JP6499605B2 - Traveling area identification device - Google Patents

Description

  The present invention relates to a technology of an autonomous traveling work vehicle, and more particularly to a technology of a traveling region specifying device that is a device that specifies a traveling region of an autonomous traveling work vehicle.

2. Description of the Related Art Conventionally, work vehicles such as tractors are known that can autonomously travel (unmanned travel) along a set route (autonomous traveling work vehicle).
The work vehicle shown in Patent Document 1 includes a control program that determines a route in each of a work area (a central part of a work site) where work is performed by the work vehicle and an area (peripheral part) excluding the work area, The control program makes it possible to automate a predetermined work by causing the work vehicle to autonomously travel along the route.

  The work vehicle disclosed in Patent Document 1 includes a device for registering and specifying a farm field that is a travel area. The operator travels on the outer periphery of the farm field with an autonomous travel work vehicle, and apex (angle) is obtained from the acquired travel trajectory. Part) is designated to register the field shape.

Japanese Patent Laid-Open No. 10-66405

  However, in the prior art disclosed in Patent Document 1 and the like, if the apex of the travel locus is incorrectly specified, the outside of the field may be erroneously set as the field, contrary to the user's intention. In some cases, a route is set outside the field.

  The present invention has been made in view of such a problem of the present situation, and provides a travel region specifying device capable of preventing a route from being erroneously set outside a travel region when setting a route of a work vehicle that autonomously travels. The purpose is to do.

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

  In other words, the travel region specifying device according to the present invention is configured to detect the position of the vehicle body based on the position information acquisition unit capable of acquiring the position information of the vehicle body and the travel locus of the vehicle body specified using the position information. Executes a predetermined notification, a traveling locus region identifying portion that can identify a locus region, a traveling region identifying portion that can identify a traveling region in which the vehicle body portion travels based on a plurality of selection points selected from the traveling locus, and A notification unit that can perform the predetermined notification is a notification that suggests that the travel area includes an area outside the travel locus area.

  Further, the travel region specifying device according to the present invention includes a position information acquisition unit capable of acquiring position information of the vehicle body part, and a travel of the vehicle body part based on a travel locus of the vehicle body part specified using the position information. A travel trajectory area specifying unit capable of specifying a trajectory area, a travel area specifying part capable of specifying a travel area in which the vehicle body part travels based on a plurality of selection points selected from the travel trajectory, and correcting the travel area A correction unit capable of correcting, when the travel region includes a region outside the travel locus region, the correction unit corrects the travel region to a region not including the region outside the travel locus region. It is characterized by.

The travel area specifying device according to the present invention determines that the travel area includes an area outside the travel locus area when a specific point on the travel area is located outside the travel locus area. The determination part to perform is provided.
According to the travel region specifying device having such a configuration, it is possible to more reliably prevent a route from being erroneously set outside the travel region.

Further, the travel area specifying device according to the present invention includes a determination unit that determines that the travel area includes an area outside the travel locus area when the area of the travel area is larger than the area of the travel locus area. It is characterized by providing.
According to the travel region specifying device having such a configuration, it is possible to more reliably prevent a route from being erroneously set outside the travel region.

  According to the travel area specifying device according to the present invention, it is possible to prevent a route from being erroneously set outside the travel area when setting the route of a work vehicle that autonomously travels.

Schematic side view of autonomous traveling work vehicle and accompanying traveling working vehicle Control block diagram of autonomous traveling work vehicle Figure showing the initial screen of the remote control device The figure which shows the field setting when using an autonomous running work vehicle A diagram showing the field area The figure which shows the acquisition situation of the run track in the field The figure which shows the setting condition of the field shape based on the running locus in a field The figure which shows the incorrect setting situation of the field shape The figure which shows the judgment situation of the field shape by map information The figure which shows the setting condition (when setting two area | regions in one field) in the field, (A) The figure which shows the division | segmentation condition of a field, (B) The figure which shows the setting condition of a field shape The figure which shows the setting condition (when setting two area | regions in one field) in the field, (A) The figure which shows the setting condition of an incorrect field shape, (B) The judgment condition of the field shape by area data Figure showing

A configuration of an autonomous traveling work vehicle that is a work vehicle according to an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, an autonomous traveling work vehicle 1 that can be unmanned and automatically traveled, and a manned work vehicle 100 that is operated by an operator accompanying the autonomous traveling work vehicle 1 are used as a tractor. An embodiment will be described in which a rotary tiller is mounted as a work machine on the vehicle 1 and the work vehicle 100, respectively. However, the work vehicle is not limited to a tractor, and may be a combine, etc., and the work machine is not limited to a rotary tiller, but is a vertical stand, a mower, a rake, a seeder, a fertilizer, or the like. May be.

