehicle 1 acquired by a position information acquisition unit; a distance sensor that is provided in the work vehicle 1 and measures a distance to a measurement object in three dimensions; a distance acquisition unit that specifies a boundary portion S1 of a travel area S and acquires a distance to the boundary portion S1 of the specified travel area S on the basis of height information acquired from measurement information of the distance sensor, when the work vehicle 1 travels around the boundary portion S1 side of the travel area S; and a shape specifying unit that specifies a shape of the travel area S in a form in which the movement locus M1 of the work vehicle 1 acquired by the movement locus acquisition unit is corrected by the distance to the boundary portion S1 of the travel area S acquired by the distance acquisition unit.SELECTED DRAWING: Figure 16

Description

  The present invention relates to a travel region shape identifying device that identifies the shape of a travel region in which a work vehicle automatically travels.

  The travel region shape identification device as described above identifies the shape of the travel region when registering a travel region such as a farm field where the work vehicle automatically travels (see, for example, Patent Document 1). In the traveling region, the inner side and the outer side are separated by a boundary portion, so that the user or the like drives the work vehicle around the boundary portion of the traveling region with a manned person. At this time, the movement trajectory of the work vehicle is acquired, and the shape of the travel region is specified based on the movement trajectory.

  In order to appropriately specify the shape of the travel area, when the work vehicle is circulated around the boundary portion of the travel area by manpower, the work vehicle is required to travel as close as possible to the boundary portion of the travel area. . However, in practice, since a gap is generated between the boundary portion of the traveling region and the work vehicle, if the movement trajectory of the working vehicle is used as it is, a shape inside the boundary portion of the traveling region is specified. Therefore, since the travel area having a shape smaller than the actual travel area is specified, the area in which the work vehicle automatically travels becomes narrow, and the work efficiency is lowered.

  Therefore, in the apparatus described in Patent Document 1, a distance sensor (laser sensor or ultrasonic sensor) that measures the distance to the measurement object is attached to the work vehicle, and the work vehicle travels around the work vehicle when traveling around the work vehicle. The distance to the boundary of the region is measured. The shape of the travel region is specified by correcting the movement trajectory when the work vehicle is circulated so as to spread outward according to the distance to the boundary of the travel region measured by the distance sensor.

JP 2017-161987

  In the apparatus described in Patent Document 1, a distance sensor attached to a work vehicle measures a distance to a measurement object in two dimensions, such as a laser sensor or an ultrasonic sensor. For this reason, only distance information in the horizontal direction can be obtained from the measurement information of the distance sensor, so it is difficult to specify the boundary portion of the actual traveling region, and the distance to the boundary portion of the traveling region is accurately grasped. It was difficult. Even when the distance from the travel locus to the boundary of the travel area is calculated, the position of the distance sensor must be calculated in consideration of not only the horizontal position information but also the height. Is required.

  In view of this situation, the main problem of the present invention is to appropriately specify the shape of the traveling region by simplifying the calculation for specifying the shape of the traveling region while easily identifying the boundary portion of the traveling region. It is in providing a travel area shape specifying device that can perform the above-described operation.

A first characteristic configuration of the present invention includes a position information acquisition unit that acquires position information of a work vehicle using a satellite positioning system;
Based on the position information of the work vehicle acquired by the position information acquisition unit, a movement trajectory acquisition unit that acquires a movement trajectory of the work vehicle;
A distance sensor that is provided in the work vehicle and measures the distance to the measurement object in three dimensions;
When the work vehicle is circulated around the boundary portion of the travel region, the boundary portion of the travel region is identified based on the height information acquired from the measurement information of the distance sensor. A distance acquisition unit for acquiring a distance to the unit;
When the work vehicle travels around the boundary portion of the travel region, the travel trajectory of the work vehicle acquired by the travel trajectory acquisition unit is set to the distance to the boundary portion of the travel region acquired by the distance acquisition unit. And a shape specifying unit for specifying the shape of the travel area.

  According to this configuration, when the work vehicle is circulated, the distance sensor measures the distance to the boundary portion of the travel region in three dimensions, so the distance acquisition unit is based on the measurement information of the distance sensor. In addition, not only distance information in the horizontal direction but also height information can be acquired for the boundary portion of the traveling region. Thereby, the distance acquisition unit can appropriately specify the boundary portion of the travel region while using the height information acquired from the measurement information of the distance sensor, and can be specified without performing a complicated calculation or the like. The distance to the boundary of the travel area can be obtained. Therefore, when the work vehicle is driven around, the shape specifying unit corrects the movement trajectory of the work vehicle acquired by the movement trajectory acquisition unit with the distance to the boundary of the travel region acquired by the distance acquisition unit. Thus, the shape of the travel area can be specified appropriately.

  According to a second characteristic configuration of the present invention, when the work vehicle is automatically traveled within the travel region specified by the shape specifying unit, the distance sensor measures a distance to an obstacle existing around the work vehicle. It is in the point that it is configured freely.

  According to this configuration, the distance sensor is not only used for specifying the shape of the travel area, but also when the work vehicle is automatically traveled in the travel area, the distance to the obstacle present around the work vehicle is measured. Therefore, the configuration can be simplified.

  According to a third characteristic configuration of the present invention, the distance acquisition unit is configured to detect the travel area according to the height information acquired from the measurement information of the distance sensor and the height of the boundary of the travel area set in advance. The boundary is specified.

  According to this configuration, for example, if the height information acquired from the measurement information of the distance sensor is the same as the height of the boundary portion of the travel region set in advance, the distance acquisition unit If there is a difference between the height information acquired from the measurement information of the distance sensor and the preset height of the boundary of the travel area, it can be determined that it is not the boundary of the travel area. As described above, the distance acquisition unit accurately identifies the boundary portion of the traveling region by comparing the height information acquired from the measurement information of the distance sensor with the height of the boundary portion of the traveling region set in advance. be able to.

The figure which shows schematic structure of an automatic traveling system Block diagram showing schematic configuration of automatic driving system Diagram showing the target travel route The figure which shows the upper part part of the tractor in front view The figure which shows the upper part part of a tractor in a rear view The figure which shows the antenna unit and front rider sensor in the use position in a side view The perspective view which shows the support structure of an antenna unit and a front rider sensor The figure which shows the antenna unit and front rider sensor in the non-use position in a side view The figure which shows the roof in a side view in a use position and a non-use position, an antenna unit, a front rider sensor, and a rear rider sensor Perspective view showing support structure of rear rider sensor The figure which shows the measurement range of the front rider sensor and the rear rider sensor in the side view The figure which shows the measurement range of the front rider sensor, the rear rider sensor and the sonar unit in plan view The figure which shows the three-dimensional image produced | generated from the measurement information of the front rider sensor The figure which shows the three-dimensional image produced | generated from the measurement information of the rear rider sensor in the state which has located the working device in the descent position The figure which shows the three-dimensional image produced | generated from the measurement information of the rear rider sensor in the state which has located the working device in the raising position The figure which shows the boundary part of a movement locus and a run area at the time of making a tractor go round The figure which shows the state which measures the distance to the boundary part of a run area with a front rider sensor The figure which shows the positional relationship in the planar view of the boundary part of a tractor and a driving | running | working area | region at the time of making a tractor drive around. The figure which shows the state which specified the shape of the run area Flow chart showing the operation when acquiring travel area information The figure which shows the boundary part of a movement locus and a run area at the time of making a tractor go round The figure which shows the state which measures the distance to the obstacle (object) of the boundary part of a running area with a front rider sensor The figure which shows the state which is measuring the distance to the obstacle (bank collapse) of the boundary part of a run area with a front rider sensor The figure which shows the state which specified the shape of the run area Flow chart showing the operation when acquiring travel area information Diagram showing the target travel route Diagram showing the target travel route

An embodiment in which a travel region shape specifying device according to the present invention is applied to an automatic travel system will be described with reference to the drawings.
In this automatic traveling system, as shown in FIG. 1, a tractor 1 is applied as a work vehicle according to the present invention. Other than the tractor, a riding rice transplanter, a combiner, a riding mower, a wheel loader, a snowplow, etc. It is possible to apply a passenger work vehicle and an unmanned work vehicle such as an unmanned mower.

  As shown in FIGS. 1 and 2, the automatic traveling system includes an automatic traveling unit 2 mounted on the tractor 1 and a mobile communication terminal 3 that is set to communicate with the automatic traveling unit 2. The mobile communication terminal 3 can employ a tablet personal computer, a smartphone, or the like having a display unit 51 (for example, a liquid crystal panel) that can be touch-operated.

  The tractor 1 includes a traveling machine body 7 having left and right front wheels 5 that function as drivable steering wheels, and drivable left and right rear wheels 6. A bonnet 8 is disposed on the front side of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter referred to as an engine) 9 having a common rail system is provided in the bonnet 8. A cabin 10 that forms a boarding type driving unit is provided behind the hood 8 of the traveling machine body 7.

  A rotary cultivator, which is an example of the working device 12, is connected to the rear portion of the traveling machine body 7 via a three-point link mechanism 11 so as to be movable up and down and rollable so that the tractor 1 can be configured to have a rotary cultivating specification. it can. A work device 12 such as a plow, a seeding device, or a spraying device can be connected to the rear portion of the tractor 1 instead of the rotary tiller.

  As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 that shifts the power from the engine 9, an all-hydraulic power steering mechanism 14 that steers the left and right front wheels 5, and the left and right rear wheels 6. Left and right side brakes (not shown) for braking, an electronically controlled brake operating mechanism 15 that enables hydraulic operation of the left and right side brakes, and a work clutch that intermittently transmits power to the work device 12 such as a rotary tiller (see FIG. (Not shown), an electronically controlled clutch operating mechanism 16 that enables hydraulic operation of the work clutch, an electrohydraulic control type lifting drive mechanism 17 that drives the working device 12 such as a rotary tiller, etc., automatic travel of the tractor 1, etc. Vehicle-mounted electronic control unit 18 having various control programs and the like, a vehicle speed sensor 19 for detecting the vehicle speed of the tractor 1, and a steering angle sensor for detecting the steering angle of the front wheels 5 20, and the positioning unit 21 and the like for measuring the current position and current heading of the tractor 1 is provided.

  The engine 9 may be an electronically controlled gasoline engine equipped with an electronic governor. As the transmission 13, a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt-type continuously variable transmission, or the like can be employed. The power steering mechanism 14 may be an electric power steering mechanism 14 provided with an electric motor.

  As shown in FIGS. 4 and 5, the cabin 10 includes a cabin frame 31 that forms a framework of the cabin 10, a front glass 32 that covers the front side, a rear glass 33 that covers the rear side, and an axis around the vertical direction. And a pair of left and right doors 34 (see FIG. 1) that can swing open and close and a roof 35 on the ceiling side. The cabin frame 31 includes a pair of left and right front columns 36 disposed at the front end and a pair of left and right rear columns 37 disposed at the rear end. In a plan view, front struts 36 are disposed at the left and right corners on the front side, and rear struts 37 are disposed at the left and right corners on the rear side. The cabin frame 31 is supported on the traveling machine body 7 via an anti-vibration member such as an elastic body, and anti-vibration measures are taken to prevent vibration from the traveling machine body 7 and the like from being transmitted to the cabin 10. In the state, a cabin 10 is provided.

