JP2020115385A - Work monitoring system - Google Patents

Abstract

To provide a work monitoring system capable of determining a route where work is scheduled and a route where no work is performed at a stage at which a travel route was set and determining the type of a working machine based on the set travel route.SOLUTION: A work monitoring system includes: a control part which realizes autonomous travel of an autonomously travelling work vehicle; a route generation part which sets a work route of the autonomously travelling work vehicle; and a display part which displays the set travel route, and the display part displays, in different modes, a first work route where work is scheduled and a second work route where no work is scheduled. The display part displays a third work route where the work has been performed by the autonomously travelling work vehicle. The display part displays work positions of the autonomously travelling work vehicle and an accompanied travelling work vehicle accompanying the autonomously travelling work vehicle.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work monitoring system capable of remotely monitoring the work status of an autonomously traveling work vehicle.

Conventionally, a mobile phone and a control device for a work vehicle are configured to be connectable via a telephone line or the Internet, and based on an operation of the mobile phone, the control device for the work vehicle drives the traveling transmission, the steering control device, or the engine control. A technique for outputting to a control unit or a work device lift control unit is known (for example, see Patent Document 1).

JP, 2007-208509, A

In the above-mentioned prior art, by operating the mobile phone, it is possible to change the traveling speed, change the engine speed, and elevate and steer the mowing unit, but the work vehicle itself is not automatically driven. , It is necessary to monitor the working vehicle at all times, and in order to monitor it, it must be operated near the working vehicle. Further, since the information displayed on the screen of the mobile phone is only the traveling speed, the state of the work vehicle can be judged only by visual inspection or sound.
Depending on the type of work, it may be assumed that work is not performed in the turning circuit. Therefore, if the set display mode of the travel route is uniformly displayed, it is difficult for the user to determine what work to perform.

Therefore, the present invention provides a work monitoring system capable of discriminating a route where a work is planned and a route where no work is performed at a stage where a traveling route is set, and discriminating a type of a working machine from the set traveling route. The challenge is to provide.

The problem to be solved by the present invention is as described above, and means for solving the problem will be described below.

The present invention includes a control unit that realizes autonomous traveling of an autonomous traveling work vehicle, a route generation unit that sets a work route of the autonomous traveling work vehicle, and a display unit that displays the set traveling route, The display unit is a work monitoring system that displays the first work route where the work is scheduled and the second work route where the work is not scheduled in different modes.

The display unit displays the third work route on which the autonomous traveling work vehicle has worked in a different manner.

The display unit displays the work positions of the autonomous traveling work vehicle and the accompanying traveling work vehicle that runs in parallel with the autonomous traveling work vehicle.

According to the present invention, it is possible to discriminate a route to be scheduled for work and a route not to perform work at the stage where the traveling route is set. Therefore, it is possible to discriminate the type of work machine from the set traveling route. It will be possible.

The schematic side view which shows an autonomously traveling work vehicle, a GPS satellite, and a reference station. Control block diagram. The figure which shows the state of horizontal parallel running cooperation work. The figure which shows a vertical parallel running overlapping work. The figure which shows the length used as a reference|standard of an autonomous running work vehicle. The figure which shows the amount of eccentricity when the work implement mounted in the autonomously traveling work vehicle is eccentrically mounted. The figure which shows the process for acquiring field data. The figure which shows the direction of a reference|standard path. The figure which shows the work range and headland in a farm field. The flowchart figure which shows autonomous running start control. The flowchart figure which shows the interruption control at the time of autonomous driving. The figure which shows other embodiment of a control block diagram. The figure which shows the state which an autonomously traveling work vehicle approaches a work start position.

The autonomous traveling work vehicle 1 that can be automatically driven by an unmanned vehicle, and the manned accompanying traveling work vehicle 100 that is associated with the autonomous traveling work vehicle 1 and operated by an operator are used as tractors, and the autonomous traveling work vehicle 1 and the associated traveling work are performed. An embodiment will be described in which the vehicle 100 is equipped with a rotary tiller as a working machine. However, the work vehicle is not limited to a tractor, and may be a combine or the like, and the work machine is not limited to a rotary tiller, and may be a ridger, a mower, a rake, a seeder, a fertilizer applicator, or a fertilizer applicator. It may be a wagon or the like.

1 and 2, the overall configuration of the tractor that serves as the autonomous traveling work vehicle 1 will be described. An engine 3 is provided inside the hood 2, a dashboard 14 is provided inside a cabin 11 at the rear of the hood 2, and a steering handle 4 serving as a steering operation means is provided on the dashboard 14. By the rotation of the steering handle 4, the front wheels 9 are rotated through the steering device. The steering direction of the autonomously traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is arranged at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited, as long as the steering direction can be recognized, and the rotation of the steering handle 4 or the operation amount of the power steering can be detected. Good. The detection value obtained by the steering sensor 20 is input to the control device 30.

A driver's seat 5 is arranged behind the steering wheel 4, and a mission case 6 is arranged below the driver's seat 5. Rear axle cases 8 and 8 are continuously provided on both left and right sides of the mission case 6, and rear wheels 10 and 10 are supported by the rear axle cases 8 and 8 via an axle. The power from the engine 3 is changed by a transmission (main transmission or sub transmission) in the transmission case 6 so that the rear wheels 10 and 10 can be driven. The transmission is composed of, for example, a hydraulic continuously variable transmission, and a movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor to enable speed change. The speed changing means 44 is connected to the control device 30. The number of rotations of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 as a traveling speed. However, the method of detecting the vehicle speed and the arrangement position of the vehicle speed sensor 27 are not limited.

A PTO clutch and a PTO transmission are accommodated in the mission case 6, and the PTO clutch is turned on and off by the PTO on/off means 45, and the PTO on/off means 45 is connected to the control device 30 and the power to the PTO shaft is transmitted. The connection and disconnection can be controlled.

A front axle case 7 is supported by a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 is transmitted to the front wheels 9 and 9. It is configured to be possible. The front wheels 9 and 9 are steered wheels, and can be turned by a turning operation of the steering handle 4, and the front wheels 9 and 9 can be steered left and right by a steering actuator 40 composed of a power steering cylinder serving as a steering driving means. It is movable. The steering actuator 40 is connected to the control device 30 and is driven by automatic traveling control.

The control device 30 is connected to an engine controller 60 serving as engine rotation control means, and the engine controller 60 is connected to an engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, etc., so that the state of the engine can be detected. .. In the engine controller 60, the load is detected from the set rotation speed and the actual rotation speed, control is performed so as not to cause an overload, and the state of the engine 3 is transmitted to a remote control device 112, which will be described later. It is possible to display.

