JP2022167515A - Control system of work vehicle - Google Patents

Abstract

To provide a work vehicle capable of autonomously traveling to a work start position.SOLUTION: A control device (S) of a work vehicle includes a control part (CA) for controlling a work vehicle (1) so as to execute work while causing the work vehicle to autonomously travel along work routes (203), and an instruction device (TAB) for instructing to start autonomous travel. The control part (CA) generates a headland route (209) reaching a work start position (203a) from the current position (211) of the work vehicle (1) within a headland area (207), and causes the work vehicle (1) to autonomously move to the work start position (203a) along the headland route (209) in the case that a start of autonomous travel is instructed in the instruction device (TAB).SELECTED DRAWING: Figure 4

Description

The present invention relates to a work vehicle control system for controlling a work vehicle such as a tractor, a chemical spray vehicle, or a rice planter.

BACKGROUND ART As a technique for autonomously traveling a work vehicle such as a tractor or a chemical spray vehicle, the technique described in Patent Document 1 below is conventionally known.

In Patent Document 1 (Japanese Patent Application Laid-Open No. 2018-147163), the current position of the tractor (1) is measured, and along the work route (K1) and the turning route (K2) set in the first region (R1) A technology for autonomous driving is described. In Patent Document 1, a substantially fan-shaped candidate identification area (P) is set in front of the tractor (1) in the traveling direction, and the candidate identification area (P) includes a plurality of work paths (K1). In this case, the work route (K1) is selected according to the exclusion conditions.

JP 2018-147163 A

(Problem of conventional technology)
In the configuration shown in Patent Document 1, the work path is determined in advance, and the work is started from the work start position. I had to install. That is, it could not be moved autonomously to the work start position on the work path.

A technical object of the present invention is to provide a work vehicle that can autonomously travel to a work start position.

In order to solve the above technical problem, the invention according to claim 1 provides a work vehicle having a work machine, positioning means for acquiring position information of the work vehicle, a work area in which work is performed, and a work area. The work vehicle autonomously travels along the work route based on information on a farm field having a headland region on the outer peripheral side and information on a work route including a work start position set in advance in the work region. and an instruction device for instructing the start of autonomous travel. and autonomously moves the work vehicle to the work start position along the headland route when the command device instructs the start of autonomous travel. It is a control system for work vehicles that

The invention according to claim 2 further comprises direction acquisition means for acquiring the traveling direction of the work vehicle, and the control unit is configured to move the work area between the work area and the outside of the field in the headland area. The headland route is generated at the closest position, and a difference between a traveling direction predetermined along the headland route and the traveling direction of the work vehicle acquired by the direction acquisition means is predetermined. 2. The work vehicle control system according to claim 1, wherein autonomous movement is started when the vehicle is within the range.

According to the third aspect of the invention, when the autonomous movement is started, the control unit keeps the position of the work vehicle within a predetermined distance from the headland route for a predetermined time. If the work vehicle is moved at a speed lower than a predetermined reference vehicle speed until the vehicle is moved, and the position of the work vehicle is within a predetermined distance from the headland route, and the state continues for a predetermined time, 3. The work vehicle control system according to claim 1, wherein the work vehicle is moved at the reference vehicle speed.

According to the first aspect of the invention, the work vehicle can autonomously travel to the work start position by autonomously moving along the headland route from the current position of the work vehicle to the work start position. Work vehicles can be provided.
According to the invention of claim 2, in addition to the effect of the invention of claim 1, the work vehicle moves through the headland route closest to the work area side, so that the work vehicle passes through the headland route on the outer peripheral side. In addition to shortening the movement path compared to the case of using a ridge, damage to the ridge can be suppressed.
According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, the work vehicle can be quickly guided to the headland route by moving at a low speed until it follows the headland route. In addition, by increasing the speed to the reference vehicle speed after the work vehicle has stabilized along the headland route, it is possible to quickly reach the work start position.