  Inside the cabin 10, as shown in FIG. 1, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, a touch panel An expression display unit and various operation tools are provided. On both lateral sides of the front portion of the cabin 10, a boarding / alighting step 41 serving as a boarding / alighting unit for the cabin 10 (driver's seat 39) is provided.

  As shown in FIG. 2, the on-vehicle electronic control unit 18 includes a shift control unit 181 that controls the operation of the transmission 13, a brake control unit 182 that controls the operation of the left and right side brakes, and a work device 12 such as a rotary tillage device. A work device control unit 183 that controls the operation, a steering angle setting unit 184 that sets the target steering angle of the left and right front wheels 5 during automatic traveling and outputs the target steering angle to the power steering mechanism 14, and a preset target traveling for automatic traveling A non-volatile in-vehicle storage unit 185 and the like for storing the route P (for example, see FIG. 3) and the like are included.

  As shown in FIG. 2, the positioning unit 21 includes a satellite that measures the current position and the current direction of the tractor 1 using a GPS (Global Positioning System) which is an example of a satellite positioning system (NSS: Navigation Satellite System). A navigation device 22, an inertial measurement unit (IMU: 23) 23 that has a three-axis gyroscope, a three-direction acceleration sensor, and the like and measures the attitude, orientation, and the like of the tractor 1 are provided. Positioning methods using GPS include DGPS (Differential GPS) and RTK-GPS (Real Time Kinematic GPS). In the present embodiment, RTK-GPS suitable for positioning of a moving body is employed. Therefore, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the field as shown in FIGS.

  Each of the tractor 1 and the reference station 4 includes, as shown in FIG. 2, GPS antennas 24 and 61 that receive radio waves transmitted from the GPS satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. Communication modules 25, 62, and the like that enable wireless communication of various types of information including positioning information in are provided. Thereby, the satellite navigation device 22 receives the positioning information obtained by the GPS antenna 24 on the tractor side receiving the radio wave from the GPS satellite 71, and the GPS antenna 61 on the base station side receives the radio wave from the GPS satellite 71. Based on the obtained positioning information, the current position and the current direction of the tractor 1 can be measured with high accuracy. In addition, the positioning unit 21 includes the satellite navigation device 22 and the inertial measurement device 23, thereby measuring the current position, current azimuth, and attitude angle (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy. Can do.

  As shown in FIG. 1, the GPS antenna 24, the communication module 25, and the inertial measurement device 23 provided in the tractor 1 are housed in an antenna unit 80. The antenna unit 80 is disposed at an upper position on the front side of the cabin 10.

  As shown in FIG. 2, the mobile communication terminal 3 includes positioning information between the terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and the communication module 25 on the tractor side. A communication module 55 that enables wireless communication of various types of information is provided. The terminal electronic control unit 52 includes a travel route generation unit 53 that generates a target travel route P (for example, see FIG. 3) for travel guidance for automatically traveling the tractor 1, and various input information input by the user. A non-volatile terminal storage unit 54 that stores the target travel route P and the like generated by the travel route generation unit 53 is included.

  The travel route generation unit 53 generates a target travel route P (see, for example, FIG. 3) in the travel region S, and a method for generating the target travel route P will be described later.

  The target travel route P generated by the travel route generation unit 53 can be displayed on the display unit 51 and is stored in the terminal storage unit 54 as route information associated with vehicle body information, travel region information, and the like. The route information includes the azimuth angle of the target travel route P, the set engine speed and the target travel speed set according to the travel mode of the tractor 1 on the target travel route P, and the like.

  In this way, when the travel route generation unit 53 generates the target travel route P, the terminal electronic control unit 52 transfers the route information from the mobile communication terminal 3 to the tractor 1, whereby the in-vehicle electronic control unit 18 of the tractor 1. However, route information can be acquired. The in-vehicle electronic control unit 18 causes the tractor 1 to automatically travel along the target travel route P while acquiring its current position (current position of the tractor 1) by the positioning unit 21 based on the acquired route information. Can do. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, every several seconds), and the mobile communication terminal 3 grasps the current position of the tractor 1. ing.

  Regarding the transfer of the route information, the entire route information can be transferred from the terminal electronic control unit 52 to the in-vehicle electronic control unit 18 at a time before the tractor 1 starts the automatic travel. Further, for example, the route information including the target travel route P can be divided into a plurality of route portions for each predetermined distance with a small amount of information. In this case, only the initial route portion of the route information is transferred from the terminal electronic control unit 52 to the in-vehicle electronic control unit 18 before the tractor 1 starts automatic traveling. After the start of automatic driving, every time the tractor 1 reaches a route acquisition point set according to the amount of information or the like, route information of only the subsequent route portion corresponding to that point is transmitted from the terminal electronic control unit 52 to the on-vehicle electronic control. It may be transferred to the unit 18.

  When starting the automatic traveling of the tractor 1, for example, when the user or the like moves the tractor 1 to the start point and various automatic traveling start conditions are satisfied, the user can display the display unit 51 on the mobile communication terminal 3. The mobile communication terminal 3 transmits an instruction to start automatic driving to the tractor 1 by instructing start of automatic driving by operating. As a result, in the tractor 1, the in-vehicle electronic control unit 18 receives an instruction to start automatic traveling, and the positioning unit 21 obtains its current position (current position of the tractor 1) while obtaining the target traveling route P. The automatic traveling control for automatically traveling the tractor 1 is started. The in-vehicle electronic control unit 18 automatically causes the tractor 1 to automatically travel along the target travel route P in the travel region S based on the positioning information of the tractor 1 acquired by the positioning unit 21 (corresponding to a satellite positioning system). It is comprised as an automatic traveling control part which performs traveling control.

  The automatic travel control includes automatic shift control for automatically controlling the operation of the transmission 13, automatic braking control for automatically controlling the operation of the brake operating mechanism 15, automatic steering control for automatically steering the left and right front wheels 5, and a rotary tillage device. The automatic operation control for automatically controlling the operation of the working device 12 is included.

  In the automatic shift control, the shift control unit 181 determines whether the tractor 1 on the target travel route P is based on the route information of the target travel route P including the target travel speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target travel speed set according to the travel mode and the like is obtained as the vehicle speed of the tractor 1.

  In the automatic braking control, the braking control unit 182 causes the left and right side brakes to move rearward in the braking area included in the route information of the target traveling route P based on the target traveling route P and the output of the positioning unit 21. The operation of the brake operation mechanism 15 is automatically controlled so as to properly brake the wheel 6.

  In the automatic steering control, the steering angle setting unit 184 determines the target of the left and right front wheels 5 based on the route information of the target travel route P and the output of the positioning unit 21 so that the tractor 1 travels automatically on the target travel route P. The steering angle is obtained and set, and the set target steering angle is output to the power steering mechanism 14. Based on the target steering angle and the output of the steering angle sensor 20, the power steering mechanism 14 automatically steers the left and right front wheels 5 so that the target steering angle is obtained as the steering angle of the left and right front wheels 5.

  In the automatic work control, the work device control unit 183 operates the tractor 1 at the start of the work route P1 (for example, see FIG. 3) based on the route information of the target travel route P and the output of the positioning unit 21. As the start point is reached, a predetermined work (for example, tillage work) by the work device 12 is started, and the tractor 1 reaches the work end point such as the end of the work path P1 (for example, see FIG. 3). Along with this, the operations of the clutch operation mechanism 16 and the lifting drive mechanism 17 are automatically controlled so that the predetermined work by the work device 12 is stopped.

  Thus, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operation mechanism 15, the clutch operation mechanism 16, the lift drive mechanism 17, the on-vehicle electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, positioning. The automatic traveling unit 2 is configured by the unit 21, the communication module 25, and the like.

  In this embodiment, not only the user or the like does not get on the cabin 10 but also the tractor 1 automatically runs, and the tractor 1 can also automatically run while the user or the like gets on the cabin 10. Accordingly, not only the user or the like does not board the cabin 10 but also the tractor 1 can automatically travel along the target travel route P by the automatic traveling control by the in-vehicle electronic control unit 18, and the user or the like can board the cabin 10. Even in this case, the tractor 1 can be automatically driven along the target travel route P by the automatic travel control by the in-vehicle electronic control unit 18.

  When a user or the like is in the cabin 10, the vehicle-mounted electronic control unit 18 switches between an automatic running state in which the tractor 1 is automatically run and a manual running state in which the tractor 1 is run based on the operation of the user or the like. be able to. Therefore, the automatic travel state can be switched from the automatic travel state to the manual travel state during the automatic travel on the target travel route P, and conversely, the manual travel can be performed while the manual travel state is traveling. The state can be switched to the automatic running state. For switching between the manual driving state and the automatic driving state, for example, a switching operation unit for switching between the automatic driving state and the manual driving state can be provided in the vicinity of the driver's seat 39, and the switching operation unit is carried around. It can also be displayed on the display unit 51 of the communication terminal 3. Further, when the user operates the steering wheel 38 during the automatic traveling control by the in-vehicle electronic control unit 18, the automatic traveling state can be switched to the manual traveling state.

  As shown in FIGS. 1 and 2, the tractor 1 is provided with an obstacle detection system 100 for detecting an obstacle around the tractor 1 (the traveling machine body 7) and avoiding a collision with the obstacle. ing. The obstacle detection system 100 includes a plurality of rider sensors (corresponding to distance sensors) 101 and 102 that can measure a distance to a measurement object in three dimensions using a laser, and an ultrasonic wave to the measurement object. Sonar units 103 and 104 having a plurality of sonars capable of measuring distances, an obstacle detection unit 110, and a collision avoidance control unit 111 are provided. Here, the measurement object to be measured by the rider sensors 101 and 102 and the sonars 103 and 104 is an object or a person.

  The obstacle detection unit 110 performs an obstacle detection process for detecting a measurement object such as an object or a person within a predetermined distance as an obstacle based on the measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104. It is configured. The collision avoidance control unit 111 is configured to perform collision avoidance control when the obstacle detection unit 110 detects an obstacle. The obstacle detection unit 110 repeatedly performs obstacle detection processing based on measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104 in real time, appropriately detects obstacles such as objects and people, and avoids collision. The control unit 111 performs collision avoidance control for avoiding a collision with an obstacle detected in real time.

  The obstacle detection unit 110 and the collision avoidance control unit 111 are provided in the in-vehicle electronic control unit 18. The in-vehicle electronic control unit 18 is connected to an engine electronic control unit included in the common rail system, the rider sensors 101 and 102, the sonar units 103 and 104, and the like in a communicable manner via a CAN (Controller Area Network). ing.

  The rider sensors 101 and 102 measure the distance from the round-trip time until the laser beam (for example, pulsed near-infrared laser beam) bounces off the measurement object to the measurement object (Time Of Flight). . The rider sensors 101 and 102 scan the laser beam at high speed in the vertical and horizontal directions at a high speed, and sequentially measure the distance to the measurement object at each scanning angle, so that the distance to the measurement object is three-dimensionally. Measuring. The rider sensors 101 and 102 repeatedly measure the distance to the measurement object within the measurement range in real time. The rider sensors 101 and 102 are configured to be able to generate a three-dimensional image from measurement information and output it to the outside. The three-dimensional image generated from the measurement information of the rider sensors 101 and 102 is displayed on a display device such as the display unit of the tractor 1 or the display unit 51 of the mobile communication terminal 3 so that the user or the like can visually recognize the presence or absence of an obstacle. be able to. By the way, in the three-dimensional image, for example, the distance in the perspective direction can be shown using color or the like.