Further, a level sensor 29 for detecting the liquid level of the fuel is arranged in the fuel tank 15 arranged below the step and is connected to the control device 30, and the display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 includes: A fuel gauge for displaying the remaining amount of fuel is provided and connected to the control device 30. Then, the control device 30 transmits the information regarding the remaining fuel amount to the remote operation device 112, and the remaining fuel amount and the workable time are displayed on the display 113 of the remote operation device 112.

On the dashboard 14, there are arranged an engine tachometer, a fuel gauge, a hydraulic pressure, a monitor showing an abnormality, and a display means 49 for displaying a set value or the like.

Further, a rotary cultivating device 24 as a working machine is installed on the rear side of the tractor machine body as a working machine so as to be vertically movable to perform the cultivating work. An elevating cylinder 26 is provided on the mission case 6, and the elevating cylinder 26 is expanded and contracted to rotate an elevating arm constituting the working machine mounting device 23 so that the rotary tiller 24 can be moved up and down. The lifting cylinder 26 is expanded and contracted by the operation of the lifting actuator 25, and the lifting actuator 25 is connected to the control device 30.

A mobile receiver 33 that constitutes a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile receiver 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile receiver 33 is provided with a position calculating means to measure the position and transmit the latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (US), high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonass satellite (Russia) (referred to as a navigation satellite). The form will be described using GPS.

The autonomously traveling work vehicle 1 includes a gyro sensor 31 for obtaining attitude change information of the machine body, and a direction sensor 32 for detecting a traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the azimuth sensor 32 can be omitted. The gyro sensor 31 detects an angular velocity of an inclination (pitch) in the longitudinal direction of the body of the autonomous mobile work vehicle 1, an angular velocity of an inclination (roll) in the lateral direction of the body, and an angular velocity of turning (yaw). By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle and the turning angle of the body of the autonomously traveling work vehicle 1 in the front-rear direction and the left-right direction. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control device 30 and inputs information regarding the three angular velocities to the control device 30.

The azimuth sensor 32 detects the direction (traveling direction) of the autonomously traveling work vehicle 1. Specific examples of the direction sensor 32 include a magnetic direction sensor. The azimuth sensor 32 is connected to the control device 30 and inputs information regarding the orientation of the machine body to the control device 30.

In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude/azimuth calculation means, and calculates the attitude (direction, inclination in the body front-rear direction and body left-right direction, turning) Direction).

Next, a method of acquiring the position information of the autonomously-working work vehicle 1 by using GPS (Global Positioning System) will be described. GPS is a system originally developed to support navigation of aircraft and ships, and it has 24 GPS satellites orbiting about 20,000 kilometers in the sky (four in each of six orbital planes) and GPS satellites. It consists of a control station for tracking and control of, and a receiver of the user for positioning. Positioning methods using GPS include various methods such as independent positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real time kinematics-GPS) positioning, and any of these methods can be used. However, in the present embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to FIGS. 1 and 2.

In RTK-GPS (real-time kinematics-GPS) positioning, a reference station whose position is known and a mobile station that seeks the position simultaneously perform GPS observation, and the data observed by the reference station is transmitted to the mobile station by a method such as radio. To the mobile station in real time based on the location result of the reference station.

In this embodiment, a mobile receiver 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous mobile work vehicle 1, and a fixed receiver 35 serving as a reference station, a fixed GPS antenna 36, and a data transmitting antenna. 39 is arranged at a predetermined position that does not interfere with the work in the field. In RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, phase measurement (relative positioning) is performed by both the reference station and the mobile station, and the data measured by the fixed receiver 35 of the reference station is transmitted from the data transmission antenna 39. It transmits to the data receiving antenna 38.

The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37. This signal is transmitted to the mobile receiver 33 for positioning. At the same time, the fixed GPS antenna 36 serving as a reference station receives the signals from the GPS satellites 37, 37,..., The fixed receiver 35 measures the position, transmits to the mobile receiver 33, analyzes the observed data, and moves. Determine station location. The position information obtained in this way is transmitted to the control device 30.

In this way, the control device 30 in the autonomous traveling work vehicle 1 receives the radio waves transmitted from the GPS satellites 37, 37... And obtains the position information of the airframe in the mobile receiver 33 at the set time intervals, and the gyro sensor 31. And the displacement information and the orientation information of the aircraft are obtained from the orientation sensor 32, and the steering actuator 40 and the shifting means 44 are arranged so that the aircraft travels along the preset traveling route R based on the position information, the displacement information and the orientation information. Etc.

Further, an obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and is connected to the control device 30 so as not to come into contact with the obstacle. For example, the obstacle sensor 41 is configured by an ultrasonic sensor and is arranged at the front, side, or rear of the airframe to be connected to the control device 30, and whether or not there is an obstacle in the front, side, or rear of the airframe. Is detected and the traveling is controlled to stop when the obstacle approaches within the set distance.

Further, the autonomous traveling work vehicle 1 is equipped with a camera 42 for photographing the surroundings of the machine body and is connected to the control device 30. The image captured by the camera 42 is provided on the accompanying traveling work vehicle 100 or is displayed on the display 113 of the remote control device 112 carried by the worker. The operator can check the obstacle by the image showing the front, and can confirm the operating state of the working machine, the finished state after the work, the positional relationship with the accompanying traveling work vehicle 100, etc. by the image showing the working machine. I have to. The positional relationship between the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be determined based on the image captured by the camera 42 or based on the positional information based on the GPS included in the remote control device 112. However, when the display screen of the display 113 is small, it may be displayed on another large display, or may be divided into a plurality of screens and displayed at the same time. It is also possible to display it, or to display it by the display means 49 provided in the autonomous traveling work vehicle 1.

The remote control device 112 sets the traveling route R of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the working machine. , To store work data.

The accompanying traveling work vehicle 100, which is a manned traveling vehicle, is operated and operated by an operator and the autonomous traveling work vehicle 1 can be operated by mounting a remote control device 112 on the accompanying traveling work vehicle 100. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof will be omitted. The accompanying traveling work vehicle 100 or the remote control device 112 may be configured to include the mobile receiver 33 for GPS and the mobile GPS antenna 34.

The remote control device 112 is attachable to and detachable from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1 or a pillar or ceiling of a cabin. The remote control device 112 can be operated while being attached to the dashboard of the associated traveling work vehicle 100, can be carried out outside the associated traveling work vehicle 100, and can be operated by being carried on the dashboard of the autonomous traveling work vehicle 1. It can be installed and operated. The accompanying traveling work vehicle 100 and/or the autonomous traveling work vehicle 1 is provided with a fitting for the remote control device 112 (not shown). The remote control device 112 can be configured by, for example, a notebook type or tablet type personal computer. In this embodiment, the tablet computer is used.

