JP6594805B2 - Work vehicle - Google Patents

Description

  The present invention relates to a work vehicle technology.

  2. Description of the Related Art Conventionally, work vehicles such as tractors are known that can autonomously travel (unmanned travel) along a set route. The work vehicle shown in Patent Document 1 includes a control program that determines a work 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 work route.

Japanese Patent Laid-Open No. 10-66405

  However, in the conventional work vehicle capable of autonomous traveling as disclosed in Patent Document 1, it is necessary to drive the work vehicle by the operator up to the work start position. For this reason, conventionally, after the operator has placed the work vehicle at the work start position, it has been necessary to return to another accompanying work vehicle, and there is a problem that work cannot be started immediately after the work vehicle is placed. When each work vehicle is located far away, the labor required for the operator's movement has been increased.

  The present invention has been made in view of such current problems, and can reduce the burden of work for placing a work vehicle (autonomous traveling work vehicle) at a work start position and can improve work efficiency. The purpose is to provide a vehicle.

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

That is, a work vehicle according to the present invention stores a vehicle body part, a work implement mounted on the vehicle body part, a position detection unit capable of detecting position information of the vehicle body part, and a travel region in which the vehicle body part travels. A storage unit capable of controlling, a control unit capable of controlling the travel of the vehicle body unit in the travel region and work by the work implement, and a route generation unit that generates a route of the vehicle body unit in the travel region, by the control unit, in the travel region stored in the storage unit, while detecting the current position of the vehicle body portion by the position detection unit, autonomously capable of traveling along said path generated by the path generating portion The traveling area includes a first area including a work route on which the work is performed by the work machine, and a second area set around the first area, The control unit is configured to When the start of work by the work implement is instructed in the area, it is possible to start the work by the work implement after traveling the vehicle body portion from the current position of the vehicle body portion to the start point of the work route. der is, provided with a detectable azimuth angle detection unit the azimuth angle of the vehicle body portion, wherein the control unit, and the azimuth angle of the vehicle body portion, angular difference, and the angle with respect to the start point from the current position is predetermined The vehicle body is not allowed to travel from the current position to the start point unless the value is within the threshold value.
In the work vehicle according to the present invention, an error in the current position of the vehicle body portion with respect to the set start position can be suppressed by the configuration in which the vehicle body portion autonomously travels when the azimuth angle of the vehicle body portion is within a predetermined threshold.

In the work vehicle according to the present invention, the work route includes a first work path including the start point, and the control unit extends the first work path to the second region. If the current position is within a predetermined deviation with respect to the virtual route, the vehicle body is controlled to reduce the deviation, and the vehicle body is moved from the current position to the start point. It is possible to run.
With such a configuration, it is possible to suppress an error in the current position with respect to the set start point when the vehicle body reaches the start point.

In the work vehicle according to the present invention, the work route includes a first work route including the start point and a second work route arranged in parallel to the first work route, and the control unit includes: If a virtual route obtained by extending the first work path to the second region is specified and the current position is outside a predetermined deviation from the virtual route, a travel route from the current position to the start point is determined. It is possible to generate and travel the vehicle body along the travel route.
With such a configuration, when the current position of the vehicle body part and the start point are separated, the work vehicle can be placed at the start point without the operator having to travel to the start point. The trouble of arranging at the start point can be saved.

  According to the work vehicle according to the present invention, it is not necessary to arrange the work vehicle up to the work start position by the operation of the operator, and the efficiency of work performed using the work vehicle can be improved.

The schematic side view of an autonomous traveling working vehicle and a traveling working vehicle. The control block diagram of an autonomous traveling work vehicle. The figure which shows the initial screen of a remote control device. The figure which shows the agricultural field setting when using an autonomous running work vehicle. The figure which shows the area | region of an agricultural field. The figure which shows the condition at the time of the autonomous running start of an autonomous running work vehicle. The figure which shows the relationship between the driving | running | working start position of an autonomous running work vehicle, and a farm field. The figure which shows the determination condition by the azimuth at the time of the autonomous running start to the work start position of an autonomous running work vehicle. The figure which shows the autonomous running condition (when deviation (alpha) is below a threshold value) to the work start position of an autonomous running work vehicle. The figure which shows the autonomous running condition (when deviation (alpha) exceeds the threshold value) to the work start position of an autonomous running work vehicle. The figure which shows the setting condition of the autonomous running start position in an autonomous running work vehicle. The figure which shows the setting condition of the autonomous running start position in consideration of the azimuth angle and deviation in an autonomous running work vehicle. The figure which shows the setting shape of an autonomous running start position, (A) Circular shape, (B) Rectangular shape, (C) The shape which becomes narrow toward the work area side.