  As the rider sensors 101 and 102, as shown in FIG. 11 and FIG. 12, the front rider used for detecting an obstacle on the front side of the tractor 1 with the front side of the tractor 1 (running vehicle body 7) as the measurement range C A sensor 101 and a rear rider sensor 102 used for detecting an obstacle on the rear side of the tractor 1 with the rear side of the tractor 1 (the traveling machine body 7) as a measurement range D are provided.

  The front rider sensor 101 and the rear rider sensor 102 will be described below. The support structure of the front rider sensor 101, the support structure of the rear rider sensor 102, the measurement range C of the front rider sensor 101, and the measurement range D of the rear rider sensor 102 are described below. These will be described in order.

A support structure for the front rider sensor 101 will be described.
As shown in FIGS. 1 and 7, the front rider sensor 101 is attached to the bottom of the antenna unit 80 disposed at the upper position on the front side of the cabin 10. First, the support structure of the antenna unit 80 will be described. Next, a structure for attaching the front rider sensor 101 to the bottom of the antenna unit 80 will be described.

  As shown in FIGS. 4, 6, and 7, the antenna unit 80 is attached to a pipe-shaped antenna unit support stay 81 that extends over the entire length of the cabin 10 in the left-right direction of the traveling machine body 7. The antenna unit 80 is disposed at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling machine body 7. The antenna unit support stay 81 is fixedly connected in a state extending over the left and right mirror mounting portions 45 located on the left and right oblique front sides of the cabin 10. The mirror mounting portion 45 includes a mirror mounting base material 46 fixed to the front support column 36, a mirror mounting bracket 47 fixed to the mirror mounting base material 46, and a hinge portion 49 provided on the mirror mounting bracket 47. , And a mirror mounting arm 48 that is rotatable. As shown in FIG. 7, the antenna unit support stay 81 is formed in a bridge shape in which left and right end portions are curved downward. The left and right ends of the antenna unit support stay 81 are fixedly connected to the upper end side portion of the mirror mounting bracket 47 via the first mounting plate 201. As shown in FIGS. 6 and 7, a horizontal mounting surface is formed on the upper end portion of the mirror mounting bracket 47, and a horizontal mounting surface is also formed on the lower end portion of the first mounting plate 201. Has been. The antenna unit support stay 81 is fixedly connected in a posture extending in the horizontal direction by being fastened by a connecting tool 50 such as a bolt and nut in a state in which both mounting surfaces are superposed on each other. Since the antenna unit 80 is supported by the front column 36 constituting the cabin frame 31 via the antenna unit support stay 81 and the mirror mounting portion 45, the antenna unit 80 is prevented from transmitting vibration to the antenna unit 80 and the like. The unit 80 is firmly supported.

  As shown in FIGS. 6 and 7, the mounting structure of the antenna unit 80 to the antenna unit support stay 81 is the second mounting plate 202 fixed to the antenna unit 80 side and the second mounting plate 202 fixed to the antenna unit support stay 81 side. The antenna unit 80 is attached to the antenna unit support stay 81 by fastening the 3 attachment plate 203 with a connector 50 such as a bolt and nut.

  As shown in FIG. 7, the second mounting plate 202 is provided as a pair on the left and right sides with a predetermined interval in the left-right direction of the traveling machine body 7. The second mounting plate 202 is configured by a plate-like body bent in an L shape having a stay side mounting portion 202b extending downward from an outer end portion of the unit side mounting portion 202a extending in the left-right direction. The second mounting plate 202 is mounted in such a manner that the unit side mounting portion 202a is fixedly connected to the bottom portion of the antenna unit 80 by the connector 50 or the like, and the stay side mounting portion 202b extends downward. Although not shown in the drawings, a pair of front and rear circular holes for connection by a connector or the like is formed in the stay side mounting portion 202b of the second mounting plate 202.

  As shown in FIGS. 6 and 7, the third mounting plate 203 is configured by an L-shaped plate-like body whose front side portion extends below the rear side portion. Similarly to the second mounting plate 202, the third mounting plate 203 is provided as a pair on the left and right sides with a predetermined interval in the left-right direction of the traveling machine body 7. The third attachment plate 203 is attached in such a manner that the lower end edge of the rear part is fixedly connected to the upper part of the antenna unit support stay 81 by welding or the like, and the front part is located on the front side of the antenna unit support stay 81. . The third mounting plate 203 is formed with a long elongated hole 203a extending along the front-rear direction of the traveling machine body 7 from the front side portion to the rear side portion, and a connecting round hole on the lower side of the front side portion. 203b is formed.

  When the antenna unit 80 is attached to the antenna unit support stay 81, as shown in FIGS. 6 and 7, the antenna unit 80 is disposed above the antenna unit support stay 81, and the antenna of the communication module 25 is placed upward. It is located in the use position extending to the side. The second mounting plate 202 is connected to the third mounting plate 202 so that the front and rear round holes of the stay mounting portion 202b of the second mounting plate 202 are aligned with the front end and the rear end of the elongated hole 203a of the third mounting plate 203. The second mounting plate 202 and the third mounting plate 203 are overlapped with each other while being positioned on the inner side of the mounting plate 203. The coupling unit 50 is inserted and fastened across the round holes before and after the second mounting plate 202 and the long holes 203a of the third mounting plate 203, so that the antenna unit 80 is attached to the antenna unit support stay 81 at the use position. Can be attached. At this time, locations corresponding to the front end portion and the rear end portion of the long hole 203a are set as connection locations by the connector 50, and in each of the pair of left and right second mounting plates 202 and third mounting plates 203. A total of four locations including the front portion and the rear portion are connected portions by the connector 50.

  As shown in FIG. 6, the antenna unit 80 is located not only at the use position, but also at the front side of the antenna unit support stay 81 as shown in FIG. The antenna unit support stay 81 can be attached to the antenna unit support stay 81 even in a non-use position extending to the position.

  When the antenna unit 80 is attached to the antenna unit support stay 81 in the non-use position, as shown in FIG. 8, the antenna unit 80 is located in the non-use position and the second attachment plate 202 has a stay side attachment portion 202b. In a state in which the second mounting plate 202 is positioned inward of the third mounting plate 203 so that the front and rear circular holes are aligned with the front end portions of the circular holes 203b and the long holes 203a of the third mounting plate 203. The second mounting plate 202 and the third mounting plate 203 are overlapped. The connecting tool 50 is inserted through the front round hole in the stay side mounting portion 202b of the second mounting plate 202 and the round hole 203b in the third mounting plate 203, and the rear of the second mounting plate 202 in the stay side mounting portion 202b. The antenna unit 80 can be attached to the antenna unit support stay 81 at the non-use position by inserting and fastening the connector 50 across the side round hole and the front side end of the long hole 203a.

  For example, when the antenna unit 80 is changed from the use position (see FIG. 6) to the non-use position (see FIG. 8), as shown in FIG. 6, the front end of the long hole 203a of the third mounting plate 203 is used. The connecting tool 50 located at the rear is removed, the connecting tool 50 located at the rear end of the long hole 203a of the third mounting plate 203 is loosened, and the state where the connecting tool 50 is inserted into the long hole 203a is maintained. By moving the connector 50 forward along the long hole 203a from the rear side end to the front side end, the antenna unit 80 is suspended downwardly with the connector 50 as a pivot shaft. As shown in FIG. 8, the position of the antenna unit 80 is changed to the non-use position. Therefore, the connecting tool 50 is inserted through the round hole on the front side of the second mounting plate 202 and the round hole 203b on the third mounting plate 203, and the front side of the round hole on the rear side of the second mounting plate 202 and the long hole 203a. The connector 50 can be inserted and fastened over the side end portion, and the antenna unit 80 can be repositioned from the use position to the non-use position.

  In a state where the antenna unit 80 is attached at the use position, as shown in FIG. 9A, a part of the antenna unit 80 protrudes upward from the highest level line Z passing through the highest part 35a of the roof 35. The antenna of the communication module 25 can be arranged on the upper side so that the wireless communication of the communication module 25 can be performed appropriately. On the other hand, when the antenna unit 80 is attached at the non-use position, the upper end of the antenna unit 80 is located at the same height position as the highest level line Z or the highest level line Z as shown in FIG. Is also placed at a low position. As a result, when the tractor 1 is transported or when the tractor 1 is stored in a storage location such as a barn, the antenna unit 80 does not protrude above the highest level line Z, and the antenna unit 80 becomes an obstacle. Further, it is possible to prevent the antenna unit 80 from being damaged due to contact with an obstacle or the like.

  As shown in FIG. 7, the mounting structure of the front rider sensor 101 to the antenna unit 80 is fastened by a connecting tool 50 such as a bolt and nut via a fourth mounting plate 204 and a fifth mounting plate 205, thereby A sensor 101 is attached to the bottom of the antenna unit 80. The fourth mounting plate 204 has a mounting surface portion 204a extending in the left-right direction, and is formed in a bridge shape in which both end portions of the mounting surface portion 204a extend downward. The fifth mounting plate 205 has a pair of left and right mounting surface portions 205a facing each other in the left-right direction, and is formed in a bridge shape in which upper end portions of the mounting surface portions 205a are connected to each other. The mounting surface portion 204 a of the fourth mounting plate 204 is fixedly connected to the bottom portion of the antenna unit 80 by the connector 50. A front side portion of the fourth mounting plate 204 and a rear side portion of the fifth mounting plate 205 are fixedly connected by the connector 50. A pair of left and right mounting surface portions 205 a of the fifth mounting plate 205 are fixedly connected to both lateral side portions of the front rider sensor 101 by the connector 50. The front rider sensor 101 is attached so as to be sandwiched between the left and right attachment surface portions 205a of the fifth attachment plate 205 in the left-right direction.

  As shown in FIG. 7, the front rider sensor 101 is configured to be detachable from the antenna unit 80 via a fourth mounting plate 204 and a fifth mounting plate 205. The front rider sensor 101 can be retrofitted, and only the front rider sensor 101 can be removed. Further, since the antenna unit 80 is also detachably attached to the mirror attachment portion 45 via the antenna unit support stay 81, the front rider sensor 101 is attached to and detached from the traveling machine body 7 by the front rider sensor 101 alone. And can be attached to and detached from the traveling machine body 7 together with the antenna unit 80. The front rider sensor 101 uses an antenna unit support stay 81 and the like that support the antenna unit 80 as a common support stay, and, like the antenna unit 80, prevents transmission of vibration to the front rider sensor 101. Strongly supported.

  Since the front rider sensor 101 is provided integrally with the antenna unit 80, by changing the position of the antenna unit 80 between the use position and the non-use position, as shown in FIG. However, as shown in FIG. 8, the use position that is used for obstacle detection on the front side of the traveling machine body 7 and the non-use position that is not used for obstacle detection as shown in FIG. The position can be changed freely.