FIG. 1 is an explanatory diagram of a work vehicle control system according to the present embodiment. FIG. 2 is a functional block diagram of the work vehicle control system according to the present embodiment. FIG. 3 is an explanatory diagram of a work area, a headland area, and a work route according to the embodiment. FIG. 4 is an explanatory diagram of an example of a moving route in the embodiment. FIG. 5 is an explanatory diagram of the relationship between the orientation of the tractor and the traveling direction of the movement path in the embodiment. FIG. 6 is an explanatory diagram of an example when the tractor of the embodiment travels along the headland route.

Next, specific examples of embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited to the following examples.
In the description of the embodiment, the left and right directions are referred to as left and right, respectively, and the forward direction is referred to as forward, and the backward direction as rearward.
It should be noted that in the following explanation using the drawings, illustration of members other than those necessary for the explanation is omitted as appropriate for ease of understanding.

Preferred embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is an explanatory diagram of a work vehicle control system according to the present embodiment.
In FIG. 1, a work vehicle control system S according to the present embodiment has a tractor 1 of an agricultural machine as an example of a work vehicle. A tractor 1 has a work implement 2 at its rear portion. As the work machine 2, conventionally known work machines such as a cultivator, a plow, a fertilizing device, and a seeding machine can be used according to the work to be performed in the field. Moreover, although the tractor 1 is illustrated as a work vehicle, it is not limited to this, and can be applied to any work vehicle such as a chemical spray vehicle, a rice planter, a combine harvester, a seedling transplanter, and the like.

In FIG. 1, the work vehicle control system S of the embodiment has a server 101 as an example of an information processing device. The server 101 is configured to be able to transmit and receive information to and from the tractor 1 via an internetwork N as an example of a communication line. In addition, the tractor 1 of the embodiment is configured to be able to communicate with the server 101 via the network N by wireless communication.
Furthermore, the work vehicle control system S of the embodiment has a tablet terminal TAB as an example of a pointing device, which is an example of a terminal used by a worker. The tablet terminal TAB is configured to be able to transmit and receive information to and from the tractor 1 by wireless communication.

(Description of functional block diagram)
FIG. 2 is a functional block diagram of the work vehicle control system according to the present embodiment.
2, the work vehicle control system S of the present embodiment includes a control unit CA of the tractor 1, a control unit CB of the tablet terminal TAB, a control unit (not shown) of the server 101, and the like. Each control unit CA, CB includes an input/output interface (I/O) for inputting and outputting signals with the outside, a ROM (read only memory) storing programs and information for performing necessary processing, RAM (random access memory) for temporarily storing such data, CPU (central processing unit) that performs processing according to programs stored in ROM, etc., and a small information processing device that has an oscillator, etc. It is composed of a microcomputer (an example of a computer device), and various functions can be realized by executing programs stored in storage members such as ROM, RAM, and nonvolatile memory.

(Control part of tablet terminal)
In FIG. 2, the control unit CB of the tablet terminal TAB includes signal output elements such as a touch panel TAB1 as an example of an input unit, input buttons TAB2 such as a power button and a volume change button, and a communication module TAB3 as an example of a communication unit. is input. Therefore, information and signals can be input to the control unit CB of the tablet terminal TAB from the control unit CA of the tractor 1 and the server 101 via the communication module TAB3.

The control unit CB of the tablet terminal TAB is connected to a touch panel TAB1 as an example of a display, a speaker (not shown), a communication module TAB3, and other control elements (not shown), and sends control signals to each control element. output. Therefore, information and signals can be output to the control unit CA of the tractor 1 and the server 101 via the communication module TAB3.

The control unit CB of the tablet terminal TAB has a function of executing processing according to an input signal from the touch panel TAB1 and outputting a control signal to each control element. The control unit CB of the tablet terminal TAB of the present embodiment includes an operating system OS as an example of basic software, processing software AP1 as an example of application software, and other application software (not shown). (Internet browser, document creation software, etc.). The processing software AP1 has the following control means.

The information display means CB1 displays an image for setting the work route, information such as the set work route and the operation status of the tractor 1 on the touch panel TAB1.