Further, the remote control device 112 and the autonomous traveling work vehicle 1 are configured to be capable of wirelessly communicating with each other, and the autonomous traveling work vehicle 1 and the remote control device 112 respectively include transceivers 110 and 111 for communicating. It is provided. The transceiver 111 is configured integrally with the remote control device 112. The communication unit is configured to be able to communicate with each other by a wireless LAN such as WiFi. When communication is performed between the autonomous traveling work vehicle 1 and the remote control device 112, measures are taken to avoid communication interference (including virus infection) and interference. For example, a unique protocol or language can be used. The remote control device 112 is provided with a display 113, which is a touch panel type operation screen that can be operated by touching the screen, on the surface of the housing, and the housing includes a transceiver 111, a CPU, a storage device, a battery, a camera, and GPS (satellite positioning). Device) and the like. On the display 113, the image of the surroundings taken by the camera 42, the state of the autonomous traveling work vehicle 1, the state of work, GPS information (positioning information), and the communication status between the remote control device 112 and the autonomous traveling work vehicle 1 are displayed. (For example, display of good/bad, or radio field intensity or communication speed), operation screen, positional relationship between the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100, and the like can be displayed so that the operator can monitor. There is.

The state of the autonomous traveling work vehicle 1 is a working state, a traveling state, an engine state, a working machine state, or the like, and the traveling state is a shift position, a vehicle speed, a remaining fuel amount, a battery voltage, or the like. The state of the engine is the number of revolutions of the engine, the load factor, and the like, and the state of the working machine is the type of the working machine, the number of PTO revolutions, the height of the working machine, and the like. Etc. are displayed. The state of the work includes a work route (target route or travel route R), work stroke, current position, distance to headland calculated from the stroke, remaining route, number of strokes, work time until now, remaining It is the working time and the like, and the work route of the accompanying traveling work vehicle 100 can be displayed on the display 113. The remaining routes of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 on the set traveling route R are easily recognized by filling the existing work route from the entire work route. It is also possible to display the unworked route and the already-worked route in different colors. Further, the current work position may be displayed by displaying an animation of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 on the work route. Further, by displaying the next stroke from the current position with an arrow, the next stroke such as the turning direction can be easily recognized from the present. The information about the GPS (positioning information) is the longitude and latitude of the actual position of the autonomously traveling work vehicle 1, the number of satellites captured, the radio wave reception intensity, and the like.

Since the display 113 of the remote control device 112 displays not only the surrounding image taken by the camera 42 but also the state of the autonomously traveling work vehicle 1, the preset traveling route R, etc., it cannot display a large amount of information at a time. .. Therefore, by enlarging the screen and displaying it separately, or by providing a separate display for the camera, the monitor screen, the operation screen, the traveling route R, the shooting screen, and the like can be displayed separately from the display 113. It is also possible to display a plurality of images at the same time, switch appropriately, and scroll. In this way, the operator (operator) can easily see the desired screen.

Further, the autonomous traveling work vehicle 1 can be remotely operated by a remote control device 112. For example, by displaying a switch, an increase/decrease scale, or the like on the display 113 and touching the switch, an emergency stop, a temporary stop, a restart, a change in the vehicle speed, a change in the engine speed, or a change in the working machine of the autonomous traveling work vehicle 1. It is possible to operate the lifting and lowering of the PTO clutch. That is, the remote control device 112 controls the accelerator actuator, the speed change means 44, the PTO on/off means 45, and the like via the transceiver 111, the transceiver 110, and the control device 30 so that the operator can easily remotely operate the autonomous traveling work vehicle 1. You can do it.

As described above, the mobile receiver 33 including the position calculation means for positioning the position of the autonomous traveling work vehicle 1 which is the airframe using the satellite positioning system, the steering actuator 40 for operating the steering device, and the engine rotation control means. The autonomous traveling work vehicle 1 including the engine controller 60, the gear shift means 44, and the control device 30 that controls these is autonomously run along the set travel route R stored in the control device 30. A side-by-side working system capable of operating the autonomous traveling work vehicle 1 by a remote operation device 112 mounted on the accompanying traveling work vehicle 100 that performs work while traveling with the autonomous traveling work vehicle 1. Since it is portable and detachably attached to the accompanying traveling work vehicle 100 and/or the autonomous traveling work vehicle 1, the remote control device 112 is attached to the accompanying traveling work vehicle 100 during parallel running work. When the work is performed and the autonomous traveling work vehicle 1 performs the work independently or when the autonomous traveling work vehicle 1 has a trouble, the remote control device 112 is detached and the autonomous traveling work vehicle 1 is boarded or autonomously operated. It becomes possible to operate and confirm in the vicinity of the traveling work vehicle 1 or at a position where it can be seen easily. Therefore, the operability is improved and troubles can be easily dealt with.

Further, the remote control device 112 has a display 113, and on the display 113, the traveling state of the autonomous traveling work vehicle 1, the state of the engine 3, the state of the working machine, the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100. Since the positional relationship between and is displayed, the operator can easily visually grasp the state of the autonomously traveling work vehicle 1 and can promptly respond even if an abnormality occurs in the autonomously traveling work vehicle 1. Further, when the worker is working on the accompanying traveling work vehicle 100 to work, the distance between the autonomous traveling work vehicle 1 and the autonomous traveling work vehicle 1 is not too short or too far, or the position is displaced with respect to the autonomous traveling work vehicle 1. You can easily determine if there are any.

Further, on the display 113, a target traveling route (set traveling route) R of the autonomously traveling work vehicle 1 described later, a current position, a distance to a headland, a working time, a working time until completion, and accompanying traveling. Since the work route of the work vehicle 100 is displayed, it is possible to easily recognize the running state, work progress, and the like during work, and to easily make a work plan. Further, since GPS information (positioning information) is displayed on the display, it is possible to grasp the reception state from the satellite and easily deal with the case where the signal from the GPS satellite is lost. Further, since the autonomous traveling work vehicle 1 is provided with the camera 42 for photographing the surroundings of the machine body, and the image photographed by the camera 42 can be displayed on the display 113, the autonomous traveling work vehicle 1 at a distant position. It is possible to easily recognize the surroundings and to easily deal with an obstacle or the like.

Next, the creation of the target travel route R of the autonomous traveling work vehicle 1 will be described. After the target travel route R is created, the travel route R is set. The travel route R is stored in the storage device 30a of the control device 30. Note that the control device 30 may perform traveling/work control of the autonomously traveling work vehicle 1 and calculation and storage of the traveling route R by one control device, but the operation of the autonomously traveling work vehicle 1 ( It may also be configured by a first control device 301 that controls traveling and work) and a second control device 302 that performs control related to autonomous traveling (setting of traveling route R, determination of start condition, determination of interruption condition, etc.) and stores the result. it can. In this case, as shown in FIG. 12( a ), the first control device 301 and the second control device 302 are separately arranged at appropriate positions of the autonomous traveling work vehicle 1, or as shown in FIG. 12( b ). The first control device 301 is provided in the autonomous traveling work vehicle 1, and the second control device 302 is disposed in the remote control device 112 (the second control device 302 is integrated with the control device of the remote control device 112). 12C, the first control device 301 is provided in the autonomous traveling work vehicle 1, and the second control device 302 is arranged outside the autonomous traveling work vehicle 1. Can be configured as. The second control device 302 is configured as a unit so that it can communicate with the first control device 301 from the outside via a connector (bus) or the like.