  When the front rider sensor 101 is located at the use position, as shown in FIGS. 6 and 9A, the front rider sensor 101 serves as a boarding / alighting portion for the cabin 10 (driver's seat 39) in the vertical direction. It is disposed at a position higher than 41 (see FIG. 1) and corresponding to the roof 35. The front rider sensor 101 is attached in a front lowering posture that is located on the lower side as the front side portion is located. The front rider sensor 101 is provided to measure in a state where the front side of the traveling machine body 7 is looked down obliquely from the upper side. Since the antenna unit support stay 81 is disposed at a position overlapping the front end portion 35b of the roof 35 in the front-rear direction of the traveling machine body 7 and in the vicinity of the front end portion 35b of the roof 35 in the vertical direction, the front rider sensor 101 is disposed in the vicinity of the front obliquely upper side with respect to the front end portion 35 b of the roof 35 using the lower space of the antenna unit 80. Thus, as shown in FIG. 11, at least a part of the front rider sensor 101 overlaps with the front end portion 35 b of the roof 35 from the line of sight of the passenger T sitting on the driver's seat 39. The arrangement position of the front rider sensor 101 is a position where at least a part of the front rider sensor 101 is hidden at the front end portion 35 b of the roof 35. The front rider sensor 101 exists in a position where a part of the front rider sensor 101 deviates from the visible range B1 on the front side of the occupant T seated in the driver's seat 39. Can be prevented from being blocked.

  When the front rider sensor 101 is located at the non-use position, as shown in FIGS. 8 and 9B, the upper end portion of the front rider sensor 101 is placed at the highest level line Z (FIG. 9B) as in the antenna unit 80. ) Refer to the above)). Thereby, when transporting the tractor 1 or when storing the tractor 1 in a storage location such as a barn, not only the antenna unit 80 but also the front rider sensor 101 is prevented from protruding above the highest level line Z. is doing.

  About the arrangement position of the front rider sensor 101, it is arrange | positioned in the center part of the left-right direction of the antenna unit 80 in the left-right direction of the traveling body 7. FIG. Since the antenna unit 80 is disposed at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling aircraft body 7, the front rider sensor 101 is also a position corresponding to the central portion of the cabin 10 in the lateral direction of the traveling aircraft body 7. Is arranged.

  As shown in FIGS. 6 and 7, in addition to the front rider sensor 101, a front camera 108 whose imaging range is the front side of the traveling machine body 7 is attached to the fifth mounting plate 205 by a connector or the like. The front camera 108 is disposed above the front rider sensor 101. Similar to the front rider sensor 101, the front camera 108 is attached in a front-down posture that is located on the lower side as the front side portion is located. The front camera 108 is provided so as to take an image in a state where the front side of the traveling machine body 7 is looked down obliquely from above. A captured image captured by the front camera 108 can be output to the outside. The captured image of the front camera 108 can be displayed on a display device such as the display unit of the tractor 1 or the display unit 51 of the mobile communication terminal 3 so that a user or the like can visually recognize the situation around the tractor 1.

Next, a support structure for the rear rider sensor 102 will be described.
As shown in FIGS. 5 and 10, the rear rider sensor 102 is attached to a pipe-like sensor support stay 301 over the entire length of the cabin 10 in the left-right direction of the traveling machine body 7. The rear rider sensor 102 is disposed at a position corresponding to the central portion of the cabin 10 in the left-right direction of the traveling machine body 7.

  As shown in FIGS. 5 and 10, the sensor support stay 301 is fixedly connected so as to extend over the left and right rear columns 37 located at the left and right ends of the cabin 10. The sensor support stay 301 is formed in a bridge shape in a plan view in which the left and right ends are curved obliquely forward. The left and right end portions of the sensor support stay 301 are fixedly connected to attachment members provided at upper end portions of the left and right rear columns 37 via a sixth attachment plate 206. A sixth mounting plate 206 is fixedly connected to the left and right ends of the sensor support stay 301 by welding or the like. The sensor support stay 301 is fixedly connected in a posture extending in the horizontal direction by fastening the sixth mounting plate 206 and a mounting member provided at an upper end side portion of the rear column 37 with the connecting tool 50.

  As shown in FIG. 10, the rear rider sensor 102 is attached to the sensor support stay 301 via a seventh attachment plate 207 and an eighth attachment plate 208 as shown in FIG. . The seventh mounting plate 207 has a pair of left and right side wall surface portions 207a facing each other in the left and right direction, and is formed in a bridge shape in which upper end portions of the side wall surface portions 207a are connected to each other. The eighth mounting plate 208 has a pair of left and right mounting surface portions 208a facing each other in the left-right direction, and is formed in a bridge shape in which the upper end portions of the mounting surface portion 208a are connected to each other. The lower end edge of the side wall surface portion 207a of the seventh mounting plate 207 is fixedly connected to the sensor support stay 301 by welding or the like. The rear part of the seventh mounting plate 207 and the front part of the eighth mounting plate 208 are fixedly connected by the connector 50. A pair of left and right mounting surface portions 208 a of the eighth mounting plate 208 are fixedly connected to both lateral side portions of the rear rider sensor 102 by the connector 50. The rear rider sensor 102 is attached so as to be sandwiched between the left and right attachment surface portions 208a of the eighth attachment plate 208 in the left-right direction. A reinforcing plate 302 is fixedly connected to the front portion of the seventh mounting plate 207 by a connector or the like. A front side portion of the reinforcing plate 302 is fixedly connected to the upper surface portion of the roof 35 by a connecting tool 50. The reinforcing plate 302 extends in the front-rear direction in a U-shape having an upright wall with both side ends in the left-right direction bent upward, and extends across the roof 35, the seventh mounting plate 207, and the sensor support stay 301. Is provided.

  As shown in FIGS. 9B and 10, the rear rider sensor 102 is disposed at a position higher than the getting-on / off step 41 (see FIG. 1) and in a position corresponding to the roof 35 in the vertical direction. The rear rider sensor 102 is attached to the sensor support stay 301 in a rearwardly lowered posture that is located on the lower side as the rear side portion is located. The rear rider sensor 102 is provided so as to perform measurement in a state where the rear side of the traveling machine body 7 is looked down obliquely from above. The sensor support stay 301 is disposed in the vicinity of the rear end portion 35c of the roof 35 in the front-rear direction of the traveling machine body 7 and at the position overlapping the rear end portion 35c of the roof 35 in the vertical direction. The sensor 102 is disposed at substantially the same height with respect to the rear end portion 35c of the roof 35 or at a position in the vicinity of the rear obliquely upper side. Accordingly, as shown in FIG. 11, at least a part of the rear rider sensor 102 overlaps with the rear end portion 35 c of the roof 35 from the line of sight of the passenger T sitting on the driver's seat 39. The rear rider sensor 102 is disposed at a position where at least a part of the rear rider sensor 102 is hidden at the rear end portion 35 c of the roof 35. The occupant T seated in the driver's seat 39 is located at a position where a part of the rear rider sensor 102 deviates from the rear viewable range B2, and the view of the occupant T seated in the driver's seat 39 is the rear rider sensor. Blocking at 102 can be suppressed.

  As shown in FIG. 10, the rear rider sensor 102 is configured to be detachable from the rear column 37 via a sensor support stay 301, a seventh mounting plate 207, and an eighth mounting plate 208. The rear rider sensor 102 can be retrofitted, and the rear rider sensor 102 can be removed. Since the rear rider sensor 102 is supported by the rear column 37 constituting the cabin frame 31 via the sensor support stay 301, the rear rider sensor 102 is firmly supported while preventing transmission of vibration to the rear rider sensor 102. Yes.

  As shown in FIG. 10, in addition to the rear rider sensor 102, a rear camera 109 whose imaging range is the rear side of the traveling machine body 7 is attached to the eighth mounting plate 208 by a connector or the like. The rear camera 109 is disposed above the rear rider sensor 102. Similar to the rear rider sensor 102, the rear camera 109 is attached in a rear-lowering posture that is located on the lower side as the rear part is located. The rear camera 109 is provided so as to take an image in a state where the rear side of the traveling machine body 7 is looked down obliquely from above. A captured image captured by the rear camera 109 can be output to the outside. The captured image of the rear camera 109 can be displayed on a display device such as the display unit of the tractor 1 or the display unit 51 of the mobile communication terminal 3 so that a user or the like can visually recognize the situation around the tractor 1.

The measurement range C of the front rider sensor 101 will be described.
As shown in FIG. 12, the front rider sensor 101 has a left / right measurement range C1 in the left / right direction, and also has an up / down measurement range C2 in the up / down direction as shown in FIG. As a result, the front rider sensor 101 has a quadrangular pyramid that is included in the left / right measurement range C1 and the vertical measurement range C2 in the range from the self to the position separated by the first set distance X1 (see FIG. 12). A shape measurement range C is set.

  As shown in FIG. 12, the left-right measurement range C1 in the front rider sensor 101 is a left-right symmetric range with the left-right center line of the traveling aircraft body 7 as the symmetry axis in the left-right direction of the traveling aircraft body 7. The left / right measurement range C1 is set to a range of a first set angle α1 between a first boundary line E1 and a second boundary line E2 extending from the front rider sensor 101. The lateral measurement range C <b> 1 is set to be larger than the lateral width of the tractor 1 and the lateral width of the work device 12 in the lateral width direction of the traveling machine body 7. The size of the left and right measurement range C1 can be changed as appropriate.

  As shown in FIG. 11, the vertical measurement range C2 in the front rider sensor 101 is set to a range of a second set angle α2 between the third boundary line E3 and the fourth boundary line E4 extending from the front rider sensor 101. Yes. The third boundary line E3 is set as a horizontal line extending in the horizontal direction forward from the front rider sensor 101, and the fourth boundary line E4 is based on a first tangent line G1 from the front rider sensor 101 to the front upper portion of the front wheel 5. Is also set to a straight line located on the lower side. The vertical measurement range C2 is set so that the first center line F1 between the third boundary line E3 and the fourth boundary line E4 is located above the bonnet 8. A sufficiently large measuring range is secured. By setting the fourth boundary line E4 below the first tangent line G1, a measurement object such as an object or a person is positioned near the front end of the traveling machine body 7 (the front end of the bonnet 8). Even if exists, the measurement object can be measured.

  As shown in FIG. 11, a part of the bonnet 8 and a part of the front wheel 5 enter the vertical measurement range C <b> 2 in the front rider sensor 101. If the obstacle detection process is performed based on the measurement information, a part of the hood 8 or a part of the front wheel 5 may be erroneously detected as an obstacle. Therefore, a first masking process for preventing the erroneous detection is performed. In the first masking process, in the measurement range C of the front rider sensor 101, a masking range L in which a part of the hood 8 and a part of the front wheel 5 are present is not detected as an obstacle (see FIG. 13). Is set in advance.

  For example, in the first masking process, as a pre-process using the front rider sensor 101, a measurement is actually performed by the front rider sensor 101, and a three-dimensional image generated from the measurement information at that time is displayed on the display unit of the tractor 1 or a mobile phone. The information is displayed on a display device such as the display unit 51 of the communication terminal 3. A user or the like operates the display device while confirming a three-dimensional image of the display device, thereby setting a masking range L in which detection as an obstacle is not performed. As shown in FIG. 13, if a part of the bonnet 8 and a part of the front wheel 5 are present on the three-dimensional image, a range La in which a part of the bonnet 8 is present and the front wheel 5. The masking range L is set based on a reference range including a partially existing range Lb. As shown by the dotted line in FIG. 13, the front wheel 5 is steered left and right by operating the steering wheel 38, the power steering mechanism 14 and the like, so that the masking range includes the steering range in which the front wheel 5 is steered left and right. It is preferable to set L.