  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 (hereinafter sometimes referred to as an unmanned vehicle) 1 that can autonomously travel unmanned, and a manned operation performed by a worker in cooperation with the autonomous traveling work vehicle 1. A traveling working vehicle (hereinafter sometimes referred to as a manned vehicle) 100 as a tractor, and an autonomous traveling working vehicle 1 and a traveling working vehicle 100 are each provided with a rotary tiller as a working machine will be described. 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 that stores programs, data, and the like.

  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 perform its own control, 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 (US), high-accuracy 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 (the direction, the front-rear direction and the 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 positioning control unit 306 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 unit 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 actuators are used to obtain displacement information and azimuth information of the vehicle body 2 and to make the vehicle body 2 travel along a predetermined route (travel route and work route) R based on the position information, displacement information, and azimuth information. 40, speed change means 44, elevating actuator 25, PTO on / off means 45, 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 operation device 112 provided in the traveling work vehicle 100.

  The remote operation device 112 sets a work route Ra and a travel route Rb, which will be described later, of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, the traveling state of the autonomous traveling work vehicle 1 and the operation of the working machine. It monitors the status and stores work data, and includes a control device (CPU and memory), a communication device 111, a display device 113, and the like.

  The traveling work vehicle 100, which is a manned traveling vehicle, is driven and operated by an operator, and the traveling work vehicle 100 is equipped with a remote control device 112 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted. Note that the traveling work vehicle 100 (or the remote control device 112) may 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 traveling 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 traveling work vehicle 100, or can be taken out of the traveling work vehicle 100 and carried around, or attached to the dashboard 14 of the autonomous traveling work vehicle 1. Can also be operated. 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 having 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 work route Ra and the travel route Rb by the remote operation 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 there is a tractor set in the past, 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, as shown in FIG. 5, a travel start position Sr, a work direction F, and a travel end position Gr are set. 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 the obstacle exists in the vicinity of the field H, or 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 which position the traveling work vehicle 100 travels relative to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is set. Specifically, (1) the traveling work vehicle 100 is located at the left rear of the autonomous traveling work vehicle 1. (2) The traveling work vehicle 100 is located on the right rear side of the autonomous traveling work vehicle 1. (3) The traveling work vehicle 100 is located directly behind the autonomous traveling work vehicle 1. (4) The traveling work vehicle 100 does not run concurrently (the work is performed only by the autonomous traveling work vehicle 1). Are displayed and can be selected by touching.

  Next, the width of the work machine of the traveling 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 a 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 traveling work 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 not more than twice the width of the working machine attached to the traveling working vehicle 100, and the autonomous traveling working vehicle 1 and the traveling working vehicle 100 are After the side-by-side operation is completed, the operator gets into the traveling work vehicle 100 and completes the outer periphery twice 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 various settings is completed, a confirmation screen appears. When touching confirmation, a work route Ra and a travel route Rb are 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 travel 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. The work start position Sw and the work end position Gw are set to corresponding positions closest to the travel start position Sr and the travel end position Gr registered in the field setting. When each item of the route generation setting is set, the route generation setting is displayed, and “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, a method for autonomously traveling the autonomous traveling work vehicle 1 according to the embodiment of the present invention to the work start position Sw will be described. As shown in FIG. 1, an autonomous traveling work vehicle 1 according to an embodiment of the present invention includes a vehicle body portion 2 and a work implement 24 attached to the vehicle body portion 2. As shown, the mobile GPS antenna 34 is provided as a position detection unit capable of detecting position information of the vehicle body unit 2. Furthermore, the autonomous traveling work vehicle 1 includes a control unit 30 that can control the traveling of the vehicle body 2 in the farm field H, which is a traveling region, and the work performed by the work implement 24. The control unit 30 causes the vehicle body 2 to travel. A memory 309 that is a storage unit capable of storing the shape, position, size, and the like of the farm field H that is a traveling region is provided. In addition, when the control part 30 appears in the following description, it shall refer to FIG.