In the present specification, “autonomous traveling” means that a tractor travels along a predetermined route by controlling a configuration related to traveling provided by a control unit (ECU) provided in the tractor.
Executing farm work in a single farm with unmanned vehicles and manned vehicles may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. In addition, as cooperative work of farm work, in addition to “performing farm work in a single farm field with unmanned vehicles and manned vehicles”, “farm work in different farm fields such as adjacent farm fields with unmanned vehicles and manned vehicles at the same time” Performing ”may be included.

  1 and 2, an overall configuration of a tractor that becomes the autonomous traveling work vehicle 1 will be described. The vehicle body 2 of the tractor has an engine 4 installed in a hood 3, a dashboard 14 is provided in a cabin 12 at the rear of the hood 3, and a steering handle 5 serving as a steering operation means is provided on the dashboard 14. Is provided. As the steering handle 5 is rotated, the front wheels 10 and 10 are rotated through the steering device. A steering actuator 40 that operates the steering device is connected to a steering controller 301 that constitutes the control unit 30. The steering direction of the autonomous 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 disposed at the rotation base of the front wheel 10. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 5 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

  The control unit 30 includes a steering controller 301, an engine controller 302, a shift control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, an autonomous traveling control controller 307, and the like, each of which is a CPU (central processing unit). And a storage device such as a RAM and a ROM, an interface, and the like. The storage device stores programs, data, and the like for operation, and communication is possible so that information, data, and the like can be transmitted and received through CAN communication. Further, the autonomous traveling control controller 307 includes a memory 309 that is a storage unit in which programs, data, and the like are stored.

  A driver seat 6 is disposed behind the steering handle 5, and a mission case 7 is disposed below the driver seat 6. Rear axle cases 9, 9 are connected to the left and right sides of the transmission case 7, and rear wheels 11, 11 are supported on the rear axle cases 9, 9 via axles. Power from the engine 4 is shifted by a transmission (main transmission or auxiliary transmission) in the transmission case 7 so that the rear wheels 11 and 11 can be driven. The transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed. The transmission means 44 is connected to the transmission control controller 303 of the control unit 30. The rotational speed of the rear wheel 11 is detected by the vehicle speed sensor 27 and is input to the shift control controller 303 as a traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

  The mission case 7 houses a PTO clutch and a PTO transmission, and the PTO clutch is turned on and off by the PTO on / off means 45. The PTO on / off means 45 is connected to the autonomous traveling control controller 307 of the control unit 30 via the display means 49. It is connected, and the connection / disconnection of power to the PTO shaft can be controlled. In addition, when a sowing machine, a cocoon coater, or the like is mounted as a work machine, a work machine controller 308 is provided so that the work machine can be controlled independently, and the work machine controller 308 is connected via information communication wiring (so-called ISOBUS). To the work control controller 305.

  A front axle case 8 is supported on a front frame 13 that supports the engine 4, and front wheels 10 and 10 are supported on both sides of the front axle case 8, so that power from the transmission case 7 can be transmitted to the front wheels 10 and 10. It is configured. The front wheels 10 and 10 are steered wheels. The front wheels 10 and 10 can be turned by a turning operation of the steering handle 5, and the front wheels 10 and 10 are steered left and right by a steering actuator 40 including a power steering cylinder as a driving unit of the steering device. It can be turned. The steering actuator 40 is connected to and controlled by the steering controller 301 of the control unit 30.

  An engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to an engine controller 302 serving as an engine rotation control means so that the state of the engine 4 can be detected. The engine controller 302 detects the load from the set rotational speed and the actual rotational speed and controls it so as not to be overloaded, and transmits the state of the engine 4 to the remote operation device 112 described later so that the display device 113 can display it. ing.

  The fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and connected to the display means 49. The display means 49 is provided on the dashboard 14 of the autonomous traveling work vehicle 1, Displays the fuel level. Then, the remaining amount of fuel is calculated by the autonomous traveling control controller 307, the workable time is calculated, information is transmitted to the remote operation device 112 via the communication device 110, and the remaining fuel amount is displayed on the display device 113 of the remote operation device 112. Workable time can be displayed. The display means for displaying the tachometer, fuel gauge, hydraulic pressure, and abnormality and the display means capable of displaying the current position and the like may be configured separately.

  Display means 49 for displaying a tachometer, a fuel gauge, a hydraulic pressure, etc., a monitor indicating an abnormality, a set value, etc. is disposed on the dashboard 14. The display means 49 is a touch panel type like the remote operation device 112, and data input, selection, switch operation, button operation, etc. are also possible.