The target travel route R is generated according to the work form. The working modes include a single traveling work of only the autonomous traveling work vehicle 1, a parallel traveling work of the autonomous traveling work vehicle 1 and the associated traveling work vehicle 100, and a combined harvesting work of the autonomous traveling harvesting work vehicle (combin) and the associated transport vehicle. However, in the present embodiment, the generation of the traveling route of the parallel traveling work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 will be described. Further, the parallel running work includes the horizontal parallel running cooperative work shown in FIG. 3, the vertical parallel running overlapping work and the vertical parallel running cooperative work shown in FIG. In addition, the parallel traveling work by the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 can be realized by adding the autonomous traveling work vehicle 1 to the accompanying traveling work vehicle 100 that has been conventionally owned, while reducing the work time. It is not necessary to purchase two new autonomous traveling work vehicles 1, and the cost can be suppressed.

Specifically, in the lateral parallel cooperative work shown in FIG. 3, the associated traveling work vehicle 100 travels diagonally behind the autonomous traveling work vehicle 1 to partially overlap the work area (the work machine of the associated traveling work vehicle 100). However, it is not necessary to overlap it with a trencher, etc.), and it is possible to shorten the time by working by itself about twice the width of the working machine at one time. In the vertical parallel running overlapping work shown in FIG. 4, the autonomous running work vehicle 1 and the accompanying running work vehicle 100 run side by side in front and rear, the same work machine is mounted, the first unit performs rough plowing, and the second unit Performs crushing work and divides one work. Further, in the vertical parallel coordinated work, the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 travel side by side in a row, and the first unit performs plowing (crushing soil) and the second unit performs another fertilization or sowing. With the work machine, two or more works can be divided into front and rear.

The generation of the travel route of the automatic work system for performing the work while autonomously traveling by the autonomously traveling work vehicle 1 in the above-described laterally parallel cooperative work will be described. Although the setting operation is performed by the remote control device 112, the setting operation may be performed by the display means 49 of the autonomous traveling work vehicle 1. First, a reference length for cultivating work is input in advance in the storage device 30a of the control device 30. As shown in FIG. 5, the reference length is the working width W1 of the work machine mounted on the tractor, the distance L1 from the mobile GPS antenna 34 mounted on the machine body to the work machine end, and the total length L2 of the machine body (or the minimum turn). When the working machine is eccentrically arranged with a radius L3), as shown in FIG. 6, the process of obtaining the eccentricity amount S1 from the left-right center from the specification table of the machine body and storing it in the storage device 30a of the control device 30. Go through. When the working machine is the rotary tiller 24, the side drive type or the center drive type is selected. In the case of the side drive type, the position of the chain case 24a and the value of the width W2 are also stored in the storage device 30a. To do. Further, the area (L2×(W1+W2)) occupied by the total length L2 of the machine body and the working machine width (W1+W2) is defined as the maximum occupied area Q occupied by the autonomously traveling work vehicle 1 and the working machine (rotary tiller 24) during traveling. And stores it in the storage device 30a. When the front working machine is mounted, the distance from the front end of the front working machine to the rear end of the machine body is L2. When a mid working machine is mounted instead of the rotary tiller 24, (W1+W2) becomes W1 when the mid working machine is larger than the width of the machine body (outer width of the left and right rear wheels). Further, the maximum occupied area Q is not limited to a quadrangle, and it is possible to use a circumscribed circle Q1 of this quadrangle. The circumscribed circle Q1 makes it easier to recognize the interference with the ridges or the like when turning. In addition, the reference length of the accompanying traveling work vehicle 100 is also input to the storage device 30a of the control device 30 or the remote control device 112 as described above.

Next, in order to set the position and work range of the field and the traveling route R for performing the work, the autonomous traveling work vehicle 1 is positioned at the four corners (A, B, C, D or inflection points) of the field. , Perform positioning process. That is, as shown in FIG. 7, the latitude and longitude are stored in the storage device 30a of the control device 30 by positioning at the entrance/exit E of the field H and as entrance/exit position data. By setting the entrance E, the work start position X and the work end position of the travel route R can be easily set. When the travel route R is measured while traveling on the outer circumference of the field, positioning may be performed using a correction signal from the fixed base station and positioning may be performed using a correction signal from the simple base station. The base station should be able to identify whether or not positioning has been performed, so that when a sense of discomfort occurs when the travel route R is created, it can be easily understood.

The autonomous working vehicle 1 enters the field from the entrance E and advances to move to one corner (corner) A closest to the entrance so that it becomes parallel to the short side or the long side (hereinafter referred to as a ridge) of the field. Positioning is performed at the position of and the first corner data (latitude and longitude) is stored. Next, the unmanned tractor is moved to the next corner B, the direction of the unmanned tractor is changed by about 90 degrees so as to be parallel to the ridge, and positioning is performed and stored as second corner data. Then, similarly to the above, it moves to the next corner C to acquire and store the third corner data, and moves to the next corner D to acquire and store the fourth corner data. In this way, the shape of the field is determined by connecting the corners (B, C, D) with a straight line in order from one corner A like one stroke, and is acquired as field data. However, when the shape of the field is a deformed field, the data of the corner positions other than the four corners and the inflection point positions are acquired to determine the field data. For example, in the case of a triangle, the three corners are acquired, and in the case of a pentagon, the position data of the five corners are acquired and stored. Since the corner is a subordinate concept and the inflection point is a superordinate concept, the field data can be obtained by sequentially measuring the inflection point, acquiring position data, and making one round. In addition, the traveling route R can be created only in the area inside the field outer circumference data obtained by traveling on the outermost periphery, and if it exceeds the area, the traveling route R cannot be created as an error. Moreover, when the corner data is connected by a straight line and the straight lines intersect, the data is not recognized as the field data. This is because it cannot be used as a field and there is a high possibility that a corner or an inflection point is missing. In addition, when creating the field data, it is prohibited to acquire the field data from the map data disclosed by the Internet, map makers, etc., and only the position data measured in the field is allowed to be adopted. In this way, it is possible to prevent the vehicle from going out of the field due to an error when the vehicle is actually run.

Furthermore, there are cases where intake ports and drainage ports are provided around the field, piles or stones that indicate boundaries are arranged, and trees may grow and grow. These are obstacles when traveling straight, so that they can be positioned and set as obstacles. This obstacle is set as an obstacle when the field data is created. When this obstacle is set, the traveling route R is set so as to avoid traveling during autonomous traveling.