  In the autonomous traveling work vehicle 1, the data of the work route Ra and the travel route Rb generated by the remote operation device 112 are transferred to the control unit 30 and stored in the memory 309, and the vehicle body unit 2 is operated by the mobile GPS antenna 34. Is configured as a work vehicle capable of autonomously traveling along the work route Ra and the travel route Rb. In addition, the current position N of the autonomous traveling work vehicle 1 usually coincides with the position of the mobile GPS antenna 34.

  The autonomous traveling work vehicle 1 shown in the present embodiment has a substantially rectangular farm field H as shown in FIG. 6 as a traveling area, and is a work area HA that is a first area constituting the farm field H and a second area. The headland HB and the side margin HC are configured to be able to travel autonomously. The travel work vehicle 100 follows (or accompanies) the autonomous travel work vehicle 1 that autonomously travels in the field H that is a travel region, and travels by the operation of the operator.

  The autonomous traveling work vehicle 1 is configured to be able to autonomously travel by the control unit 30 when the current position N is located in the field H. On the other hand, the autonomously traveling work vehicle 1 is configured to be unable to autonomously travel by the control unit 30 outside the agricultural field H (such as a public road).

  Further, the autonomous traveling work vehicle 1 is configured to be able to autonomously travel by the control unit 30 when the current position N is located at the traveling start position Sr.

  Then, when the current position N is located at the travel start position Sr on the headland HB, the work start button 205 (see FIG. 3) is pressed by the operator to determine that the autonomous travel work vehicle 1 is “work start”. 6, the controller 30 autonomously travels from the current position N to the work start position Sw and reaches the work start position Sw as shown in FIG. The work according to FIGS. 1 and 2 can be started.

  As described above, since the autonomous traveling work vehicle 1 is configured to be able to start autonomous traveling at a position away from the work start position Sw, the distance between the entrance of the farm field H and the work start position Sw is separated. In addition, the labor required for the operator to move can be reduced, and as a result, the efficiency of work using the autonomous traveling work vehicle 1 can be improved.

  The remote operation device 112 generates the work route Ra and the travel route Rb based on the setting results of the tractor setting, the field setting, and the route generation setting described above. By the way, the remote control device 112 generates a route R including a work route Ra and a travel route Rb from the travel start position Sr set in the field setting to the travel end position Gr, and the information on the route R is used as the autonomous traveling work vehicle 1. Can be sent to. The autonomous traveling work vehicle 1 (control unit 30) that has acquired the information on the route R compares the current position N and azimuth of the autonomous traveling work vehicle 1 with the travel start position Sr and the working direction F, Autonomous traveling can be started when the difference is within a predetermined deviation.

  Here, as shown in FIG. 7, the entrance of the farm field H is located in the vicinity of the approximate center of the left and right width of the farm field H, and the user (operator) sets the approximate start position Sr in the farm field setting as the approximate center of the left and right width of the farm field H. The case where the point Sa located in the vicinity is selected and the point Sb is selected as the travel end position Gr will be described below.

  In this case, the remote control device 112 generates a route R from the point Sa to the point Sb. In general, the route R is generated from the point Sa toward the point Sb. However, when the point Sa is near the center of the horizontal width of the field H, it is also necessary to generate a route from the point Sa to the opposite side of the point Sb. Yes, path generation becomes complicated. In addition, when the traveling work vehicle 100 performs work in cooperation with the autonomous traveling work vehicle 1, it is difficult for an operator who operates the traveling work vehicle 100 to predict which route will travel next.

  Therefore, in the autonomous traveling work vehicle 1 according to the embodiment of the present invention, when a point other than the corner portion of the field H (for example, the point Sa) is designated as the travel start position Sr in the field setting, “from the point Sa to the point After performing autonomous traveling without farming up to Sc, it is configured to select whether or not to perform autonomous traveling with farming from point Sc to point Sb. However, as shown in FIG. 6, only when the distance L between the point Sa and the point Sc is more than a predetermined set value β (for example, the set value β = 10 m), “farm work from the point Sa to the point Sc After performing autonomous traveling without accompanying, it is selected whether or not “perform autonomous traveling with farm work from the point Sc to the point Sb”. With such a configuration, the operator can travel autonomously by simply bringing the autonomous traveling work vehicle 1 into the field H near the entrance without driving the autonomous traveling work vehicle 1 to the work start position Sw. The distance can be shortened and work efficiency can be improved.