  Further, a work implement 24 is installed at the rear portion of the vehicle body portion 2 of the tractor via a work implement mounting device 23 so as to be movable up and down. In the present embodiment, a rotary tiller is employed as the work implement 24, and an elevating cylinder 26 is provided on the transmission case 7, and the elevating cylinder 26 is expanded and contracted to constitute the work implement mounting apparatus 23. The work machine 24 can be moved up and down by rotating the arm. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the horizontal control controller 304 of the control unit 30. In addition, an inclination cylinder is provided on the left and right lift links of the work implement mounting device 23, and an inclination actuator 47 that operates the inclination cylinder is connected to a horizontal control controller 304.

  A mobile GPS antenna 34 and a data receiving antenna 38 for enabling detection of position information are connected to the positioning control unit 306 serving as a position detecting unit, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 12. . The positioning control unit 306 is provided with a position calculating means for calculating the latitude and longitude so that the current position can be displayed on the display means 49 or the display device 113 of the remote operation device 112. In addition to GPS (United States), high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.

The autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining posture change information of the vehicle body 2 and an azimuth angle detection unit 32 for detecting a traveling direction, and is connected to the control unit 30. However, since the traveling direction can be calculated from the GPS position measurement, the azimuth angle detection unit 32 can be omitted.
The gyro sensor 31 detects the angular velocity of the front-rear direction inclination (pitch) of the vehicle body portion 2, the angular velocity of the left-right direction inclination (roll) of the vehicle body portion 2, and the angular velocity of turning (yaw). By integrating the three angular velocities, it is possible to obtain the inclination angle and the turning angle of the vehicle body portion 2 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 unit 30 and inputs information related to the three angular velocities to the control unit 30.

  The azimuth angle detection unit 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the azimuth angle detection unit 32 includes a magnetic azimuth sensor. The azimuth angle detection unit 32 inputs information to the autonomous traveling control controller 307 via the CAN communication means.

  In this way, the autonomous traveling control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth angle detecting unit 32 by the attitude / azimuth calculating means, and calculates the attitude of the autonomous traveling work vehicle 1 (orientation, front-rear direction and left-right direction of the vehicle body unit 2). Direction inclination, turning direction).

The position information of the autonomous traveling work vehicle 1 is acquired using GPS (global positioning system).
As a positioning method using GPS, there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

  RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.

  In the present embodiment, a positioning control unit 306, a mobile GPS antenna 34, and a data receiving antenna 38 that are mobile stations are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35, a fixed GPS antenna 36, and a data transmitting antenna that are reference stations. 39 is disposed at a predetermined position. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. Transmit 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, 37. This signal is transmitted to the mobile communication device 33 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by the fixed GPS antenna 36 serving as a reference station, measured by the fixed communication device 35 and transmitted to the positioning control unit 306, and the observed data is analyzed and moved. Determine the station location.

  Thus, the autonomous traveling control controller 307 is provided as an autonomous traveling means for autonomously traveling the autonomous traveling work vehicle 1. That is, the traveling state of the autonomous traveling work vehicle 1 is acquired as various information by various information acquisition units connected to the autonomous traveling control controller 307, and the autonomous traveling working vehicle is captured by the various control units connected to the autonomous traveling control controller 307. 1 autonomous running is controlled. Specifically, it receives radio waves transmitted from the GPS satellites 37, 37..., Obtains position information of the vehicle body 2 at set time intervals in the positioning control unit 306, and from the gyro sensor 31 and the azimuth angle detection unit 32. Steering so that displacement information and azimuth information of the vehicle body 2 are obtained, and the vehicle body 2 travels along preset routes (work route Ra and travel route Rb) based on the position information, displacement information, and azimuth information. The actuator 40, the speed change means 44, the elevating actuator 25, the PTO on / off means 45, the engine controller 302, etc. are controlled to run autonomously so that they can work automatically.

  In addition, an obstacle sensor 41 is disposed in the autonomous traveling work vehicle 1 and is connected to the control unit 30 so as not to contact the obstacle. For example, the obstacle sensor 41 is configured by a laser sensor, an ultrasonic sensor, or a camera, arranged at the front portion, the side portion, or the rear portion of the vehicle body portion 2 and connected to the control unit 30. Whether or not there is an obstacle on the side or rear is detected, and control is performed to stop the traveling when the obstacle approaches within a set distance.

  In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42F that captures the front, a work implement behind the camera 42R, and a camera 42R that captures the state of the field after work, and is connected to the control unit 30. In this embodiment, the cameras 42F and 42R are arranged on the front and rear parts of the roof of the cabin 12, but the arrangement positions are not limited, and one camera on the front part and the rear part in the cabin 12. Even if 42 is arranged at the center of the vehicle body part 2 and rotated around the vertical axis to photograph the surroundings, a plurality of cameras 42 are arranged at the four corners of the vehicle body part 2 to photograph the periphery of the vehicle body part 2. There may be. Images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided in the work vehicle 100.