Next, it is the process of selecting the reference traveling start direction. As the reference traveling start direction, the traveling direction from the work start position to the work end position of the rotating work or the reciprocating work and the route from the work end position to the exit (the work direction outside the work range HA) are selected. Specifically, as shown in FIG. 8, the reference traveling start direction sets whether the work is started clockwise and ended, or the work is started counterclockwise and ended. This setting can be easily selected by displaying an arrow or a mark on the display 113 and touching it.

In this way, as shown in FIG. 9, the work range HA obtained from the field data is set to be a substantially quadrangle, and this work range HA is displayed on the display 113 of the remote control device 112. In this work area HA, headlands HB are set on both front and rear sides in the work direction in which the autonomous traveling work vehicle 1 advances. The width Wb of the headland HB is calculated from the tilling width W1 when the working machine is the rotary tilling device 24. For example, the plowing width is entered and an integer multiple of it can be selected. However, the width Wb of the headland HB is a length in a direction parallel to the traveling direction (longitudinal direction) in which the autonomous traveling work vehicle 1 works in the work range HA. The headland width Wb needs to be larger than the minimum turning radius because it is necessary to turn the handle without turning it back and to turn with a margin in consideration of slippage. Therefore, by storing the minimum turning radius of the autonomously traveling work vehicle 1 in which the working machine (the rotary tiller 24 in the present embodiment) is mounted in the storage device 30a in advance, a value smaller than this minimum turning radius can be obtained. It is not possible to input at the time of setting. However, the turning radius to be set may be the turning radius when there is no speed-up turning or auto steering function.

When the accompanying traveling work vehicle 100 is larger than the autonomous traveling work vehicle 1, or when the working machine mounted on the accompanying traveling work vehicle 100 is larger than the working machine mounted on the autonomous traveling work vehicle 1, the headland HB. As the width Wb, the reference length of the associated traveling work vehicle 100 is adopted. When the other working machine is attached, since the total length of the working machine, the width of the strip, and the like are taken into consideration, the headland width Wb can be input as an arbitrary length as a numerical value. Since the work may be performed by reciprocating the headland or the work may be finished by spiraling around the work range including the headland, the turning direction in the headland HB can also be set. Further, since there are ridges around the field, a separate work may be required for the ridge treatment, so the width (distance from the shore) Wc of the end HC on the work start side can be set to an arbitrary length. I am trying.

Next is the process of setting the overlap amount (overlap width). The overlap amount Wr (FIG. 3) is a width in which the forward and backward paths are overlapped when performing reciprocating work with a work machine (for example, a rotary tiller), and a lateral parallel cooperation between the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100. The left and right rotary tillers in the work have overlapping work widths, and the overlap amount Wr is set to an arbitrary length so that there is no leftover tillage even if there is an inclination or unevenness. In addition, when the overlap amount Wr is provided, in the case of the vertical parallel running overlapping work, the working machines may come into contact with each other when turning and passing each other on the headland. Alternatively, the autonomous traveling work vehicle 1 stops traveling due to the detection of the obstacle sensor 41. In order to avoid such a situation, the accompanying traveling work vehicle 100 performs the work by skipping one or more rows, and travels while avoiding contact. Alternatively, when approaching the headland, “passing control” is performed to avoid contact with the working machine. The "passing control" is, for example, a control in which one working machine is raised and the other working machine is lowered when passing each other. However, when working with a work machine that does not require overlapping, such as a transplanter, a seeder, and a trencher in the central 1 row, it is not necessary to set the distance between the rows and perform skipping or "passing control". You can choose according to.

Further, the work end position can be set or selected in the field data. For example, when the work end position is opposite to the entrance/exit E after the travel route R is set, or when the remaining fields HD in the rectangular work range HA of the fields H are apart from the entrance/exit E, etc. In (1), the work end position is set to be prioritized so as to avoid overlapping work as much as possible and finish the work without damaging the field scene. In this case, the work start position X is set by tracing and setting the work traveling route R in the opposite direction from the work end position. Therefore, the work start position X may be a position away from the doorway E. Further, since the work start position X and the work end position can be set to the operator's preferred position, it is possible to change the work start direction and the work end direction by setting the idle running stroke in which the work is not performed. Becomes When the above-mentioned numerical values and options are input and set, the control device 30 automatically generates the traveling route R so that the control device 30 sequentially performs the reciprocating straight-ahead work in the work range HA and performs the reversing turn in the headland HB. Further, the work route R′ (FIG. 3) of the accompanying traveling work vehicle 100 is also generated at the same time.

After the generation process of the travel route R, the process of setting work conditions is started next. The work conditions include, for example, vehicle speed (shift position) during work, engine rotation speed, PTO rotation speed (PTO shift position), vehicle speed during turning, engine rotation speed, and the like. A work process is generated by setting work conditions at each position of the travel route R. When inputting or selecting a setting value on the display 113, the setting screens are sequentially displayed on the display 113 so that an error or forgetting of the setting does not occur, and the operator can easily perform the setting and input. I have to.

When the above setting is completed and a travel route R and a work stroke along the travel route R are generated, the operator drives the autonomous traveling work vehicle 1 to move to the work start position X in order to start the work. The associated traveling work vehicle 100 is located in the vicinity thereof. Then, the operator operates the remote control device 112 to start the work.

In order to start the work, it is a condition that the start condition of the autonomously traveling work vehicle 1 is satisfied. The work starting condition is stored in the control device 30 of the autonomous traveling work vehicle 1, and when the work starting means of the remote control device 112 provided in the accompanying traveling work vehicle 100 is turned on, the control device 30 satisfies the predetermined work starting condition. Determine if The work start condition will be described later. The work starting means may be provided with a start button, a start switch, or the like, and may be provided in the autonomous traveling work vehicle 1.

An accompanying traveling work vehicle 100 that performs work while traveling along with the autonomous traveling work vehicle 1 will be described. The accompanying traveling work vehicle 100 is operated manually by an operator. The operator drives the autonomously traveling work vehicle 1 which is an unmanned work vehicle traveling along the set route (travel route R) so as to travel behind or beside it. Therefore, the operator monitors the autonomous traveling work vehicle 1 to perform work while driving the accompanying traveling work vehicle 100, and operates the remote control device 112 to operate the autonomous traveling work vehicle 1 as necessary.

In order to remotely control the autonomous traveling work vehicle 1 by the remote control device 112, the control device 30 includes a steering actuator 40, a brake actuator, an accelerator actuator, a speed change means 44, a PTO on/off means 45, a clutch actuator, and a lift actuator 25. Etc. are connected.

Further, in order to monitor the traveling state and the operating state of the autonomous traveling work vehicle 1, the traveling speed of the autonomous traveling work vehicle 1 is detected by the speed sensor 27, the engine speed is detected by the rotation speed sensor 61, and the detected value is detected. Are displayed on the display means 49 and the display 113 of the remote control device 112, respectively. Further, the image captured by the camera 42 is transmitted to the remote control device 112 and displayed on the display 113, so that it is possible to see the state of the front of the machine, the working machine, or the field.