FIG. 3 is an explanatory diagram of a work area, a headland area, and a work route according to the embodiment.
The work path generation unit CB2 generates a work path according to the setting of the user's work area. In FIG. 3, as an example, in a field 201, the work path generation unit CB2 determines the width (outside frame), a work path 203, a turning path 204, and a headland area 207 are automatically generated. In Example 1, a roundabout cultivation route 208 is set as a route through which the tractor 1 passes while working in the headland area 207 . The circular plowing route 208 is set so that the end point is the entrance/exit 201a of the field and the tractor 1 makes three turns around the outside of the work area 202, for example. In other words, an area corresponding to three circumferences of the circumference cultivation path 208 is automatically set as the headland area 207 . Then, the work end position 203b of the work route 203 is set corresponding to the start position 208a of the encircling plowing route 208, and the turning route 204, the work route 203, and the work start position 203a are calculated backward from the work end position 203b. Set automatically. An area surrounding the work path 203 is a work area 202 .

A work start instruction means (autonomous travel start instruction means) CB3 transmits to the tractor 1 instruction information for the start of work, that is, the start of autonomous travel, in accordance with the operator's input to the touch panel TAB1.

(Control unit of tractor 1)
2, the control unit CA of the tractor 1 includes a communication module 111 as an example of a communication unit, a GPS device 112 as an example of a positioning device, a gyro sensor 113 as an example of a direction acquisition device, and various other sensors (not shown). An output signal from a signal output element such as is input. Therefore, information and signals can be input to the controller CA of the tractor 1 from the controller CB of the tablet terminal TAB and the server 101 via the communication module 111 .

The control unit CA of the tractor 1 is connected to a traveling system such as an engine and a clutch, a steering system such as a steering wheel, a communication module 111, and other control elements (not shown), and outputs control signals to each control element. .

The control unit CA of the tractor 1 has a function of executing a process according to an input signal from each signal output element and outputting a control signal to each control element. The control unit CA of the tractor 1 of this embodiment has the following control means.
The positioning means CA1 acquires the position information of the current position of the tractor 1 based on the signal from the GPS device 112 .

The direction acquisition means CA2 acquires the traveling direction (forward direction) of the tractor 1 based on the signal from the gyro sensor 113 . Note that the method of measuring the direction is not limited to the gyro sensor, and any method that can measure the direction, such as a compass, can be adopted.
The work route information acquisition unit CA3 acquires information on the work route 203 . Acquisition means CA3 of the work route information of the embodiment, through communication with the tablet terminal TAB, the position information of the field 201, the information of the work area 202, the information of the work route 203 and the work start position 203a, the turning route 204 Acquire and store information, including information about

FIG. 4 is an explanatory diagram of an example of a moving route in the embodiment.
FIG. 5 is an explanatory diagram of the relationship between the orientation of the tractor and the traveling direction of the movement path in the embodiment.
The moving route generating means CA4 has a current position determining means CA4a and a traveling direction determining means CA4b, and when the tractor 1 is instructed to start autonomous traveling, the moving route generating means CA4 determines the current position and the traveling direction of the tractor 1. Based on the direction, a travel route (headland route) 209 from the current position of the tractor 1 to the work start position 203a is generated.
In FIG. 4, the movement path generating means CA4 of the embodiment generates a movement path 209 along the circular tillage path 208 from the current position 211 and the traveling direction 212 of the tractor 1 . As an example, in the embodiment, the route closest to the work area 202 , that is, the innermost route is selected as the movement route 209 from among the three circumference cultivation routes 208 . Then, a connection route 209a that connects the movement route 209 from the current position 211 is generated. As an example, the connection path 209a is set to a position where a straight line in a direction inclined by a predetermined turning upper limit (60 degrees) from the current position of the tractor 1 toward the movement path 209 intersects the movement path 209. . It is also possible to set the connection path 209a such that the turning angle and the steering angle are as small as possible, that is, the connection path 209a gradually approaches the movement path 209. FIG.