  The remote operation device 112 sets a route R including a later-described work route Ra and a travel route Rb of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, It monitors the operating state of the work implement and stores work data, and includes a control device (CPU and memory), a communication device 111, a display device 113, and the like.

  A work vehicle 100 that is a manned traveling vehicle is operated by a worker, and a remote control device 112 is mounted on the work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted. The work vehicle 100 (or the remote operation device 112) may be configured to include a GPS control unit.

  The remote operation device 112 can be attached to and detached from an operation unit such as a dashboard of the work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the work vehicle 100, taken out of the work vehicle 100 and carried, or operated even when attached to the dashboard 14 of the autonomous traveling work vehicle 1. It is possible. The remote operation device 112 can be configured by, for example, a notebook or tablet personal computer. In this embodiment, a tablet personal computer is used.

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. The communication device 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via, for example, a wireless LAN. The remote operation device 112 is provided with a display device 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and the communication device 111, CPU, storage device 114, battery, and the like are housed in the housing. .

Next, a procedure for setting the route R (work route Ra and travel route Rb) by the remote control device 112 will be described.
The display device 113 of the remote operation device 112 is of a touch panel type, and an initial screen appears when the remote operation device 112 is activated by turning on the power. On the initial screen, as shown in FIG. 3, a tractor setting button 201, a field setting button 202, a route generation setting button 203, a data transfer button 204, a work start button 205, and an end button 206 are displayed.

First, tractor setting will be described.
When the tractor setting button 201 is touched, when a work is performed using the tractor by the remote operation device 112 in the past, that is, when a tractor set in the past exists, the tractor name (model) is displayed. When multiple tractor names are displayed, touch the tractor name to be used this time to select it, and then return to the initial screen.
When newly setting a tractor, specify the tractor model. In this case, enter the model name directly. Alternatively, a plurality of tractor models are displayed in a list on the display device 113 so that a desired model can be selected.

  When the model of the tractor is set, a setting screen for setting the mounting position of the mobile GPS antenna 34 appears. The mounting position of the mobile GPS antenna 34 varies depending on the tractor and may vary depending on the engineer to be mounted. Therefore, the mounting position is set by displaying a plan view of the tractor.

When the mounting position of the mobile GPS antenna 34 is set, a setting screen for the size and shape of the work implement attached to the tractor and the position of the work implement appears. The position of the work implement is selected from the front, between the front and rear wheels, the rear, and the offset.
When the setting of the work implement is completed, a setting screen for the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. It is also possible for the vehicle speed during work to be different between the forward path and the return path.
When the setting of the vehicle speed and the engine speed is completed, the screen returns to the initial screen.

Next, the field setting will be described.
When the farm field setting button 202 is touched, the name of the farm field that has been set is displayed when the remote operation device 112 has previously performed a work using the tractor, that is, when there is a farm field that has been set in the past. When a field name to be worked on is selected by touching the displayed field names from a plurality of displayed field names, it is possible to proceed to route generation setting described later or return to the initial screen. It is also possible to edit or newly set the set field.

  If there is no registered field, a new field is set. When a new field setting is selected, the tractor (autonomous traveling work vehicle 1) is positioned at one of the four corners A in the field H, as shown in FIG. Thereafter, the tractor is moved along the outer periphery of the field H to register the field shape. Next, the operator registers the angular positions A, B, C, D and inflection points from the registered farm field shapes, and identifies the farm field shape.

When the farm field H is specified, the work start position Sw, the work direction F, and the work end position Gw are set as shown in FIG. If there is an obstacle in the field H, move the tractor to the position of the obstacle, touch the obstacle setting button (not shown), run around the obstacle, and set the obstacle. I do. In addition, when an obstacle exists in the vicinity of the field H, or when the obstacle is smaller than the minimum turning radius and becomes too large when traveling on the outer periphery, the obstacle may be registered from the displayed field map.
When the above work is completed or when a previously registered field is selected, a confirmation screen is displayed, and an OK (confirmation) button and an “edit / add” button are displayed. When there is a change in the field registered in the past, the “Edit / Add” button is touched.

When the OK button is touched in the field setting, the route generation setting is made. The route generation setting can also be set by touching the route generation setting button 203 on the initial screen.
When the route generation setting mode is entered, a selection screen for the position where the work vehicle 100 travels with respect to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the work vehicle 100 is set. Specifically, (1) the work vehicle 100 is located on the left rear side of the autonomous traveling work vehicle 1. (2) The work vehicle 100 is located on the right rear side of the autonomous traveling work vehicle 1. (3) The work vehicle 100 is located directly behind the autonomous traveling work vehicle 1. (4) The work vehicle 100 does not run side by side (the work is performed only by the autonomous running work vehicle 1). Are displayed and can be selected by touching.