Further, work data is stored in the storage device of the remote control device 112. As the work data, for example, the position of the field and the work day are stored, the worked position on the travel route R set in the field is stored, and in the fertilization work, the type of fertilizer and the fertilizer application amount per unit area are stored. I remember it.

As described above, in order to drive the autonomously traveling work vehicle 1 from one end (work start position X) to the other end (work end position) of the field H to perform field work, the satellite positioning system is used to perform autonomous operation. A method of setting a travel route R in which the position of the traveling work vehicle 1 is grasped and the autonomous traveling work vehicle is automatically traveled to perform a work, in which a stroke for inputting a longitudinal length of a machine body and a width of a working machine are input. And the process of inputting the work machine and the amount of overlap in the width direction of the work machine, the work vehicle is sequentially positioned at the inflection point on the outer circumference of the field, and the satellite positioning system is used at each position to position the aircraft. A step of positioning the vehicle, a step of setting a work range in the field, a step of setting the entrance/exit E, a step of setting a work start position X and a work end position, and a step of setting a reference traveling start direction, Since the steps of setting the headland HB at both ends of the work range and the step of setting the traveling route R in the field are performed, enter the length easily obtained from the specifications (specs) of the work vehicle. The position can be easily measured by moving in the field, and the travel route R can be easily obtained.

Since the width Wb of the headland HB is an integral multiple of the working machine width (W1+W2), headland setting can be easily performed. Further, since the width Wb of the headland HB is set to be larger than the minimum turning radius L3 of the autonomously traveling work vehicle 1 in which the working machine is mounted, the headland can be turned without turning back and work efficiency is not lowered. ..

In this way, after the work traveling route R is created, the work is started. To start this work, the operator drives the autonomously traveling work vehicle 1 to move it to the work start position. At this time, the current position measured by GPS is displayed on the map, but it is difficult to accurately move to the work start position X. Therefore, as shown in FIG. 13, the autonomous traveling work vehicle 1 is moved to the work start position X. While moving, it can be guided by sound or display means. For example, in the case where the approaching position X is to be notified by a sound change step by step, when the work starting position X is far, a small sound is made or the interval of the intermittent sound is lengthened. The closer to the starting position X, the louder the sound is made, or the interval between the intermittent sounds is shortened. Then, when the work start position X is entered, the sound quality is changed or a continuous sound is produced. It is also possible to guide not only the distance but also the direction by sound. Further, when guiding to the work start position X by the display means (display 113), it is displayed by an arrow or the like.

Then, the control device 30 performs the following control. That is, as shown in FIG. 10, the autonomous traveling work vehicle 1 and the accompanying autonomous traveling work vehicle 100 are arranged at work start positions in the field, respectively, and the operator gets on the associated traveling work vehicle 100 (the operator operates the remote control device 112). Can also be carried along with the autonomously traveling work vehicle 1), and the remote control device 112 is operated in a standby state. At this time, it is determined whether the remote control device 112 of the accompanying autonomous traveling work vehicle 100 and the control device 30 of the autonomous traveling work vehicle 1 are communicably connected (whether there is a communication abnormality) (S1). That is, it is determined whether communication is possible via the transceivers 110 and 111, and the remote control device 112 can be remotely operated and monitored during work. If not connected, the power supply is checked, the wireless state is checked, and the connection is set (S2). If the connection is not established, the communication is abnormal and includes interruption and communication interruption. If there is a communication abnormality, the content of the abnormality is displayed on the display 113. When connected, the operator operates to start the work.

By operating this work starting means, the control device 30 measures the current position of the work vehicle (autonomous traveling work vehicle 1) by a signal from the GPS, and displays the current position, work starting position, work advancing direction, etc. on the display 113. The position information is displayed (S3). The current position, the work start position, the work advancing direction, the field shape, and the like are constantly displayed on the display 113 (in other words, when the map is displayed) unless switched. If the reference station at the time of this positioning is different from the reference station at the time of creating the work range HA or the travel route R, the reference is different and the position may be displaced, so that the start of autonomous traveling is not permitted.

Then, at this time, it is determined whether the autonomous traveling work vehicle 1 is located at the work start position, that is, whether it is located within the set range from the work start position (S4). This "whether the vehicle is located within the set range" is whether the current position of the positioned autonomous traveling work vehicle 1 is located within the set range (set distance) from the work start position of the set travel route R. , The autonomous traveling work vehicle 1 (transceiver 110) and the remote control device 112 (transceiver 111) are located within a range of uninterrupted communication, or the autonomous traveling work vehicle 1 (transceiver 110). ) And whether the level of the communication rate between the remote control device 112 (transceiver 111) is within the range of the set value or more. Further, since positioning cannot be performed if there is an abnormality in the GPS signal, it may be added to the determination whether the GPS signal strength in this case is within the set range. When the associated traveling work vehicle 100 is equipped with GPS, it may be added to the determination as to whether the associated traveling work vehicle 100 is in the standby position. The standby position is not the work start position of the accompanying traveling work vehicle 100, but is the vicinity where the autonomous traveling work vehicle 1 can start the work without delay after the work is started.

When it is determined that the autonomous traveling work vehicle 1 is not located within the set range, the operator does not permit the start of autonomous traveling and the operator drives the autonomous traveling work vehicle 1 to move to the work start position X (S5). The set range is, for example, a range in which the vehicle can be easily corrected to a normal position by traveling a few meters from the start of the work or a range that does not affect the work by the accompanying traveling work vehicle 100, and the remaining work range is made as small as possible. At this time, since it is possible to determine at the same time whether or not the field is set to work, the autonomous traveling is not started even when the field is not the field to work. Further, even if the vehicle is located outside the set range, the control can start traveling and work but stop immediately. From this, it can be confirmed that the traveling unit and the working machine operate normally, and it can be understood that other problems occur.

Next, it is determined whether or not the maximum occupied area Q of the autonomously traveling work vehicle 1 on the travel route R overlaps with the outside of the field (S6). That is, even if the machine body of the autonomous traveling work vehicle 1 is located within the set range (work start position X or travel route R) in the field H, the rear end or side end of the work machine (rotary tiller 24) is the field H. In this case, the autonomous traveling does not start because the vehicle is sometimes located outside. When the maximum occupying area Q of the autonomously traveling work vehicle 1 is located in the field, it is determined whether the traveling direction of the autonomously traveling work vehicle 1 and the set traveling direction are within the set range (with the orientation sensor 32. The detected azimuth is compared with the set traveling direction (S7), and unless it is within the set range, the autonomous traveling is not permitted to start, and the operator adjusts the traveling direction of the autonomous traveling work vehicle 1 (S5). The advancing direction within the set range is, for example, within 20 degrees from the center of the set advancing direction of the travel route R, and is a range that can be corrected to the set advancing direction within a few meters from the start of running.