  On the other hand, when the distance L is less than the predetermined set value β, “after traveling from the point Sa to the point Sc by the driving operation of the operator, the autonomous traveling with the farm work from the point Sc to the point Sb” is performed. It is good also as making it select. This is because the burden on the user is small when the distance L is short. Note that the timing for making the selection is not limited to the above timing (that is, at the time of field setting), but a predetermined timing after the field setting is completed, for example, a route R from the point Sa to the point Sb is generated, and the route to the user It may be after presenting R (for example, displaying the simulation image).

  When the user selects “autonomous traveling with farm work from point Sc to point Sb after performing autonomous traveling without farm work from point Sa to point Sc”, the remote control device 112 As shown in FIG. 6, in addition to the work route Ra and the travel route Rb, a route R including a travel route Rc from the point Sa to the point Sc is generated.

  On the other hand, when the user selects “Perform autonomous driving with farm work from the point Sc to the point Sb after traveling from the point Sa to the point Sc by the driving operation”, the remote control device 112 A route R including the work route Ra and the travel route Rb and not including the travel route Rc is generated.

  That is, the autonomous traveling work vehicle 1 that is a work vehicle according to an embodiment of the present invention includes a vehicle body portion 2, a work implement 24 attached to the vehicle body portion 2, and position detection that can detect position information of the vehicle body portion 2. A mobile GPS antenna 34 as a component, a memory 309 as a storage unit capable of storing a farm field H as a traveling region in which the vehicle body unit 2 travels, and a control unit capable of controlling the traveling of the vehicle body unit 2 in the field H and the work by the work implement. 30, the farm field H includes a work area HA that is a first area including a work path Ra on which the work machine 24 performs work, and a headland HB that is a second area set around the work area HA. When the start of work by the work implement 24 is instructed in the headland HB, the control unit 30 moves the vehicle body 2 from the current position N of the vehicle body 2 to the work start position that is the start point of the work route Ra. After running to Sw Those it is possible to start the work by machine 24. With such a configuration, it is not necessary to arrange the autonomous traveling work vehicle 1 up to the work start position Sw by the operation of the operator, and the efficiency of work performed using the autonomous traveling work vehicle 1 can be improved.

  Further, when autonomous traveling is performed along the route R including the traveling route Rc, as shown in FIG. 7, the current position N and the azimuth angle θa of the autonomous traveling work vehicle 1 and the work direction F passing through the point Sa are parallel. The angle θb (90 degrees in this embodiment) formed by any point Sd on the virtual start line s and the line segment connecting the points Sa and Sc and the virtual start line s (90 degrees in this embodiment) is compared. It is possible to adopt a configuration in which autonomous running is started when the deviation is within a predetermined deviation. Here, the predetermined deviation is, for example, that the distance L1 between the current position N and the point Sd is within a predetermined setting value α (for example, the predetermined setting value α = 1 m), and the difference between the azimuth angle θa and the angle θb. Means a predetermined set value ε (for example, the predetermined set value ε = 15 degrees).

  Next, when the point Sc is selected as the travel start position Sr in the field setting, or when the point Sa is selected as the travel start position Sr, travel is performed from the point Sa to the point Sc by the driving operation of the operator. The start of automatic driving will be described.

  Conventionally, it has not been considered that the orientation of the work vehicle at the work start position Sw affects the running accuracy (and hence the work accuracy) of the work vehicle. For this reason, conventionally, depending on the orientation of the work vehicle at the work start position Sw, the actual travel locus of the work vehicle may deviate from the set travel route Rb. It may be difficult to secure.

  The autonomous traveling work vehicle 1 according to an embodiment of the present invention takes into consideration that the orientation (azimuth angle) of the autonomous traveling work vehicle 1 affects the traveling accuracy (and hence the working accuracy) when the control unit 30 generates a route. It is configured to do.

  The autonomous traveling work vehicle 1 has the current position N located at the traveling start position Sr on the headland HB, and when the operation start instruction is given, the control unit 30 causes the autonomous traveling work vehicle 1 to In consideration of the azimuth angle of the traveling work vehicle 1, it is possible to determine whether or not to start autonomous traveling.