Next, the width of the work machine of the work vehicle 100 is set. In other words, the width of the work implement is input with numbers.
Next, the number of skips is set. That is, it sets how many routes are to be skipped when the autonomous traveling work vehicle 1 reaches the end of the field (headland) and moves from the first work path R1 to the second work path R2. Specifically, (1) Do not skip. (2) One column skip. (3) Skip two columns. Select one of the following.
Next, overlap is set. That is, the work width overlap amount in the work path R2 adjacent to the work path R1 is set. Specifically, (1) There is no overlap. (2) overlap. Select. If “overlap” is selected, a numerical value input screen is displayed, and it is not possible to proceed to the next unless the numerical value is input.

  Next, the outer periphery setting is performed. That is, as shown in FIG. 5, an area outside the work area HA in which work is performed by the autonomous traveling work vehicle 1 and the working vehicle 100 or by the autonomous traveling work vehicle 1 is set. In other words, the headland HB that turns in a non-working state at the end of the field and the side margin HC that is a non-working area that is in contact with the outer periphery of the left and right fields between the headland HB and the headland HB are set. . Therefore, farm field H = work area HA + headland HB + headland HB + side margin HC + side margin HC. Usually, the width Wb of the headland HB and the width Wc of the side margin HC are set to be not more than twice the width of the work machine attached to the work vehicle 100, and the autonomous traveling work vehicle 1 and the work vehicle 100 run in parallel. After the work is completed, the worker gets into the work vehicle 100 and finishes by making two rounds of the outer periphery by manual operation. However, it is also possible to work on the outer periphery with the autonomous traveling work vehicle 1.

  When the input of the above various settings is completed, a confirmation screen appears. When confirmation is touched, a route R including a work route Ra and a travel route Rb is automatically generated. The work route Ra is a route generated in the work area HA and is a route that travels while performing work, and is a straight route. However, if the work area HA is not rectangular, it may protrude. The travel route Rb is a route that is generated in an area other than the work area HA (the headland HB and the side margin HC) and travels without performing work, and is a route that combines a straight line and a curve. It becomes a route for turning in the headland HB.

The work route Ra and the travel route Rb are generated for the autonomous travel work vehicle 1 and the work vehicle 100, respectively.
When the user wants to view the route after generating the route, the simulation image is displayed by touching the route generation setting button 203 and can be confirmed. Note that the work route Ra and the travel route Rb are generated without touching the route generation setting button 203.
When the work route Ra and the travel route Rb are automatically generated, the work start position Sw and the work end position Gw are set to the corresponding positions closest to the start position and the end position registered in the field setting.

  When each item of the route generation setting is set, the route generation setting is displayed, and a “route setting button”, “transfer data”, and “return to home” are selectably displayed below the route generation setting.

  When the information is transferred, it can be transferred by touching the data transfer button 204 provided on the initial screen. Since this transfer is performed by the remote operation device 112, it is necessary to transfer the set information to the control device of the autonomous traveling work vehicle 1. This transfer includes (1) a method of transferring using a terminal and (2) a method of transferring wirelessly. In this embodiment, when a terminal is used, it is autonomously connected to the remote control device 112 using a USB cable. The control device of the traveling work vehicle 1 is directly connected, or once stored in a USB memory, transferred to the USB terminal of the autonomous traveling work vehicle 1 for transfer. In addition, when wirelessly transferring, the wireless LAN is used.

Here, the configuration of the travel region specifying device according to an embodiment of the present invention will be described.
As shown in FIG. 2, the autonomous traveling work vehicle 1 includes a moving GPS antenna 34 that is a position information acquisition unit that can acquire a current position N that is position information of the vehicle body 2.
In addition, the autonomous traveling work vehicle 1 identifies the traveling locus K of the vehicle body 2 using the current position N detected by the mobile GPS antenna 34, and identifies the traveling locus area KA of the vehicle body 2 based on the traveling locus K. The remote operation device 112 is provided as a travel locus area specifying unit capable of performing the above operation.
In the autonomous traveling work vehicle 1, the controller 30 can also specify the traveling locus area KA of the vehicle body 2 based on the traveling locus K, and instead of the remote operation device 112, the controller 30 can The travel locus area KA of the vehicle body 2 may be specified.