  In the example shown in FIG. 13, a chevron-shaped range larger than the reference range including the range La in which a part of the bonnet 8 exists and the range Lb in which a part of the front wheel 5 exists is set as the masking range L. is doing. Incidentally, the masking range L is set to a three-dimensional range in the front-rear direction, the left-right direction, and the up-down direction. For example, the masking range L is set to a shape corresponding to the shape of the hood 8 or the front wheel 5 so as to include only the range La where a part of the bonnet 8 exists and the range Lb where a part of the front wheel 5 exists. The range and shape of the masking range L can be appropriately changed.

  In this way, the obstacle detection unit 110 is included in the left / right measurement range C1 (see FIG. 12) in the left / right direction by performing the obstacle detection process based on the measurement information of the front rider sensor 101, and In the range included in the vertical measurement range C2 (see FIG. 11) in the direction, the presence or absence of an obstacle is detected in a range excluding the masking range L.

The measurement range D of the rear rider sensor 102 will be described.
Like the front rider sensor 101, the rear rider sensor 102 has a left / right measurement range D1 in the left / right direction as shown in FIG. 12, and an up / down measurement range D2 in the up / down direction as shown in FIG. Have. As a result, the rear rider sensor 102 has a quadrangular pyramid that is included in the left and right measurement range D1 and the vertical measurement range D2 in the range from the self to the position separated by the third set distance X3 (see FIG. 12). A shape measurement range D is set. Incidentally, X1 and X3 can be set to the same distance or different distances.

  As shown in FIG. 12, the left and right measurement range D1 in the rear rider sensor 102 is set to a third setting between the fifth boundary line E5 and the sixth boundary line E6 extending from the rear rider sensor 102, as in the front rider sensor 101. The angle α3 is set in a range. Similar to the front rider sensor 101, the left / right measurement range D <b> 1 is set to a range larger than the lateral width of the tractor 1 and the lateral width of the work device 12 in the lateral width direction of the traveling machine body 7.

  As shown in FIG. 11, the vertical measurement range D2 in the rear rider sensor 102 is set to a range of a fourth set angle α4 between the seventh boundary line E7 and the eighth boundary line E8 extending from the rear rider sensor 102. Yes. Since the working device 12 is provided so as to freely move up and down between the raised position and the lowered position, in FIG. 11, the working device 12 located at the lowered position is indicated by a solid line, and the working device located at the raised position. 12 is indicated by a dotted line. The seventh boundary line E7 is set as a horizontal line extending in the horizontal direction rearward from the rear rider sensor 102, and the eighth boundary line E8 is formed at the rear upper part of the work device 12 located at the lowered position from the rear rider sensor 102. It is set to a straight line located below the second tangent line G2 that faces. In the vertical measurement range D2, the second center line F2 between the seventh boundary line E7 and the eighth boundary line E8 is located above the working device 12 in the ascending position (shown by a dotted line in FIG. 11). Thus, a sufficiently large measurement range is secured on the upper side of the working device 12 in the raised position. By setting the eighth boundary line E8 below the second tangent line G2, even if there is a measurement object such as an object or a person in the vicinity of the rear end of the working device 12 at the lowered position, etc. The measurement object can be measured.

  Since a part of the work device 12 enters the vertical measurement range D2 of the rear rider sensor 102, when the obstacle detection unit 110 performs the obstacle detection process based on the measurement information of the rear rider sensor 102, the work is performed. There is a possibility that a part of the device 12 is erroneously detected as an obstacle. Therefore, a second masking process for preventing the erroneous detection is performed. In the second masking process, a range in which a part of the work device 12 exists within the measurement range D of the rear rider sensor 102 is preliminarily set as a masking range L (see FIGS. 14 and 15) in which detection as an obstacle is not performed. It is set.

  For example, in the second masking process, similarly to the first masking process, as a pre-process for using the rear rider sensor 102, a measurement is actually performed by the rear rider sensor 102, and a three-dimensional image generated from the measurement information at that time is generated. The information is displayed on a display device such as the display unit of the tractor 1 or the display unit 51 of the mobile communication terminal 3. A user or the like sets a masking range L in which an obstacle is not detected by operating the display device while checking a three-dimensional image of the display device.

  As shown in FIG. 12, the working device 12 is raised and lowered between a lowered position and a raised position (position indicated by a dotted line in the figure). The tractor 1 travels while performing the predetermined work by lowering the working device 12 to the lowered position, and performs only traveling without raising the working device 12 to the raised position and performing the predetermined work. Thus, in the second masking process, as the masking range L, a masking range L1 for the lowered position is set as shown in FIG. 14, and a masking range L2 for the raised position is set as shown in FIG. 14 and 15, with respect to the work device 12, a portion existing within the measurement range D of the rear rider sensor 102 is indicated by a solid line, and a portion existing outside the measurement range D of the rear rider sensor 102 is indicated by a dotted line. Show. By operating the lifting / lowering operation tool in the cabin 10, the work device 12 is positioned at the lowered position, and the three-dimensional image generated from the measurement information of the rear rider sensor 102 at that time is used to lower the working position. A masking range L1 is set. By operating the lifting and lowering operation tool in the cabin 10, the work device 12 is positioned at the raised position, and the three-dimensional image generated from the measurement information of the rear rider sensor 102 at that time is used for the raised position. A masking range L2 is set.

  14 and 15, rectangular ranges larger than the reference range including the range Lc in which the work device 12 exists are set as masking ranges L1 and L2. Incidentally, the masking range L is set to a three-dimensional range in the front-rear direction, the left-right direction, and the up-down direction. The masking range L can be set to a shape according to the shape of the work device 12 so as to include only the range Lc where the work device 12 exists, and the masking ranges L1 and L2 can be set to any range and shape. It can be changed as appropriate.

  In this way, the obstacle detection unit 110 performs the obstacle detection processing based on the measurement information of the rear rider sensor 102, so that it is included in the left / right measurement range D1 (see FIG. 12) in the left / right direction, and In the range included in the vertical measurement range D2 (see FIG. 11) in the direction, the presence or absence of an obstacle is detected in a range excluding the masking ranges L1 and L2. The obstacle detection unit 110 performs the obstacle detection process using the masking range L1 for the lowered position when the work device 12 is located at the lowered position, and the raised position when the work device 12 is located at the raised position. Obstacle detection processing is performed using the masking range L2.

Hereinafter, the sonar units 103 and 104 will be described.
The sonar units 103 and 104 are configured to measure the distance from the round trip time until the projected ultrasonic wave bounces off the measurement object and bounces back to the measurement object. The sonars 103 and 104 are configured to detect a measurement object as an obstacle and measure the distance to the obstacle when any object is present as the measurement object in the measurement range.

  As shown in FIG. 12, as the sonar units 103 and 104, the right sonar unit 103 whose measurement range is the right side of the tractor 1 (traveling machine body 7) and the tractor 1 (traveling machine body 7) as shown in FIG. A left sonar unit 104 having a measurement range on the left side is provided.

  As shown in FIG. 12, the measurement range N of the right sonar unit 103 is different from the measurement range N of the left sonar unit 104 only in that the direction extending from the traveling machine body 7 is opposite to the left and right. The measurement range N is symmetrical between the right side and the left side.

  The sonar units 103 and 104 measure the outside of the traveling machine body 7. The sonar units 103 and 104 are attached to the traveling machine body 7 so as to project ultrasonic waves toward the lower side by a predetermined angle from the horizontal direction, and extend from the sonar units 103 and 104 to the lower side by a predetermined angle. The measurement range N is set in. The measurement range N of the sonar units 103 and 104 is a range in which the distance from the sonar units 103 and 104 to the predetermined distance toward the outer side of the traveling machine body 7 is a radius. It is set between the left / right measurement range C1 of the sensor 101 and the left / right measurement range D1 of the rear rider sensor 102.

  In this manner, the obstacle detection unit 110 detects the presence or absence of an obstacle in the left and right measurement ranges N by performing the obstacle detection process based on the measurement information of the sonar units 103 and 104.

  Hereinafter, the obstacle detection process by the obstacle detection unit 110 and the collision avoidance control by the collision avoidance control unit 111 will be described. First, an obstacle is detected by the obstacle detection process based on the measurement information of the rider sensors 101 and 102. The collision avoidance control when detected will be described, and then collision avoidance control when an obstacle is detected in the obstacle detection process based on the measurement information of the sonar units 103 and 104 will be described.

  Two rider sensors, a front rider sensor 101 and a rear rider sensor 102, are provided as rider sensors. The obstacle detection unit 110 switches between forward and backward travel at a forward / reverse switching point included in the target travel route P. Alternatively, the obstacle detection state is switched based on forward / reverse switching by a reversing lever for forward / reverse switching provided in the cabin 10. When the tractor 1 travels forward, measurement is performed by the front rider sensor 101, the obstacle detection unit 110 switches to a forward detection state in which obstacle detection processing is performed based on measurement information of the front rider sensor 101, and the tractor 1 moves backward. When traveling, measurement is performed by the rear rider sensor 102, and the obstacle detection unit 110 is switched to a reverse detection state in which obstacle detection processing based on measurement information of the rear rider sensor 102 is performed. In this way, depending on whether the tractor 1 is traveling forward or backward, switching between using the rider sensor of the front rider sensor 101 and the rear rider sensor 102 to detect obstacles, the processing burden is increased. Obstacles are detected while mitigating the problem.

  In the forward detection state, the obstacle detection unit 110 performs an obstacle detection process based on the measurement information of the front rider sensor 101, and is included in the left-right measurement range C1 (see FIG. 12) and in the vertical direction. In the range included in the vertical measurement range C2 (see FIG. 11), the presence or absence of an obstacle is detected in a range excluding the masking range L (see FIG. 13). In the reverse detection state, when the work device 12 is in the lowered position, the obstacle detection unit 110 performs an obstacle detection process based on the measurement information of the rear rider sensor 102, and the left and right measurement ranges D1 (see FIG. 12) and in the range included in the vertical measurement range D2 (see FIG. 11) in the vertical direction, the presence / absence of an obstacle is detected in a range excluding the masking range L1 for the lowered position (see FIG. 14). is doing. In the reverse detection state, when the work device 12 is positioned at the raised position, the obstacle detection unit 110 performs an obstacle detection process based on the measurement information of the rear rider sensor 102, and the left and right measurement ranges D1 (see FIG. 12) and in the range included in the vertical measurement range D2 (see FIG. 11) in the vertical direction, the presence / absence of an obstacle is detected in a range excluding the masking range L2 for the ascending position (see FIG. 15). is doing.