  In the autonomous traveling work vehicle 1, as shown in FIG. 8, by the control unit 30, the azimuth angle θ <b> 1 of the autonomous traveling work vehicle 1 with respect to the reference orientation X and the orientation from the current position N of the autonomous traveling work vehicle 1 to the work start position Sw. An angle difference dθ with respect to the angle θ2 can be calculated. When the calculated angle difference dθ is less than a predetermined threshold, autonomous traveling from the current position N to the work start position Sw is permitted. It is configured to be able to.

  In the state where the current position N is located in the headland HB, the autonomous traveling work vehicle 1 has an azimuth angle θ1 with respect to the reference azimuth X at the current position N when the work start button 205 (see FIG. 3) is pressed by the operator. Is detected by the azimuth angle detection unit 32 (see FIG. 2), and the control unit 30 calculates the azimuth angle θ2 with respect to the work start position Sw from the current position N, and calculates the angle difference dθ between the both position angles θ1 and θ2. To do.

  Then, when the angle difference dθ is less than a predetermined threshold (for example, less than 10 °), the autonomous traveling work vehicle 1 is moved from the current position N to the work start position Sw by the control unit 30. It can comprise so that it can permit to drive autonomously.

That is, the autonomous traveling work vehicle 1 that is a work vehicle according to an embodiment of the present invention includes an azimuth angle detection unit 32 that can detect the azimuth angle of the vehicle body unit 2, and the control unit 30 includes the azimuth angle of the vehicle body unit 2. If the angle difference dθ between θ1 and the azimuth angle θ2 from the current position N to the work start position Sw is not within a predetermined threshold, the vehicle body 2 is not caused to travel from the current position N to the work start position Sw.
As described above, when the angle difference dθ of the azimuth angle θ1 of the vehicle body portion 2 with respect to the azimuth angle θ2 is within a predetermined threshold, the vehicle body portion 2 is made to autonomously travel, so The error of the position N can be suppressed.

  Moreover, the autonomous traveling work vehicle 1 specifies the virtual extension line f which extended the 1st work path R1 containing the work start position Sw to the headland HB side by the control part 30, as shown in FIG. When the current position N with respect to the extension line f is within a predetermined deviation, the control unit 30 can allow the autonomous traveling work vehicle 1 to be allowed to autonomously travel. Note that the virtual extension line f is in the direction of the work direction F at the work start position Sw, and coincides with the direction of the first work path R1. Further, the “deviation” here is a deviation of the current position N with respect to the virtual extension line f, specifically, a distance of the current position N with respect to the virtual extension line f.

  That is, in the autonomous traveling work vehicle 1, the current position N is located in the headland HB, and when an instruction to start work is given, the control unit 30 sets the current position N relative to the virtual extension line f. In consideration of the deviation, it is possible to determine whether or not to start autonomous traveling.

  Specifically, as shown in FIG. 9, in the autonomous traveling work vehicle 1, control is performed when the deviation of the current position N with respect to the virtual extension line f is within a predetermined deviation α (for example, deviation α = 1 m). By the part 30, it can be set as the structure which can permit the autonomous traveling work vehicle 1 to autonomously travel from the current position N to the work start position Sw.

  The autonomous traveling work vehicle 1 can be configured to control the traveling of the vehicle body 2 by the control unit 30 so as to reduce the deviation α between the identified virtual extension line f and the current position N.

  That is, in the autonomous traveling work vehicle 1 that is a work vehicle according to an embodiment of the present invention, the work route Ra includes the first work route R1 including the work start position Sw, and the control unit 30 performs the first work A virtual extension line f which is a virtual route extending the road R1 to the headland HB is specified, and if the current position N is within a predetermined deviation α with respect to the virtual extension line f, the vehicle body part 2 is configured to reduce the deviation. It is possible to control the travel so that the vehicle body 2 can travel from the current position N to the work start position Sw. With such a configuration, an error in the current position N with respect to the work start position Sw when the vehicle body 2 reaches the work start position Sw can be suppressed.

  In the autonomous traveling work vehicle 1, as shown in FIG. 10, when the deviation of the current position N with respect to the virtual extension line f is outside a predetermined deviation α (for example, deviation α> 1 m), the control unit 30 The autonomous traveling work vehicle 1 can be configured not to be allowed to autonomously travel as it is.