Next, it is determined whether or not there is an abnormality in the autonomous mobile work vehicle 1 (S8). If there is an abnormality, what kind of abnormality is displayed (S9) and the work is not started, and the abnormality is repaired (S10). As an abnormality, for example, when the engine stalls, the oil temperature or the water temperature rises, the electric system is disconnected or short-circuited, or the working machine does not operate, the door of the autonomous traveling work vehicle 1 is not closed (sensor In this case), the operator is not gazing at the remote control device 112 (remote). The determination as to whether the remote control device 112 is not gazing (away) is made by detecting with a camera, a touch sensor, or the like included in the remote control device 112. If there is no abnormality, it is determined whether the engine 3 has started (S11). If it has not started, autonomous traveling is not started, and the operator rides on the autonomous traveling work vehicle 1 and performs a start operation (S12). If started, autonomous traveling and work are started (S13). It should be noted that it is possible to change the display one by one each time it is completed when it is judged whether the above-mentioned start condition is satisfied. Further, when the work vehicle is electrically driven, it is determined whether or not electric power can be supplied from the battery to the electric motor.

At the time of autonomous traveling work, it is determined whether the work is completed (S14). When the work is finished, the traveling of the autonomous mobile work vehicle 1 is stopped and the work is finished (S15). When it is not finished, it is determined whether the work is interrupted (S16). The interruption condition will be described later. When the interruption condition does not occur, the autonomous traveling work is continued, and when the work is interrupted, the interrupted position is stored in the storage device 30a (S17). At the time of interruption, it is judged whether or not the work can be restarted (S18), and when restarted, the position at the time of interruption is displayed as the restart position (S19), and the process returns to step 1. The position to be resumed after the interruption can be selected from a work start position different from the interruption position. Further, when the vehicle is moved to another position for refueling or repair when restarting, it is also possible to automatically control the autonomous work vehicle 1 to move to the restart position.

As described above, when the work start operation is performed by the switch or the like and the work is started by the autonomous traveling work vehicle 1, the control device 30 is currently operated when the autonomous traveling work vehicle 1 is located at the work start position. When the position deviates from the work start position X of the set travel route R by the set range or more, the work start is controlled so as not to be permitted, so that the unworked area at the work start position X is prevented from increasing, and the work start position X is within the set range. If there is a slight positional deviation of, the return to the set traveling route R can be performed quickly. The control device 30 includes a first control device 301 that controls traveling and work of the autonomous traveling work vehicle 1 and a second control device 302 that calculates and stores a traveling route R, and the first control device 301 is autonomous. Since the second control device 302 is provided in the traveling work vehicle 1 and is provided in the autonomous traveling work vehicle 1 or the remote control device 112, calculation (control processing) can be performed in parallel (dispersion), and the control load is reduced. It can be small and can speed up calculation (control). Further, if the second control device 302 is provided in the remote control device 112, setting work can be performed in a house or the like away from the machine body.

Further, the control device 30 controls so that the start of the autonomous traveling is not permitted when the traveling direction is outside the set range at the work start position X, so that the control device 30 travels in an unintended direction, ridges, or other obstacles. It does not come into contact with an object or become a work track with a large bend.

Further, the control device 30 controls so as not to permit the start of the autonomous traveling when an abnormality occurs in the autonomously traveling work vehicle 1. Therefore, the control device 30 starts the operation with the abnormality, and the machine body, the engine, the working machine, or the like. Does not hurt. In addition, since the control device 30 of the autonomous traveling work vehicle 1 performs control so as not to allow autonomous traveling when the remote control device 112 and the transceivers 110 and 111 are not connected (communication abnormality), the control device 30 does not permit remote operation. The operation device 112 can be operated reliably, and the state of the autonomously traveling work vehicle 1 can be easily recognized. Further, when the work is interrupted, the control device 30 stores the interrupted position, and when the work is started again, the interrupted position is set as the work restart position, and the position is displayed on the display means 49 or the display 113. Therefore, it is possible to easily perform the alignment of the work start after the interruption and prevent the work from being interrupted.

Then, while the work is being performed by the autonomous traveling work vehicle 1 and the accompanying autonomous traveling work vehicle 100, under the following conditions, the autonomous traveling is stopped and the work is interrupted. That is, as shown in FIG. 11, during the parallel running work by the autonomously traveling work vehicle 1 and the accompanying autonomously traveling work vehicle 100, the control device 30 determines whether the GPS signal is abnormal (S20). The control device 30 receives GPS signals from a plurality of GPS satellites 37, 37... In order to detect the current position of the autonomously traveling work vehicle 1, but the level of the GPS signal becomes low or is interrupted. If an abnormal value occurs, the current position cannot be grasped and the set route cannot be traveled. Therefore, when the GPS signal becomes abnormal, the autonomous traveling is stopped (S21), and the suspended state is set. Note that "GPS signal abnormality" means that the number of satellites receiving signals from satellites related to the satellite positioning system (GNSS) is detected, and the number of received satellites becomes equal to or less than a predetermined number of satellites. , The signal strength from the receiving satellite is below a certain level, the waveform of the receiving satellite signal is other than the certain waveform, or the frequency changes to a frequency other than the certain frequency Is also included, and the directions of a plurality of satellites being received are biased in a predetermined direction. In these cases as well, autonomous traveling is stopped. The reason why the traveling is stopped is displayed on the display 113 of the remote control device 112 and the display means 49 of the accompanying traveling work vehicle 100, which are the display means when the vehicle is stopped, and an alarm is issued (S22).

Further, the actual position (positioning position) of the autonomously traveling work vehicle 1 detected by the GPS is compared with the set traveling route R (S23), and when the actual position deviates from the traveling route R by the set distance or more, the autonomous traveling is stopped. (S21). At the same time, when the actual position of the associated traveling work vehicle 100 and the set traveling route are compared and the deviation exceeds the setting range, or the positional relationship between the autonomous traveling work vehicle 1 and the associated traveling work vehicle 100 deviates from the setting range or more. Even in this case, the autonomous traveling work vehicle 1 can be controlled to stop traveling. That is, it is possible to prevent an unworked portion or an unnecessary overlapping portion from being generated from the set traveling route, and the autonomous traveling work vehicle 1 is separated from the accompanying traveling work vehicle 100 by a set range or more, and a signal from the remote control device 112 is transmitted. Prevents it from being difficult to reach or out of the operator's monitoring range. Further, it is determined whether the output value of the steering sensor 20 for detecting the steering direction of the steering wheel 4 during the work is within the normal range (S24). For example, if an abnormal value is detected due to a disconnection, a short circuit, or the like, the vehicle makes a sharp turn, so it is detected whether it is an abnormal value, and if it is an abnormal value, the traveling is stopped (S21).