In addition, the remote control device 112 of the autonomous traveling work vehicle 1 has a shape of a farm field H (hereinafter, referred to as a traveling region) in which the vehicle body unit 2 travels based on corners P to U that are a plurality of selection points selected from the traveling locus K. It also has a function as a travel region specifying unit that can specify a field shape HK).
In the autonomous traveling work vehicle 1, the field shape HK can be specified by the control unit 30 based on the corners P to U as a plurality of selection points selected from the traveling locus K, and the remote control device It is good also as a structure which identifies the field shape HK by the control part 30 instead of 112. FIG.

Furthermore, the remote control device 112 of the autonomous traveling work vehicle 1 further has a function as a correction unit capable of correcting the field shape HK.
In the autonomous traveling work vehicle 1, a configuration in which the field shape HK is corrected by the control unit 30 is possible, and a configuration in which the field shape HK is corrected by the control unit 30 instead of the remote operation device 112. It is good.

  Furthermore, the remote control device 112 of the autonomous traveling work vehicle 1 includes a display device 113 that is a notification unit capable of executing a predetermined notification.

  That is, the travel region specifying device 150 according to the embodiment of the present invention is specified using the mobile GPS antenna 34 and the current position N, which are position information acquisition units capable of acquiring the current position N that is the position information of the vehicle body 2. This is a travel locus area specifying unit that can specify the travel locus area KA of the vehicle body portion 2 based on the travel locus K of the vehicle body portion 2, and based on a plurality of selection points P to U selected from the travel locus K. The remote operation device 112 and the control unit 30 are a travel region specifying unit that can specify the shape of the farm field H (a farm shape HK) that is a travel region in which the vehicle body unit 2 travels, and further, a correction unit that can correct the farm field shape HK. Are provided.

Next, the field registration in the autonomous traveling work vehicle 1 according to an embodiment of the present invention will be described. Here, the case where the agricultural field H which has an uneven | corrugated shape as shown in FIG. 6 is registered is illustrated and demonstrated.
In the autonomous traveling work vehicle 1, when the farm field H as shown in FIG. 6 is registered in the farm field, the autonomous traveling work vehicle 1 travels along the outer periphery of the farm field H by the operation of the operator, and the traveling locus K is acquired. As shown in FIG. 6, the shape of the traveling locus K substantially matches the outer peripheral shape of the field H. Since the autonomous traveling work vehicle 1 requires a predetermined turning radius when turning, the corner portion of the traveling locus K has an arc shape unlike the shape of the actual farm field H.

Next, in the field registration of the field H, the corner | angular part which exists on the traveling locus K is specified.
As shown in FIG. 7, the traveling locus K shown in the present embodiment has six corners P, Q, R, S, T, and U, and P, Q as shown in FIG. , R, S, T, and U are displayed on the display device 113.

Next, in the field registration of the field H, the operator selects a corner that exists on the travel locus K and sets the shape of the field H (the field shape HK).
For example, as shown in FIG. 7, when the operator selects six corners of P, Q, R, S, T, and U on the traveling locus K, the field shape HK as shown in FIG. 7 is set. Is done.
If the operator definitely selects all the corners, the field shape HK substantially matching the shape of the field H can be set with high accuracy as shown in FIG.

On the other hand, for example, when the operator has selected only five corners of P, Q, R, T, and U on the travel locus K (that is, when he forgot to select corner S), FIG. A pentagonal field shape HK as shown is set.
In this case, the portion corresponding to the triangle RST in the field shape HK is set as a part (inside region) of the field H although it is originally an area outside the field H. In such a case, an incorrect field shape HK is set, and the work route Ra and the travel route Rb of the autonomous traveling work vehicle 1 may be set outside the field H.

  Therefore, in the travel region specifying device 150 according to an embodiment of the present invention, in order to prevent the work route Ra and the travel route Rb of the autonomous traveling work vehicle 1 from being set in a range outside the field H, the following is performed. The configuration described is adopted.

In the travel area specifying device 150 according to an embodiment of the present invention, as shown in FIG. 7, a closed region surrounded by the acquired travel locus K (hereinafter referred to as a travel locus area KA) is When it is detected that a specific point on the field shape HK that has been automatically identified and set is located outside the specified travel locus area KA, the remote operation device 112 incorrectly sets the field shape HK. (That is, the field shape HK protrudes from the actual field H).
The remote operation device 112 is configured to issue an alarm on the display device 113 of the remote operation device 112 when it is determined that the field shape HK is incorrect.

That is, the travel area specifying device 150 according to the present invention includes an area where the field H is outside the travel locus area KA when a specific point on the set field shape HK is located outside the travel locus area KA. The remote operation device 112 that is a determination unit that determines that
And according to the travel area specifying device 150 having such a configuration, it is possible to more reliably prevent the route R (the work route Ra and the travel route Rb) from being erroneously set outside the field H.