  When an obstacle is detected using the front rider sensor 101 or the rear rider sensor 102, as shown in FIG. 12, in which range of obstacle detection detection ranges that are measurement ranges C and D, the obstacle is detected. The control content of the collision avoidance control by the collision avoidance control unit 111 is set differently depending on whether an object is detected. The measurement ranges C and D (detection ranges) have three ranges of the first detection range J1, the second detection range J2, and the third detection range J3 according to the distance from the front rider sensor 101 or the rear rider sensor 102. Is set. The first detection range J1 is set such that the distance from the front rider sensor 101 or the rear rider sensor 102 ranges from the fourth set distance X4 to the first set distance X1 or from the fourth set distance X4 to the third set distance X3. Has been. In the second detection range J2, the distance from the front rider sensor 101 or the rear rider sensor 102 is set to a range from the fifth set distance X5 to the fourth set distance X4. The third detection range J3 is set such that the distance from the front rider sensor 101 or the rear rider sensor 102 is a range up to the fifth set distance X5. Therefore, for the tractor 1 including the front rider sensor 101, the rear rider sensor 102, and the work device 12, the first detection range J1, the second detection range J2, and the third detection range J3 are set to be closer to each other in that order. Has been.

  The control content of the collision avoidance control when an obstacle is detected using the front rider sensor 101 or the rear rider sensor 102 is the same whether the tractor 1 is traveling forward or backward. The case where the tractor 1 is traveling forward will be described.

  When the tractor 1 is traveling forward, as shown in FIG. 12, when an obstacle is detected within the first detection range J1 in the obstacle detection process, the collision avoidance control unit 111 performs the collision avoidance control. The first notification control is performed to control the notification device 26 such as a notification buzzer or a notification lamp to notify that an obstacle exists in the first detection range J1. In the first notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is intermittently operated at a predetermined frequency and the notification lamp is lit in a predetermined color.

  When an obstacle is detected in the second detection range J2 in the obstacle detection process, the collision avoidance control unit 111 controls the notification device 26 such as a notification buzzer or a notification lamp as the collision avoidance control, and the second While performing 2nd alerting | reporting control which alert | reports that an obstruction exists in the detection range J2, 1st deceleration control which decelerates the vehicle speed of the tractor 1 is performed. In the second notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is intermittently operated at a predetermined frequency and the notification lamp is lit in a predetermined color. In the first deceleration control, for example, the collision avoidance control unit 111 obtains the predicted collision time until the tractor 1 collides with the obstacle based on the current vehicle speed of the tractor 1, the distance to the obstacle, and the like. The collision avoidance control unit 111 controls the engine 9, the transmission 13, the brake operation mechanism 15, and the like so as to decelerate the vehicle speed of the tractor 1 while maintaining the calculated predicted collision time for a set time (for example, 3 seconds). I have control.

  When an obstacle is detected in the third detection range J3 in the obstacle detection process, the collision avoidance control unit 111 controls the notification device 26 such as a notification buzzer or a notification lamp as the collision avoidance control, While performing 3rd alerting | reporting control which alert | reports that an obstruction exists in the detection range J3, stop control which stops the tractor 1 is performed. In the third notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is continuously operated and the notification lamp is lit in a predetermined color. In the stop control, for example, the collision avoidance control unit 111 controls the brake operation mechanism 15 and the like so as to stop the tractor 1.

  Incidentally, the predetermined frequency for intermittently generating the notification buzzer in the first notification control and the second notification control may be the same frequency or different frequencies. In addition, the predetermined color for lighting the notification lamp in the first to third notification control may be the same color or different colors. In the first to third notification control, the collision avoidance control unit 111 indicates that an obstacle exists in any of the first to third detection ranges J1 to J3 in addition to the control of the notification device 26 of the tractor 1. The terminal electronic control unit 52 can also be controlled so that the display content is displayed on the display unit 51 of the mobile communication terminal 3.

  For example, when an obstacle is detected in the first detection range J1, the collision avoidance control unit 111 performs the first notification control, so that the user or the like indicates that there is an obstacle in the first detection range J1. Can be notified. When the traveling of the tractor 1 is continued and the obstacle detection range approaches the second detection range J2 from the first detection range J1, the collision avoidance control unit 111 performs the first deceleration control in addition to the second notification control. In order to avoid a collision between the tractor 1 and the obstacle, the vehicle speed of the tractor 1 can be reduced. Even if the tractor 1 is decelerated, when the obstacle detection range approaches the third detection range J3 from the second detection range J2, the collision avoidance control unit 111 performs stop control in addition to the third notification control. The tractor 1 can be stopped, and the collision between the tractor 1 and the obstacle can be avoided appropriately.

  When the rider sensors 101 and 102 are used, a moving measurement object such as a person is also detected as an obstacle. Therefore, even if an obstacle is detected within the detection range J, the obstacle may move out of the detection range J due to the movement of the obstacle itself. Therefore, when the obstacle is out of the first detection range J1, the collision avoidance control unit 111 ends the first notification control. When the obstacle is out of the second detection range J2, the collision avoidance control unit 111 terminates the second notification control and increases the vehicle speed of the tractor 1 to the set vehicle speed. Car speed recovery control is performed to control 13 and the like. When the obstacle is out of the third detection range J3, the collision avoidance control unit 111 ends the third notification control while maintaining the tractor 1 in the travel stop state. In this case, the automatic traveling of the tractor 1 can be resumed by instructing the user to resume the automatic traveling of the tractor 1 or the like.

Next, collision avoidance control when an obstacle is detected in the obstacle detection process based on the measurement information of the sonar units 103 and 104 will be described.
Although the sonar units 103 and 104 are provided on the left and right, the obstacle detection unit 110 is configured to detect all of the sonar units 103 and 104 on both the left and right sides when the tractor 1 travels forward and when the tractor 1 travels backward. Obstacle detection processing is performed based on the measurement information.

  When an obstacle is detected in the obstacle detection process based on the measurement information of the sonar units 103 and 104, the collision avoidance control unit 111 controls the notification device 26 such as a notification buzzer and a notification lamp as the collision avoidance control. Then, the fourth notification control for notifying that an obstacle is present in the measurement range N of any one of the sonar units 103 and 104 is performed, and the second deceleration control for decreasing the vehicle speed of the tractor 1 is performed. In the fourth notification control, for example, the collision avoidance control unit 111 controls the notification device 26 so that the notification buzzer is intermittently operated at a predetermined frequency and the notification lamp is lit in a predetermined color. In the second deceleration control, for example, the collision avoidance control unit 111 controls the engine 9, the transmission 13, the brake operation mechanism 15, and the like so as to decelerate the vehicle speed of the tractor 1 to the set vehicle speed.

  In this way, the obstacle detection system 100 detects the presence or absence of an obstacle on the front side and the rear side of the traveling body 7 using the front rider sensor 101 and the rear rider sensor 102, and uses the sonar units 103 and 104. Thus, the presence or absence of an obstacle on the left and right of the traveling machine body 7 can be detected. When the obstacle detection system 110 detects the presence of an obstacle, the obstacle detection system 110 notifies the user of the presence of the obstacle by the collision avoidance control unit 111 performing collision avoidance control. To avoid a collision with an obstacle, and even if there is a possibility that the tractor 1 and the obstacle collide, the tractor 1 is decelerated or stopped so that the tractor 1 and the obstacle A collision can be avoided appropriately.

  In the automatic travel state, the on-vehicle electronic control unit 18 performs automatic travel control. Therefore, the tractor 1 is automatically traveled while the tractor 1 is decelerated or stopped by the obstacle detection system 100 to avoid collision with the obstacle. Can be made. Even in a manual driving state, to the user who is driving, the obstacle detection system 100 notifies the presence of an obstacle, and supports driving for avoiding a collision between the tractor 1 and the obstacle. Can do.

Hereinafter, generation of the target travel route P by the travel route generation unit 53 will be described.
When the travel route generation unit 53 generates the target travel route P, a driver or a user such as a driver or the like follows the input information for setting the target travel route displayed on the display unit 51 of the mobile communication terminal 3. Vehicle body information such as the type and model of the work device 12 is input, and the input vehicle body information is stored in the terminal storage unit 54. A travel region S (see FIG. 3) that is a target for generating the target travel route P is used as a field, and the terminal electronic control unit 52 of the mobile communication terminal 3 acquires travel region information including the shape and position of the travel region S. It is stored in the terminal storage unit 54.

  The travel area information is information regarding the travel area S including the shape of the travel area S and the position of the travel area S acquired from the position information of the tractor 1 acquired by the positioning unit 21. Therefore, in order to acquire the travel area information, it is necessary to specify the shape of the travel area S.

Therefore, a method for specifying the shape of the travel area S will be described.
In order to specify the shape of the traveling area S, as shown in FIG. 2, a positioning unit 21 (corresponding to a position information acquisition unit) that acquires the position information of the tractor 1 using a satellite measurement system, and the positioning unit 21 Based on the position information of the tractor 1 acquired in step S1, the movement locus acquisition unit 56 that acquires the movement locus of the tractor 1, the distance acquisition unit 57 that acquires the distance to the boundary portion S1 of the traveling region S, and the traveling region S And a shape specifying part 58 for specifying the shape of the. The movement locus acquisition unit 56, the distance acquisition unit 57, and the shape identification unit 58 are provided in the terminal electronic control unit 52.

  Since the inner side and the outer side of the traveling region S are partitioned by the boundary portion S1, the user or the like drives the tractor 1 and the boundary portion S1 side of the traveling region S is the tractor 1 as shown in FIG. Run around. When the position information of the tractor 1 is acquired in real time by the positioning unit 21 during this orbital traveling, and the movement trajectory acquiring unit 56 makes the tractor 1 orbit based on the position information of the positioning unit 21 The movement trajectory M1 is acquired. In FIG. 16, the boundary part S1 of the driving | running | working area | region S and the movement locus | trajectory when making the tractor 1 run around are illustrated.

  When the tractor 1 travels around the boundary portion S1 of the traveling region S, a gap is generated between the tractor 1 and the boundary portion S1 of the traveling region S. Therefore, as shown in FIG. M1 is located on the inner side than the boundary portion S1 of the traveling region S by the gap. Therefore, when the tractor 1 travels around the boundary S1 side, the tractor 1 travels around while measuring the distance to the boundary S1 of the travel region S by the rider sensors 101 and 102 as shown in FIG. I am letting.

  FIG. 17 shows a case in which the distance to the boundary portion S1 of the traveling region S is detected in three dimensions based on the measurement information of the front rider sensor 101, but based on the measurement information of the rear rider sensor 102. The same applies to the case where the distance to the boundary portion S1 of the traveling region S is detected in three dimensions, and the description and illustration thereof are omitted.

  When the traveling area S is a farm field or the like, a shore exists at the boundary S1 of the traveling area S, and the boundary S1 of the traveling area S is positioned one step higher than the inside of the traveling area S by the shore. Yes. In addition, even when a partition body such as a wall is provided at the boundary portion S1 of the traveling region S, the boundary portion S1 of the traveling region S is higher than the traveling region S. Therefore, the distance acquisition unit 57 detects the distance K1 to the upper end portion and the distance K2 to the lower end portion in the boundary portion S1 of the traveling region S based on the measurement information of the front rider sensor 101, and detects the boundary of the traveling region S. The height K3 in the part S1 is detected.