  When the deviation of the current position N with respect to the virtual extension line f is outside the predetermined deviation α, the autonomous traveling work vehicle 1 generates an additional travel route Rb from the current position N to the work start position Sw, and additionally generates it. It can comprise so that autonomous driving | running | working can be permitted along driving | running route Rb.

  That is, in the autonomous traveling work vehicle 1 that is a work vehicle according to an embodiment of the present invention, the work route Ra includes the first work route R1 including the work start position Sw, and the control unit 30 performs the first work If the virtual extension line f that is a virtual route extending the road R1 to the headland HB is specified, and the current position N is outside a predetermined deviation from the virtual extension line f, traveling from the current position N to the work start position Sw The route Rb is generated, and the vehicle body part 2 can travel along the travel route Rb. With such a configuration, when the current position N of the vehicle body 2 and the work start position Sw are separated, the autonomous traveling work vehicle 1 is set to the work start position Sw without the operator having to travel to the work start position Sw. It can arrange | position and can save the effort which arrange | positions the autonomous running work vehicle 1 in the work start position Sw by an operator.

  In order to reduce the deviation α of the current position N with respect to the virtual extension line f, it is advantageous that the route from the current position N to the work start position Sw is longer.

  Here, a method for setting the travel start position Sr will be described. As shown in FIG. 11, the autonomous traveling work vehicle 1 sets a traveling start position Sr, which is a position where the autonomous traveling working vehicle 1 can start autonomous traveling, in the farm field H by the control unit 30. Can do. The autonomous traveling work vehicle 1 is configured such that the start of autonomous traveling is permitted by the control unit 30 when the current position N coincides with the traveling start position Sr.

  Since the current position N of the autonomous traveling work vehicle 1 is normally coincident with the position of the moving GPS antenna 34, the autonomous traveling is performed by the control unit 30 when the position of the moving GPS antenna 34 coincides with the traveling start position Sr. Can be configured to start.

  The autonomous traveling work vehicle 1 is configured to be able to display the travel start position Sr and the current position N on the display device 113, and while the operator confirms the display device 113, the travel start position Sr and the current position are displayed. The autonomous traveling work vehicle 1 can be easily positioned with respect to the traveling start position Sr by operating the autonomous traveling work vehicle 1 so that N matches.

  The travel start position Sr is preferably set on the headland HB as shown in FIG. The travel start position Sr is more preferably set on the headland HB and at a position as far as possible from the work start position Sw.

  This is because, if the travel start position Sr is separated as much as possible from the work start position Sw, the direction of the autonomous travel work vehicle 1 is determined while the autonomous travel work vehicle 1 autonomously travels from the travel start position Sr to the work start position Sw. This is because there is room for correcting the corners and posture.

  Furthermore, the travel start position Sr is more preferably set on the virtual extension line f and as far as possible from the work area HA of the headland HB while specifying the virtual extension line f by the control unit 30. .

  If the autonomous traveling work vehicle 1 is arranged on the virtual extension line f, the direction of the autonomous traveling work vehicle 1 is determined while the autonomous traveling work vehicle 1 autonomously travels from the travel start position Sr to the work start position Sw. This is because the corners and posture can be corrected more accurately.

  Then, as shown in FIG. 12, the autonomous traveling work vehicle 1 determines the traveling start position Sr by the control unit 30 in consideration of the azimuth angles θ1 and θ2, the deviation α of the current position N with respect to the virtual extension line f, and the like. It can be set as the structure to set. Thereby, it is possible to adjust the azimuth angle and posture of the autonomous traveling work vehicle 1 at the work start position Sw simply by arranging the autonomous traveling work vehicle 1 at the traveling start position Sr. Can be improved.

  In the autonomous traveling work vehicle 1, in order to reliably reduce the deviation α between the identified virtual extension line f and the current position N, and to reliably reduce the angle difference dθ, the travel start position Sr and the work start position Sw It is preferable to increase the distance as much as possible.

  Further, when setting the travel start position Sr, considering the size, shape, etc. of the work implement 24, it is as far as possible from the work area HA in the headland HB as long as the work implement 24 does not protrude from the headland HB. It is preferable to set the travel start position Sr at a certain position.