  Further, in the travel area specifying device 150 according to the embodiment of the present invention, the travel locus area KA is automatically specified by the remote operation device 112, and the set area of the farm field shape HK and the area of the travel locus area KA are determined. If the area of the field shape HK exceeds the area of the travel locus area KA, the field shape HK is incorrectly set by the remote operation device 112 (that is, the field shape HK is the actual field It can be set as the structure which judges that it has protruded from H).

That is, the traveling area specifying device 150 according to the present invention determines that the field shape HK includes an area outside the traveling locus area KA when the set area of the agricultural field shape HK is larger than the area of the traveling locus area KA. A remote operation device 112 as a determination unit is provided.
And according to such a driving | running | working area | region identification apparatus 150, it can prevent more reliably that the path | route R (work path | route Ra and driving | running | working path | route Rb) is set to the outer side of the agricultural field H accidentally.

  In determining whether or not there is a portion that protrudes from the field H, a threshold may be set as appropriate, and when the area of the portion that protrudes exceeds a predetermined threshold, the portion is protruding. It can be set as the structure which judges that.

Furthermore, in the travel area identification device 150 according to an embodiment of the present invention, the set field shape HK may be compared with known map information.
As shown in FIG. 9, in the travel area specifying device 150, map information HM of the field H is stored in advance in the remote operation device 112, and the field shape HK set by the remote operation device 112 is converted into map information HM. It is set as the structure to compare. The map information HM includes information on the position of the farm field H (latitude and longitude of the end points), area, shape, and the like.
Then, when there is a portion (for example, triangle RST shown in FIG. 9) that does not match the map information HM in the field shape HK, the remote operation device 112 issues an alarm on the display device 113 of the remote operation device 112. It is configured.

Here, in the travel area specifying device 150, the content of the notification performed by the display device 113 is the notification content that suggests that the field H includes an area outside the travel locus area KA.
As specific notification contents to be displayed on the display device 113, for example, a text prompting the operator to confirm, such as “It is necessary to check whether the selection of the corner is correct,” or “ If a route is generated as it is, a route may be generated outside the field H ", or a warning message such as" is displayed. "

Further, in the travel region specifying device 150, the display device 113 does not notify that the field H includes the region outside the travel locus K, but the remote operation device 112 causes the field H to be outside the travel locus K region. It is good also as composition which corrects field shape HK so that a field may not be included.
In this case, a display for confirming “whether or not to correct the field shape HK” is displayed on the display device 113, and when the operator selects “correct”, correction by the remote control device 112 is executed. It can be constituted as follows.

  The travel region specifying device 150 is configured so that, for example, the field shape HK displayed on the display device 113 can be corrected by an operator by an instruction to the screen with a touch pen. It can be set as the structure which correct | amends the field shape HK by performing operation to select additionally.

  Moreover, in the structure which compares map information etc. with the field shape HK, in the driving | running | working area | region identification apparatus 150, while the remote operation apparatus 112 specifies the part which protruded, the specified protrusion part is used by the remote operation apparatus 112. The field shape HK can be corrected so as to be deleted.

Note that the method of specifying the field shape HK after acquiring the travel locus K is not limited to the method of specifying only the corners.
For example, the acquired travel locus K may be displayed on the display device 113 and the field shape HK may be specified by an operator specifying a corner and a side by an instruction to the screen with a touch pen. According to this specifying method, even when the corner is forgotten to be selected, the field shape HK can be specified with high accuracy.

  Alternatively, as a method for specifying the field shape HK after acquiring the travel locus K, the field shape HK may be automatically generated from the acquired travel locus K by the remote operation device 112, and further automatically. It is good also as a structure which an operator confirms the field shape HK produced | generated in this, and an operator corrects suitably according to the actual condition, and acquires a more suitable field shape HK.

  That is, the travel area specifying device 150 according to the present invention includes a mobile GPS antenna 34 that is a position information acquisition unit capable of acquiring a current position N that is position information of the vehicle body 2 and a vehicle body that is specified using the current position N. 2 is a travel locus area specifying unit that can specify the travel locus area KA of the vehicle body 2 based on the two travel locus K, and based on corners P to U that are a plurality of selection points selected from the travel locus K. A remote operation device 112 that is a travel region specifying unit that can specify a field shape HK that is a travel region in which the vehicle body 2 travels, and a display device 113 that is a notification unit that can execute a predetermined notification. Is a notification that suggests that the set field shape HK includes an area outside the travel locus area KA.