In FIG. 5, in the embodiment, when the angle θ1 formed by the traveling direction (vector) 208b of the tractor 1 and the traveling direction (vector) 212 of the tractor 1 is within ±60 degrees as an example, A route 209 and a connection route 209a are set. When the formed angle θ1 exceeds ±60 degrees, a message is displayed on the tablet terminal TAB to the effect that "the tractor cannot be automatically moved to the work start position because the deviation of the orientation of the tractor exceeds the allowable range." Prompt to change the traveling direction of the tractor 1.
The allowable range of the formed angle θ1 was exemplified as ±60 degrees, but it is not limited to this. The numerical value can be changed according to the turning radius of the tractor 1, and the specific numerical value can be changed depending on how much the headland area 207 is allowed to be roughened by the backward movement and turning of the tractor 1. is. Therefore, if the headland region 207 is permitted to be roughened to any extent, the allowable range of the formed angle θ1 may be set to 360 degrees, that is, the moving route 209 may be set regardless of the formed angle θ1. It is possible.

Further, in the embodiment, the case where the movement path 209 and the connection path 209a are not set when the formed angle θ1 is not within the allowable range has been exemplified, but the present invention is not limited to this. The formed angle θ1 may be determined not when the moving route 209 is generated, but when an instruction to start traveling is given. That is, it is possible to separately issue an instruction to generate the movement route 209 and an instruction to start traveling, and the movement route 209 and the connection are not determined without determining the angle θ1 formed when the movement route 209 is instructed to generate. It is also possible to configure to generate the path 209a.

FIG. 6 is an explanatory diagram of an example when the tractor of the embodiment travels along the headland route.
The travel control means CA5 controls the travel of the tractor 1 (forward, reverse, stop, steering, turning). The traveling control means CA5 causes the tractor 1 to travel along the working path 203, the turning path 204, and the circular plowing path 208 after the work start position 203a. Also, when the movement route 209 is set, the tractor 1 is autonomously moved toward the work start position 203a.
The travel control means CA5 of the embodiment causes the tractor 1 to travel at a predetermined vehicle speed (reference vehicle speed) when the tractor 1 travels along the work route 203 and the rounding plowing route 208 . In FIG. 6, in the embodiment, when moving the tractor 1 along the movement path 209, it is determined whether or not the current position of the tractor 1 is within a predetermined distance from the movement path 209. . That is, if the current position of the tractor 1 is deviated from the movement path 209 due to steering or turning of the tractor 1, whether the deviation is within a predetermined range (for example, within ±30 cm) is determined. determine whether Then, when the deviation is outside the predetermined range, the vehicle speed of the tractor 1 is made to travel at a low vehicle speed that is lower than the reference vehicle speed. Then, when the deviation is within a predetermined range for a predetermined time (for example, 3 seconds), the vehicle speed of the tractor 1 is increased to the reference vehicle speed.

Although it is desirable to configure the tractor 1 to travel at a low speed when the current position of the tractor 1 deviates from the travel route 209 by a predetermined range or more, it is also possible to configure the tractor to travel at a reference vehicle speed. Further, it is desirable that the vehicle speed is kept at a low speed until the deviation is within a predetermined range for a certain period of time.

The work machine control means CA<b>6 controls the operation (actuation, stoppage) of the work machine 2 . The control means CA6 of the working machine according to the embodiment stops and raises the working machine 2 while the tractor 1 is moving along the movement path 209 and the turning path 204, The working machine 2 is operated and lowered.

(Action of Embodiment)
In the control system S for the work vehicle according to the embodiment having the above configuration, the movement path 209 is automatically generated according to the position and orientation of the tractor 1 in the headland area 207 outside the work area 202 . The tractor 1 autonomously travels along the generated moving route 209 to the work start position 203a, and travels along the work route 203 from the work start position 203a to perform work. Therefore, even if the operator does not drive the tractor 1 to the work start position 203a, it can be moved to the work start position 203a by remote control. Therefore, for example, it is possible for a user (worker) to ride up to the edge of the bank, and after the user gets off the tractor 1, the tractor 1 can autonomously move the tractor 1 to the work start position.