  The distance acquisition unit 57 specifies the boundary portion S1 of the travel region S using the detected height K3 and the preset height of the boundary portion S1 of the travel region S. The height of the boundary portion S1 of the traveling area S is obtained from the map information or the like in which the height of the boundary area S1 of the traveling area S, the position of the traveling area S, etc. is registered, It is set in advance. The distance acquisition unit 57 compares the detected height K3 with the height of the boundary portion S1 of the travel region S set in advance, and if the height is the same, the detected height K3 is the travel region S. The boundary portion S1 of the traveling region S is specified as the height of the boundary portion S1. When the boundary portion S1 of the travel region S is specified, the distance acquisition unit 57 obtains the distance K4 (the distance in the horizontal direction) to the boundary portion S1 of the specified travel region S. For example, since the height of the installation position of the front rider sensor 101 is a specified value, the distance acquisition unit 57 reaches the height of the installation position of the front rider sensor 101 and the lower end of the boundary S1 of the traveling region S. The distance K4 to the boundary part S1 of the traveling region S can be obtained using the distance K2 or the like.

  As shown in FIG. 18, the distance acquisition unit 57 acquires a distance K4 corresponding to the gap between the tractor 1 and the boundary portion S1 of the traveling region S in real time, and the movement locus M1 of the tractor 1 and the traveling region S The distance K4 between the boundary part S1 is acquired over the entire length of the movement locus M1.

  As shown in FIG. 19, the shape specifying unit 58 sets the movement locus M1 of the tractor 1 acquired by the movement locus acquisition unit 56 to a distance K4 to the boundary portion S1 of the traveling region S acquired by the distance acquisition unit 57. The shape of the travel area S is specified in the form of correction. The shape specifying unit 58 corrects the movement trajectory M1 so as to expand outward by the distance K4 acquired by the distance acquisition unit 57 (indicated by an arrow in the figure), and specifies the shape of the travel region S. . In the example shown in FIG. 19, a rectangular traveling area S is specified.

  As shown in FIG. 17, the front rider sensor 101 is disposed at the center of the cabin 10 in the lateral width direction of the traveling machine body 7. As indicated by a dotted line in FIG. 17, the GPS antenna 24 housed in the antenna unit 80 is also disposed at the center of the cabin 10 in the lateral width direction of the traveling machine body 7. The front rider sensor 101 and the GPS antenna 24 are disposed at the same position in the horizontal direction. Thereby, in the horizontal direction, the position of the movement locus M1 acquired by the movement locus acquisition unit 56 and the installation position of the front rider sensor 101 are the same position, and therefore, the boundary portion S1 between the tractor 1 and the traveling region S The actual distance corresponding to the gap is the distance K4 to the boundary portion S1 of the travel region S acquired by the distance acquisition unit 57. Therefore, the shape specifying unit 58 can accurately specify the shape of the travel region S by simply expanding the movement locus M1 outward by the distance K4 acquired by the distance acquiring unit 57.

Based on the flowchart of FIG. 20, the flow of the operation | movement in the acquisition method of driving | running | working area information is demonstrated.
First, as shown in FIG. 16, a user or the like drives the tractor 1 and causes the tractor 1 to travel around the boundary S1 side of the travel region S (step # 1). By this round traveling, the movement locus of the tractor 1 is acquired by the movement locus acquisition unit 56, and the distance to the boundary portion S1 of the traveling region S is acquired by the distance acquisition unit 57 (step # 2, step # 3). Thereby, the shape identification part 58 correct | amends the movement locus | trajectory M1 by the distance K4 to the boundary part S1 of the traveling area S acquired by the distance acquisition part 57, and specifies the shape of the traveling area S ( Step # 4).

  As shown in FIG. 2, the tractor 1 is provided with an inertial measurement device 23 that measures the posture and traveling direction of the tractor 1. As shown in FIG. 16, when the tractor 1 travels around, the inertial measurement device 23 can measure the attitude of the tractor 1 and the change in the attitude, and the rider sensors 101 and 102 can measure the distance to the traveling surface of the tractor 1. Can be measured. Therefore, as shown in FIG. 2, when the tractor 1 is run around, the inclination angle of the running surface in the running area S based on the measurement information of the inertial measurement device 23 and the measurement information of the rider sensors 101 and 102. Is included in the terminal electronic control unit 52. The inclination angle specifying unit 60 specifies the inclination angle of the traveling surface in the traveling region S in real time, and specifies the inclination angle of the traveling surface according to the position of the tractor 1 acquired from the positioning unit 21. Accordingly, the travel area information is information including the inclination angle of the travel surface identified by the inclination angle identification unit 60 in addition to the shape of the travel area S identified by the shape identification unit 58. Is remembered.

  When the travel area information including the shape of the travel area S identified by the shape identifying unit 58 is stored in the terminal storage unit 54, the travel route generation unit 53 stores the travel area information stored in the terminal storage unit 54. As shown in FIG. 3, the target travel route P is generated using the vehicle body information. Incidentally, since the travel area information includes the inclination angle of the travel surface specified by the inclination angle specifying unit 60, the travel route generation unit 53 considers the inclination angle of the travel surface and sets the target travel route. P can be generated. The target travel route P generated by the travel route generation unit 53 is stored in the terminal storage unit 54 together with the travel area information, for example, as map information shown in FIG.

  In the example shown in FIG. 3, the travel route generation unit 53 sets the travel region S into a central region R1 and an outer peripheral region R2. The central area R1 is set at the center of the traveling area S, and is a reciprocating work area in which a predetermined operation (for example, work such as tillage) is performed by automatically traveling the tractor 1 in the reciprocating direction in advance. . The outer peripheral region R2 is set around the central region R1, and is a circular work region in which the tractor 1 automatically travels in the circular direction following the central region R1 and performs a predetermined operation. For example, the travel route generation unit 53 uses the turning radius included in the vehicle body information, the front / rear width and the left / right width of the tractor 1, and the space required for turning the tractor 1 to turn around the field. Seeking. The traveling route generation unit 53 divides the traveling region S into a central region R1 and an outer peripheral region R2 so as to ensure the space obtained on the outer periphery of the central region R1.

  As illustrated in FIG. 3, the travel route generation unit 53 generates a target travel route P using vehicle body information, travel region information, and the like including work device information regarding the work device 12. For example, the target travel route P has a plurality of work routes P1 arranged and set in parallel with a fixed distance corresponding to the work width (corresponding to the horizontal width of the work device 12) having the same straight distance in the central region R1. And a connection path P2 that connects the beginning and end of the adjacent work path P1, and a circulation path P3 (shown by a dotted line in the figure) that circulates in the outer peripheral region R2.

  The plurality of work paths P1 are paths for performing predetermined work while causing the tractor 1 to travel straight ahead. The connection path P2 is a U-turn path for changing the traveling direction of the tractor 1 by 180 degrees without performing a predetermined work, and connects the end of the work path P1 and the start end of the next adjacent work path P1. ing. The circulation path P3 is a path for performing a predetermined operation while the tractor 1 travels around in the outer peripheral region R2. The circulatory path P3 switches the traveling direction of the tractor 1 90 degrees by switching the tractor 1 between forward traveling and backward traveling at positions corresponding to the four corners of the traveling region S. Incidentally, the target travel route P shown in FIG. 3 is merely an example, and what target travel route is set can be appropriately changed.

  Although the method for specifying the shape of the travel area S has been described with reference to FIGS. 16 to 19, there may be obstacles V <b> 1 and V <b> 2 at the boundary S <b> 1 of the travel area S as illustrated in FIG. 21. . Hereinafter, a method for specifying the shape of the travel area S in such a case will be described with reference to FIGS.

  In this case, as described above, the movement trajectory M2 acquired by the movement trajectory acquisition unit 56 is corrected according to not only the distance K4 acquired by the distance acquisition unit 57 but also the positions and shapes of the obstacles V1, V2. Thus, the shape of the travel area S is specified. For this purpose, as shown in FIG. 2, the terminal electronic control unit 52 is provided with an obstacle specifying unit 59 that specifies the obstacles V1 and V2.

  As shown in FIG. 21, as in FIG. 16, the user or the like drives the tractor 1 and causes the tractor 1 to travel around the boundary S <b> 1 side of the travel region S. At this time, since the object V1 and the landslide V2 exist as obstacles in the boundary portion S1 of the traveling region S, the tractor 1 avoids the object V1 and the landslide V2 so as to avoid the object V1 and the landslide V2. It will run inside V2. Therefore, the movement trajectory acquisition unit 56 acquires the movement trajectory M2 of the tractor 1 that avoids the object V1 and the landslide V2 inside. FIG. 21 illustrates the movement locus when the boundary portion S1 of the traveling region S and the tractor 1 travel around. As the obstacle object V1, for example, various objects such as a utility pole, a side groove, a pouring pipe, a manhole cover, and the like are conceivable.

  When the tractor 1 makes a round trip, the rider sensors 101 and 102 measure the distance to the boundary portion S1 of the running region S. Therefore, as shown in FIGS. 22 and 23, the rider sensors 101 and 102 The distance to the object V1 and the landslide V2 can be measured in three dimensions. FIG. 22 shows a case where the distance to the boundary portion S1 of the traveling region S and the object V1 is detected in three dimensions based on the measurement information of the front rider sensor 101. FIG. 23 shows a case where the distance to the boundary portion S1 of the traveling region S and the landslide V2 is detected in three dimensions based on the measurement information of the front rider sensor 101. In FIG. 23, the state of the shore before the landslide occurs is shown by a one-dot chain line, and the state where the landslide has occurred is shown by a solid line. Since the same applies to the case where the rear rider sensor 102 is used, the description and illustration thereof are omitted.

  Based on the measurement information of the front rider sensor 101, the obstacle identifying unit 59 detects the distance K5 to the upper end and the distance K6 to the lower end of the object V1, and detects the height of the object V1. K7 is detected. Further, as shown in FIG. 23, the obstacle identifying unit 59 detects the distance K8 to the upper end and the distance K9 to the lower end in the landslide V2, based on the measurement information of the front rider sensor 101, and The height K10 at the collapse V2 is detected. As described above, the obstacle specifying unit 59 can acquire the three-dimensional distances K5 to K10 and the like from the measurement information of the front rider sensor 101, and therefore uses the three-dimensional distances K5 to K10 and the like to use the object V1. And the position, shape, and height of the landslide V2 are specified.

  When the position, shape and height of the object V1 and the landslide V2 are specified, the obstacle specifying unit 59 obtains distances K11 and K12 (distances in the horizontal direction) to the specified object V1 and the landslide V2. For example, since the height of the installation position of the front rider sensor 101 is a specified value, as shown in FIG. 22, the obstacle specifying unit 59 sets the height of the installation position of the front rider sensor 101 and the lower end of the object V1. The distance K11 to the object V1 can be obtained using the distance K6 to the part. As shown in FIG. 23, the obstacle identifying unit 59 uses the height of the installation position of the front rider sensor 101 and the distance K9 to the lower end of the landslide V2 to determine the distance K12 to the landslide V2. Can be sought.

  As described above, the obstacle specifying unit 59 detects the distance to the obstacles V1 and V2 in three dimensions based on the measurement information of the rider sensors 101 and 102, and the obstacle V1, V1 from the three-dimensional distance. Since the position, shape and height of V2 are specified, the obstacles V1 and V2 can be specified accurately.

  Incidentally, if the height, width, etc. of the object V1 and the landslide V2 are set in advance by actual measurement or the like, the obstacle identifying unit 59 is three-dimensionally acquired from the measurement information of the rider sensors 101 and 102. Is compared with the preset height, width, etc. of the object V1 and the collapsed V2, the position, shape and height of the obstacles V1, V2 can be specified more accurately.