  In the autonomous traveling work vehicle 1, a travel route Rb is set by the control unit 30 so as to travel on the headland HB between the travel start position Sr and the work start position Sw. The autonomous traveling work vehicle 1 can be arranged at the work start position Sw without being roughened.

  As shown in FIGS. 11 and 13A, the autonomous traveling work vehicle 1 sets the traveling start position Sr as an “region” having a predetermined area. When the travel start position Sr is set as a “point”, high positioning accuracy is required when the current position N matches the travel start position Sr, and the autonomous traveling work vehicle 1 is positioned to the travel start position Sr. Becomes difficult.

  For this reason, in the autonomous traveling work vehicle 1, the required accuracy at the time of positioning is relaxed by setting the traveling start position Sr as the “region”, and positioning of the autonomous traveling work vehicle 1 to the traveling start position Sr is easy. It is configured to be able to be done.

  Specifically, in the autonomous traveling work vehicle 1, as illustrated in FIG. 13A, the traveling start position Sr can be set as a “circular region”. In this case, it is possible to easily set the “region” as the travel start position Sr simply by specifying the center point and radius of the travel start position Sr. In this case, the radius of the “circular region” is preferably set to a radius that is equal to or smaller than the initial tolerance allowed at the work start position Sw, thereby ensuring positioning accuracy at the work start position Sw.

  The “region” set as the travel start position Sr is set as a “circular region” having a predetermined radius centered on the point designated by the operator, and the mobile GPS antenna 34 of the autonomous traveling work vehicle 1 is within the “region”. When arranged, it is determined that the autonomous traveling work vehicle 1 is disposed at the traveling start position Sr. With such a configuration, the autonomous traveling work vehicle 1 can be easily arranged at the traveling start position Sr.

  Further, by setting the “region” set as the travel start position Sr in the headland HB, the autonomous traveling work vehicle 1 can be prevented from traveling autonomously outside the field H.

  The shape of the “region” set as the travel start position Sr is not limited to a circle, and may be a polygon (here, a rectangle) as shown in FIG. 13B, for example. As shown to 13 (C), it is good also as a shape where the width | variety on either side becomes narrow as it approaches the work start position Sw side.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work vehicle 2 Car body part 24 Working machine 32 Azimuth angle detection part 34 Moving GPS antenna (position detection part)
30 Control unit 309 Memory (storage unit)
H Field (running area)
HA work area (first area)
HB headland (second area)
Ra Work route Rb Travel route R1 First work route f Virtual extension line Sa Travel start position Sw Work start position N Current position

Claims (3)

A vehicle body unit; a work implement mounted on the vehicle body unit; a position detection unit capable of detecting position information of the vehicle body unit; a storage unit capable of storing a travel region in which the vehicle body unit travels; A control unit capable of controlling the travel of the vehicle body part and the work by the work implement, and a path generation unit that generates a route of the vehicle body part in the travel region,
By the control unit, in the travel region stored in the storage unit, while detecting the current position of the vehicle body portion by the position detection unit, autonomously capable of traveling along said path generated by the path generating portion Work vehicle,
The travel area includes a first area including a work route on which work is performed by the work implement, and a second area set around the first area,
When the start of work by the work implement is instructed in the second area, the control section causes the vehicle body section to travel from the current position of the vehicle body section to the start point of the work route, and then the work machine can der possible to start the work by is,
An azimuth angle detection unit capable of detecting the azimuth angle of the vehicle body,
If the angle difference between the azimuth angle of the vehicle body part and the azimuth angle from the current position to the start point is not within a predetermined threshold, the control unit travels the vehicle body part from the current position to the start point. A work vehicle characterized by not letting it go. The work path includes a first work path including the start point,
The control unit identifies a virtual route obtained by extending the first work path to the second region, and reduces the deviation if the current position is within a predetermined deviation from the virtual route. 2. The work vehicle according to claim 1 , wherein traveling of the vehicle body part is controlled to allow the vehicle body part to travel from the current position to the start point . The work path includes a first work path including the start point,
The control unit identifies a virtual route obtained by extending the first work path to the second region, and starts from the current position if the current position is outside a predetermined deviation from the virtual route. The work vehicle according to claim 1 , wherein a travel route to a point is generated, and the vehicle body portion can travel along the travel route .