In addition, in the tractor 1 of the embodiment, the movement route 209 uses the innermost circumference plowing route 208 . It is also possible to use the outermost circumference or central circumference cultivation path 208 of the three circumference cultivation paths 208 . However, if the outermost circumference is used, the body of the tractor 1 or a part of the work implement 2 may come into contact with the ridge and destroy the ridge, or the tractor 1 may be damaged. In addition, since it will eventually move to the work start position 203a, when moving in the center or the outermost periphery, there is a possibility that a sharp turn or the like will occur near the end of the movement path 209 toward the work start position 203a. be. There is also the problem that using the central or outermost circumference increases the movement distance along the movement path 209 compared to using the innermost circumference. Therefore, it is preferable to use the innermost circumference than to use the central circumference or the outermost circumference.
It is preferable to apply a configuration in which the tractor 1 is provided with a sensor (detection means) for detecting an object such as a ridge or an obstacle, and the tractor 1 stops traveling when the sensor detects the object.

Furthermore, in the tractor 1 of the embodiment, the moving path 209 is set in the direction along the traveling direction of the circular tillage path 208, so that the circular tillage path 208 can be used, and the setting is easy. As the moving route 209, it is also possible to set the rounding plowing route 208 to a reverse route.
Further, in the embodiment, when the traveling direction of the tractor 1 at the start of movement of the movement path 209 (connection path 209a) is outside the predetermined range (±60 degrees), the movement is not started, and the backward movement or sharp turn is not started. Compared to the case where the movement is started by, etc., the agricultural field is suppressed from becoming rough.

Furthermore, in the embodiment, when the current position of the tractor 1 is off the travel route 209 while traveling on the travel route 209, the tractor 1 moves at a low speed. Therefore, compared to the case of moving at high speed while deviating from the moving path, it is easier to quickly return to the moving path 209, the moving distance is prevented from becoming longer, and the headland area 207 is also prevented from becoming rough.

In the control system S of the work vehicle of the embodiment, the tablet terminal TAB generates the work path 203 and the like, and the tractor 1 generates the travel path 209, but the configuration is not limited to this. Each route 203 , 204 , 209 can be generated by the tablet terminal TAB, by the tractor 1 , or by the server 101 . At this time, it is possible to perform centralized processing with a specific device, but it is also possible to perform distributed processing with a plurality of devices.
Also, for example, the work start position 203a has been exemplified as being automatically set, but it is not limited to this, and may be configured to be input by the worker.
Furthermore, in the tablet terminal TAB, it is possible to provide an item for selecting whether or not to automatically move to the work start position 203a.

1... working vehicle,
2... working machine,
201 Field,
202 ... work area,
203 work path,
203a... Work start position,
207 ... Headland area,
209 ... Headland route,
CA, CB...control unit,
CA1 ... positioning means,
CA2... Direction acquisition means,
S: Control system for work vehicle,
TAB--an indicating device.

Claims (3)

a working vehicle having a working machine;
positioning means for acquiring position information of the work vehicle;
Based on information on a field having a work area in which work is performed and a headland area on the outer peripheral side of the work area, and information on a work route including a work start position set in advance in the work area, the work is performed. a control unit that controls the vehicle to perform work while autonomously traveling along the work path;
an instruction device for instructing the start of autonomous travel;
with
The control unit
generating a headland route from the current position of the work vehicle to the work start position in the headland region;
A control system for a work vehicle, wherein the work vehicle is autonomously moved to the work start position along the headland route when an instruction to start autonomous travel is given by the instruction device. direction acquisition means for acquiring a traveling direction of the work vehicle;
with
The control unit
In the headland region, generating the headland route at a position closest to the work region side between the work region and the outside of the agricultural field,
When the difference between the traveling direction predetermined along the headland route and the traveling direction of the work vehicle acquired by the direction acquiring means is within a predetermined range, autonomous movement is started. The work vehicle control system according to claim 1, characterized in that: The control unit
At the start of autonomous movement, the work vehicle is driven at a speed lower than a predetermined reference vehicle speed until the position of the work vehicle remains within a predetermined distance from the headland route for a predetermined time. move the work vehicle
3. The work vehicle is moved at the reference vehicle speed when a state in which the work vehicle is within a predetermined distance from the headland route continues for a predetermined time. A control system for the described work vehicle.

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