  As shown in FIG. 24, the shape specifying unit 58 sets the movement trajectory M2 of the tractor 1 acquired by the movement trajectory acquisition unit 56 to the distance K4 to the boundary portion S1 of the travel region S acquired by the distance acquisition unit 57. The shape of the traveling area S is specified in a form that is corrected according to the obstacles V and V2 specified by the obstacle specifying unit 59. The shape specifying unit 58 corrects the movement trajectory M1 to extend outward by the distance K4 acquired by the distance acquiring unit 57, and the positions and shapes of the obstacles V and V2 specified by the obstacle specifying unit 59. Accordingly, the shape of the travel region S is specified by correcting so as to protrude inward.

Based on the flowchart of FIG. 25, the flow of operation | movement in the acquisition method of driving | running | working area information when the obstructions V1 and V2 exist is demonstrated.
First, as shown in FIG. 21, the user or the like drives the tractor 1 and causes the tractor 1 to travel around the boundary portion S1 side of the travel region S (step # 11). With this round traveling, the movement locus of the tractor 1 is acquired by the movement locus acquisition unit 56, the distance to the boundary portion S1 of the traveling region S is acquired by the distance acquisition unit 57, and the obstacle specifying unit 59 is obstructed by the obstacle V1. , V2 position and shape are specified (steps # 12 to # 14). Thereby, the shape specifying unit 58 corrects the movement trajectory M1 by the distance K4 to the boundary part S1 of the travel region S acquired by the distance acquiring unit 57 and the obstacle specified by the obstacle specifying unit 59. The shape of the travel area S is specified by correcting according to V1 and V2 (step # 15).

  As shown in FIG. 21, also when the tractor 1 travels around, the inclination angle specifying unit 60 is based on the measurement information of the inertial measurement device 23 and the measurement information of the rider sensors 101 and 102 in the traveling region S. The inclination angle of the running surface is specified. Accordingly, the travel area information is information including the inclination angle of the travel surface identified by the inclination angle identification unit 60 in addition to the shape of the travel area S identified by the shape identification unit 58. Is remembered.

  When the travel area information including the shape of the travel area S identified by the shape identifying unit 58 is stored in the terminal storage unit 54, the travel route generation unit 53 stores the travel area information stored in the terminal storage unit 54. As shown in FIG. 26, the target travel route P is generated using the vehicle body information and the vehicle body information as shown in FIG. In FIG. 26, since the shape of the traveling region S protrudes inward according to the positions and shapes of the obstacles V1 and V2 (see FIGS. 21 and 24), the circulation path P3 indicated by the dotted line in the figure. Part (circulation path P3 located on the right side and circulation path P3 located on the upper side in the figure) is generated in a shape that curves inward according to the shape of the travel region S. Incidentally, since the travel area information includes the inclination angle of the travel surface specified by the inclination angle specifying unit 60, the travel route generation unit 53 considers the inclination angle of the travel surface and sets the target travel route. P can be generated.

  As described above, even if the obstacles V1 and V2 exist at the boundary S1 of the travel area S, the shape of the travel area S can be specified according to the position and shape of the obstacles V1 and V2, and the target travel route P can be generated. For example, obstacles such as landslide V2 may occur after specifying the shape of the travel area S and generating the target travel route P. Therefore, as shown in FIG. 27, even when an obstacle V3 occurs after the shape of the travel area S is specified and the target travel route P is generated, the travel area S according to the obstacle V3. The shape is specified and the target travel route P is generated.

  When the in-vehicle electronic control unit 18 performs automatic traveling control and the tractor 1 is automatically traveling, the obstacle detection unit 110 performs obstacle detection processing, whereby the obstacle V3 can be detected. Therefore, as shown in FIG. 2, the terminal electronic control unit 52 includes an obstacle registration unit 72 and a travel route regeneration unit 73.

  As shown in FIG. 27, the obstacle registration unit 72 registers the obstacle V3 detected by the obstacle detection unit 110 in the travel region S specified by the shape specifying unit 58. FIG. 27 shows a state in which an obstacle V3 is detected at the boundary portion S1 of the traveling region S on the left side in the drawing.

  The obstacle registration unit 72 can acquire the position information of the tractor 1 when the obstacle V3 detected by the obstacle detection unit 110 is detected by the positioning unit 21. Since the obstacle V3 detected by the obstacle detection unit 110 has a three-dimensional distance measured by the rider sensors 101 and 102, the obstacle registration unit 72 uses the measurement information of the rider sensors 101 and 102 as the measurement information. Based on this, the position, shape and height of the obstacle V3 can be detected. When registering the obstacle V3, the obstacle registration unit 72 registers the position information of the tractor 1 when the obstacle V3 is detected and the position, shape, height, and the like of the obstacle V3. . Since the terminal storage unit 54 stores information (map information) that combines the travel area information and the target travel route P, the obstacle registration unit 72 includes the position of the obstacle V3 in the stored information, The information (map information) combining the travel area information and the target travel route P is updated by adding the shape, height, and the like.

  When the obstacle registration unit 72 registers the obstacle V3, the shape specifying unit 58 changes the shape of the specified travel area S to the registered obstacle V3, as shown by a one-dot chain line in FIG. The shape of the traveling area S is re-specified by correcting it accordingly. The shape specifying unit 58 respecifies the shape of the traveling area S so as to protrude inward according to the registered obstacle V3. The travel region including the shape of the travel region S re-specified by the shape specifying unit 58 is stored in the terminal storage unit 54 in a state where the already stored travel region is updated.

  When the shape of the travel area S is re-specified by the shape specifying unit 58, the travel route regenerating unit 73, according to the obstacle V3 registered by the obstacle registering unit 72, as shown in FIG. As indicated by the alternate long and short dash line, the target travel route P is regenerated. Since the shape of the travel area S protrudes inward according to the position and shape of the obstacle V <b> 3, the travel route regeneration unit 73 determines that a part of the circuit route P <b> 3 corresponds to the shape of the travel area S. It is regenerated into a shape that curves inward.

  When the target travel route P is regenerated by the travel route regenerating unit 73, the tractor 1 is then moved along the regenerated target travel route P when the in-vehicle electronic control unit 18 performs automatic travel control. Will run automatically. As described above, when the obstacle V3 is detected by performing the automatic travel control, the tractor 1 is automatically traveled along the target travel route P regenerated according to the obstacle V3.

  In FIG. 27, the case where the obstacle V3 is detected at the boundary portion S1 of the traveling region S is illustrated, but during the automatic traveling control by the in-vehicle electronic control unit 18, the obstacle is detected using the rider sensors 101 and 102. Therefore, no matter where the obstacle is detected in the travel area S, the obstacle registration unit 72 can register the obstacle as in FIG. For example, if the obstacle registered in the obstacle registration unit 72 is at a position different from the boundary part S1 of the traveling region S, such as the center of the traveling region S, the shape identifying unit 58 may reshape the traveling region S. The target travel route P is regenerated by the travel route regeneration unit 73 without specifying.

[Another embodiment]
Another embodiment of the present invention will be described.
Note that the configuration of each embodiment described below is not limited to being applied alone, but may be applied in combination with the configuration of another embodiment.

(1) Various changes can be made to the configuration of the work vehicle.
For example, the work vehicle may be configured in a hybrid specification including an engine 9 and an electric motor for traveling, or may be configured in an electric specification including an electric motor for traveling instead of the engine 9. .
For example, the work vehicle may be configured as a semi-crawler specification including left and right crawlers instead of the left and right rear wheels 6 as a traveling unit.
For example, the work vehicle may be configured to have a rear wheel steering specification in which the left and right rear wheels 6 function as steering wheels.

(2) In the above embodiment, the front rider sensor 101 and the rear rider sensor 102 are arranged at positions corresponding to the roof 35 in the vertical direction. For example, the front rider sensor 101 is provided at the front end of the bonnet 8. Can be arranged in the part. The arrangement positions of the front rider sensor 101 and the rear rider sensor 102 need only be above the boarding / alighting step 41 serving as a boarding / alighting section, and the arrangement positions can be changed as appropriate.

  The arrangement position of the front rider sensor 101 and the arrangement position of the rear rider sensor 102 may be different in the vertical direction. For example, the front rider sensor 101 can be disposed at the front end of the bonnet 8 and the rear rider sensor 102 can be disposed at a position corresponding to the roof 35.

(3) In the above embodiment, the front rider sensor 101 is attached to the bottom of the antenna unit 80. However, for example, the front rider sensor 101 can be attached to the roof 35 via a support stay. What kind of member is attached can be changed as appropriate.

(4) In the above-described embodiment, an example in which two rider sensors, the front rider sensor 101 and the rear rider sensor 102, are shown. However, the number of rider sensors can be changed as appropriate, and can be one, three or more. can do.

(5) In the above embodiment, the obstacle detection unit 110 performs the obstacle detection process based on the measurement information of the rider sensors 101 and 102. However, the rider sensors 101 and 102 include a control unit. The control unit can also perform obstacle detection processing. As described above, whether the obstacle detection process is performed on the sensor side or the work vehicle side can be appropriately changed.

(6) In the above embodiment, the example in which the obstacle detection unit 110 and the collision avoidance control unit 111 are provided in the tractor 1 has been described. However, for example, the portable communication terminal 3 or the like is provided in a device different from the tractor 1. It can also be made.

(7) In the above embodiment, the travel route generation unit 53, the movement trajectory acquisition unit 56, the distance acquisition unit 57, the shape specification unit 58, the obstacle specification unit 59, the inclination angle specification unit 60, the obstacle registration unit 72, and Although the travel route regeneration unit 73 is provided in the mobile communication terminal 3, the travel route regeneration unit 73 may be provided in a device different from the mobile communication terminal 3, for example, in the in-vehicle electronic control unit 18 of the tractor 1.

1 Tractor (work vehicle)
21 Position Information Acquisition Unit 56 Movement Trajectory Acquisition Unit 57 Distance Acquisition Unit 58 Shape Identification Unit 101 Front Rider Sensor (Distance Sensor)
102 Rear rider sensor (distance sensor)

Claims (3)

A position information acquisition unit that acquires position information of the work vehicle using a satellite positioning system;
Based on the position information of the work vehicle acquired by the position information acquisition unit, a movement trajectory acquisition unit that acquires a movement trajectory of the work vehicle;
A distance sensor that is provided in the work vehicle and measures the distance to the measurement object in three dimensions;
When the work vehicle is circulated around the boundary portion of the travel region, the boundary portion of the travel region is identified based on the height information acquired from the measurement information of the distance sensor. A distance acquisition unit for acquiring a distance to the unit;
When the work vehicle travels around the boundary portion of the travel region, the travel trajectory of the work vehicle acquired by the travel trajectory acquisition unit is set to the distance to the boundary portion of the travel region acquired by the distance acquisition unit. The travel region shape specifying device is provided with a shape specifying unit that specifies the shape of the travel region in a form that is corrected.   The distance sensor is configured to be able to measure a distance to an obstacle existing around the work vehicle when the work vehicle is automatically driven within the travel area specified by the shape specifying unit. The travel area shape specifying device according to claim 1. The distance acquisition unit specifies a boundary portion of a travel region according to height information acquired from measurement information of the distance sensor and a preset height of the boundary portion of the travel region. The travel area shape specifying device according to 1 or 2.

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