Further, it is determined whether the output values of the gyro sensor 31 for detecting the posture and the azimuth sensor 32 for detecting the azimuth are within the normal range (S25). If it is an abnormal value, the traveling is stopped (S21). It should be noted that it may be determined whether or not there is any abnormality due to the dead reckoning measure. For example, when inertial navigation is also applied, it is also determined whether or not there is any abnormality in the sensor value related to inertial navigation such as the rotation speed sensor of the axle (running wheel). Further, it is determined whether the remaining amount of fuel is equal to or less than the set amount (S26). When the remaining fuel amount becomes less than or equal to the set amount, the traveling is stopped (S21). However, the set value can be arbitrarily set. In this way, it is not necessary to refuel during the work, and it is possible to prevent immobilization due to running out of fuel during the work, and to prevent damage to the engine. Further, instead of obtaining the remaining fuel amount, it is also possible to integrate the fuel consumption amount from the engine speed, the load, the operating time, etc., and control so as to stop when the predetermined integrated value is exceeded. In this case, the fuel refueling amount or the remaining amount is input. Further, when an abnormality occurs in the other body or the like (S27), the traveling is stopped and interrupted (S21). Other abnormalities include when the engine does not rotate normally, when abnormal vibration occurs in the machine, when the work equipment does not operate, or when slippage occurs and the difference between the rotation of the axle and the travel distance is within a predetermined range. In the case of crossing over, with a cabin, when the door is opened, when communication with the remote control device 112 is no longer possible, or in a mode in which the operator carries the remote control device 112 and operates it, the remote control device 112 moves away from the operator. In such cases, it will be interrupted in these cases. To detect that the remote control device 112 has separated from the operator, for example, when the impact acceleration of the remote control device 112 exceeds a set value or when the posture of the remote control device 112 is detected, an abnormal state is detected. If the posture (face down or upside down) is set, or if a camera is attached to the remote control device 112 to add a face recognition function and the operator cannot be recognized for a certain period of time or more, a human sensor is provided to identify the wearer. The traveling is stopped when it cannot be detected.

When the interruption does not occur, the autonomous traveling is continued (S28). When the traveling is stopped (S21), the cause of the interruption is displayed and an alarm is issued (S22), the operator stops the work of the accompanying traveling work vehicle 100, and performs the work of eliminating the cause of the interruption. When the interruption is resolved (S29), the autonomous traveling is restarted (S28). When restarting the autonomous traveling, it can be restarted automatically or after the confirmation by the supervisor. The confirmation of the observer is made by operating a confirmation switch and a restart switch of each item provided on the remote control device 112 to confirm safety, elimination of failure and abnormality, and then restarting. Furthermore, when the work is restarted, a sound is emitted or a light is emitted as a notice so that the surroundings can be recognized.

In the case where a hydraulic continuously variable transmission is used in addition to the brake, the means for stopping the traveling is stopped with the transmission means 44 being set to neutral. That is, in the case of a transmission that uses a hydraulic continuously variable transmission (HST), the shifting means formed of a solenoid or a motor is operated to move the movable swash plate of the variable displacement hydraulic pump to the neutral position. Further, when the vehicle is driven by an electric motor for traveling, the output rotation is controlled so as to be zero, thereby stopping. In this way, even when traveling is stopped during work on a sloping ground, the vehicle is prevented from going down along the slope.

In addition, the means for stopping the traveling is a transmission using a gear slide type transmission, a power clutch type transmission, a belt type continuously variable transmission, or the like, and between the output shaft of the engine 3 and the input shaft of the mission case. Turn off the main clutch located at to stop traveling and operate the brake. In this way, even if the vehicle stops running on a slope, it is prevented from going down along the slope.

When the traveling is stopped, the PTO on/off means 45 is operated to turn off the PTO clutch to stop the operation of the working machine and reduce the rotation speed of the engine 3 to the idle rotation. In this way, the work surface is prevented from being roughened without causing sudden movement. However, the engine speed when the vehicle is stopped can be set arbitrarily.

Further, when the autonomous traveling work vehicle 1 is stopped due to an increase in load or the like during work, the operator stops the work and boards the autonomous traveling work vehicle 1. Then, the engine is restarted to perform an operation for avoiding the cause of the increased load. For example, the working machine is raised or the gear position is lowered to run at low speed. Then, the normal work is restarted when the high load area is avoided and passed.

As described above, the control device 30 controls so as to stop the autonomous traveling when the signal from the GPS satellite (navigation satellite) 37 becomes abnormal. Therefore, the control device 30 stops before largely deviating from the set traveling route R, It is possible to prevent the work accuracy from deteriorating.

Further, since the control device 30 controls the traveling to stop when the actual position deviates from the set traveling route R by more than the set range, the control device 30 stops before it largely deviates from the set traveling route R, and the work accuracy deteriorates. It is also possible to prevent the person from getting stuck and getting stuck in an obstacle or being unable to move.

Further, the control device 30 determines that the detected value from the steering sensor 20 becomes an abnormal value (for example, when the detected value does not change, when the change is too large, or when a value exceeding the detectable range is output). Since the control is performed so as to stop the traveling, it is possible to prevent the steering actuator 40 from operating in an unintended direction with the detected value of the steering sensor 20 being abnormal. Further, the control device 30 controls so as to stop traveling when the difference between the detection value of the gyro sensor 31 and the orientation sensor 32 that senses the attitude/orientation and the target value becomes equal to or more than the set value, so that the vehicle travels in an unintended direction. It can be prevented from proceeding.

Further, when the traveling is stopped, the control device 30 transmits the cause to the remote control device 112 provided in the accompanying traveling work vehicle 100 and causes the display 113 of the remote control device 112 to display the cause. It can be easily recognized, and the response to eliminate the cause of the stop can be swift. In addition, in the case of a breakdown, the maintenance work vehicle can be quickly and easily treated.

INDUSTRIAL APPLICABILITY The present invention can be used for construction machinery, agricultural work vehicles, and the like that can be remotely controlled.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work vehicle 30 Control device 40 Steering actuator 44 Transmission means 60 Engine controller 100 Accompanying traveling work vehicle 112 Remote control device 113 Display

Claims (3)

Autonomous traveling control unit that realizes autonomous traveling of the work vehicle,
A route generation unit for setting a work route of the autonomously traveling work vehicle,
A display unit that displays the set traveling route,
The work monitoring system, wherein the display unit displays the first work route where the work is scheduled and the second work route where the work is not scheduled in different modes. The work monitoring system according to claim 1, wherein the display unit displays a third work route in which work is performed by the autonomously-working work vehicle in a different manner. The work monitoring system according to claim 1, wherein the display unit displays work positions of the autonomously traveling work vehicle and an accompanying traveling work vehicle that runs in parallel with the autonomously traveling work vehicle.

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