  In addition, the travel region specifying device 150 according to the present invention includes a mobile GPS antenna 34 that is a position information acquisition unit that can acquire a current position N that is position information of the vehicle body 2 and a vehicle body part that is specified using the current position N. 2 is a travel locus area specifying unit that can specify the travel locus area KA of the vehicle body 2 based on the two travel locus K, and based on corners P to U that are a plurality of selection points selected from the travel locus K. A remote operation device 112 that is a travel region specifying unit that can specify the field shape HK that is the travel region in which the vehicle body unit 2 travels, and that is a correction unit that can correct the field shape HK. When the set field shape HK includes an area outside the travel locus area KA, the field shape HK is corrected to an area not including the area outside the travel locus area KA.

  And according to the travel area specifying device 150 having such a configuration, in setting the route R (work route Ra and travel route Rb) of the autonomous traveling work vehicle 1, the route R is mistakenly placed outside the farm field H that is the travel region. Setting can be prevented.

  Next, regarding the field registration in the autonomous traveling work vehicle 1 according to the embodiment of the present invention, in the field H as shown in FIG. 10, two types of crops (crop X and crop Y) are set for each crop. An example of the case will be described. Here, a case where a substantially rectangular field H as shown in FIG. 10A is divided into two regions, the crop X is cultivated in one region, and the crop Y is cultivated in another region will be described as an example. To do.

  In such a case, in order to register the field of the crop X in the field, first, the outer peripheral shape of the field H is detected by the autonomous traveling work vehicle 1, and the field shape HK of the entire field H is specified. Here, as shown in FIG. 10 (B), the field shape HK of the entire field H is specified by selecting the corner PQRS.

  Next, in order to specify the region of the crop X, a point T on the line segment PQ and a point U on the line segment RS are additionally selected, and a rectangular portion defined by the point PTUS is selected for the crop X. The field shape HK1 is specified, and the rectangular portion defined by the point QRUT is specified as the field shape HK2 for the crop Y.

  Here, for example, when the user selects the point T and the point U incorrectly, as shown in FIG. 11A, a part of the crop Y region is erroneously registered as a crop X region. There is concern.

Therefore, in the travel area specifying device 150 according to the embodiment of the present invention, the area data DX / DY of each area of the crops X / Y is acquired in advance, and the area data DX / DY is obtained for each field shape HK1, HK2. It can be set as the structure which prevents that wrong field registration is made by comparing with.
As the area data DX / DY of the crops X / Y, the area of each area, the position information of the end points in each area, the map data (including shape, area, position information) of each area, and the like can be used.

  Then, such region data DX / DY is stored in the remote operation device 112 in advance, and the remote operation device 112 compares the specified field shape HK1 / HK2 with the region data DX / DY. Field registration can be prevented.

As shown in FIG. 11B, as a result of comparison using the region data DX / DY, the remote control device 112 determines that the field shapes HK1 and HK2 have an error (there is an overlapping portion). In such a case, the display device 113 notifies the user.
Alternatively, when it is determined that there is an error in the field shapes HK1 and HK2, the remote operation device 112 arranges the points T and U so that the identified field shapes HK1 and HK2 match the area data DX and DY. It is good also as a structure which correct | amends and correct | amends each field shape HK1 * HK2.

2 Car body 34 Moving GPS antenna (position detector)
30 control unit 112 remote control device 113 display device 150 travel region specifying device H field (travel region)
HK field shape K traveling locus KA traveling locus area

Claims (4)

A position information acquisition unit capable of acquiring position information of the vehicle body,
A travel locus region specifying unit capable of specifying a travel locus region of the vehicle body portion based on a travel locus of the vehicle body portion specified using the position information;
A travel region specifying unit capable of specifying a travel region in which the vehicle body portion travels based on a plurality of selection points selected from the travel locus;
A notification unit capable of performing predetermined notification;
With
The predetermined notification is a notification that suggests that the traveling area includes an area outside the traveling locus area. A position information acquisition unit capable of acquiring position information of the vehicle body,
A travel locus region specifying unit capable of specifying a travel locus region of the vehicle body portion based on a travel locus of the vehicle body portion specified using the position information;
A travel region specifying unit capable of specifying a travel region in which the vehicle body portion travels based on a plurality of selection points selected from the travel locus;
A correction unit capable of correcting the travel region;
With
The said correction | amendment part correct | amends the said travel area to the area | region which does not include the area | region outside the said travel locus area, when the said travel area contains the area | region outside the said travel locus area.   The apparatus according to claim 1, further comprising: a determination unit that determines that the travel area includes an area outside the travel locus area when a specific point on the travel area is located outside the travel locus area. The travel area specifying device according to claim 1 or 2.   The determination unit according to claim 1, further comprising: a determination unit that determines that the travel area includes an area outside the travel locus area when an area of the travel area is larger than an area of the travel locus area. 2. The travel area specifying device according to 2.