JP6605375B2 - Autonomous traveling work vehicle - Google Patents

Description

The present invention relates to an autonomous traveling work vehicle that autonomously travels along a predetermined route in advance of another working 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. 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 shown in Patent Document 1, no special consideration has been given to the stop position when the work is finished. For this reason, conventionally, there have been cases in which a work vehicle stopped after the work has hindered work by the accompanying work vehicle.

The present invention has been made in view of such a problem of the present situation, and by improving the travel end position of an autonomous traveling work vehicle that autonomously travels, it is possible to realize an improvement in work efficiency by other work vehicles. It aims at providing the autonomous running work vehicle which can be performed.

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

That is, in claim 1, an autonomous traveling work vehicle that autonomously travels along a preset route in advance of another working vehicle, the vehicle body portion, and a work machine mounted on the vehicle body portion, A position detection unit capable of detecting position information of the vehicle body, a storage unit capable of storing a travel region in which the vehicle body travels, and control of travel of the vehicle body in the travel region and work by the work implement A control unit capable of autonomously moving along the route while detecting the current position of the vehicle body unit by the position detection unit in the travel region stored in the storage unit by the control unit. a is possible that moving the said body portion, said drive area is free and the first region including a working path the work is performed by the working machine, the working path the work is performed by the working machine The second area Seen, the control unit, after completion of work by the working machine at the work path, the working end position of the working path, the second based on the turning direction which is expected as the travel position of the other work vehicle The vehicle body is allowed to travel independently up to the travel end position set in the region.

The autonomous traveling work vehicle according to claim 2, wherein the autonomous traveling work vehicle autonomously travels along a predetermined route in advance of another work vehicle, and includes a vehicle body part, a work implement attached to the vehicle body part, A position detection unit capable of detecting the position information of the vehicle body part, a storage unit capable of storing a travel area in which the vehicle body part travels, a travel of the vehicle body part in the travel area, and a work by the work implement can be controlled. The vehicle body autonomously along the route while detecting the current position of the vehicle body portion by the position detection unit in the travel region stored in the storage unit by the control unit. The travel area includes a first area including a work path on which work is performed by the work implement, and a second area not including a work path on which work is performed by the work implement. Area and The controller causes the vehicle body to travel independently from the work end position of the work path to the travel end position set in the second area after the work by the work implement on the work path is completed. And when the route from the work end position to the travel end position includes an area where the other work vehicle is scheduled to travel, the vehicle body portion is at the travel end position. The vehicle body is temporarily stopped until the other work vehicle travels, and the vehicle body is autonomously traveled to the travel end position .

The autonomous traveling work vehicle according to claim 3, wherein the autonomous traveling work vehicle performs autonomous traveling along a predetermined route in advance of another work vehicle, and includes a vehicle body part, a work implement attached to the vehicle body part, A position detection unit capable of detecting the position information of the vehicle body part, a storage unit capable of storing a travel area in which the vehicle body part travels, a travel of the vehicle body part in the travel area, and a work by the work implement can be controlled. The vehicle body autonomously along the route while detecting the current position of the vehicle body portion by the position detection unit in the travel region stored in the storage unit by the control unit. The travel area includes a first area including a work path on which work is performed by the work implement, and a second area not including a work path on which work is performed by the work implement. Area and The controller causes the vehicle body to travel independently from the work end position of the work path to the travel end position set in the second area after the work by the work implement on the work path is completed. And when the route from the work end position to the travel end position includes a region where the other work vehicle is scheduled to travel, the other work vehicle defines the region as the control unit. Before the vehicle travels, the vehicle body part autonomously travels to the travel end position set in a region where the other work vehicle has already traveled .

5. The autonomous traveling work vehicle according to claim 4, wherein the autonomous traveling work vehicle performs autonomous traveling along a preset route in advance of another work vehicle, and includes a vehicle body portion, a work implement attached to the vehicle body portion, A position detection unit capable of detecting the position information of the vehicle body part, a storage unit capable of storing a travel area in which the vehicle body part travels, a travel of the vehicle body part in the travel area, and a work by the work implement can be controlled. The vehicle body autonomously along the route while detecting the current position of the vehicle body portion by the position detection unit in the travel region stored in the storage unit by the control unit. The travel area includes a first area including a work path on which work is performed by the work implement, and a second area not including a work path on which work is performed by the work implement. Area and The controller causes the vehicle body to travel independently from the work end position of the work path to the travel end position set in the second area after the work by the work implement on the work path is completed. When the travel end position is changed by an operation on a display device that can be mounted on the other work vehicle, the control unit causes the vehicle body to autonomously travel to the travel end position after the change. is there.

6. The autonomous traveling work vehicle according to claim 5, wherein the autonomous traveling work vehicle performs autonomous traveling along a preset route in advance of another work vehicle, and includes a vehicle body portion, a work implement attached to the vehicle body portion, A position detection unit capable of detecting the position information of the vehicle body part, a storage unit capable of storing a travel area in which the vehicle body part travels, a travel of the vehicle body part in the travel area, and a work by the work implement can be controlled. A control unit, and an azimuth angle detection unit capable of detecting an azimuth angle of the vehicle body unit, and the control unit detects a current position of the vehicle body unit by the position detection unit in the travel region stored in the storage unit. It is possible to autonomously travel the vehicle body part along the route while detecting a position, and the traveling region includes a first region including a work route where work is performed by the work implement; Work by the working machine The control unit is set in the second area from the work end position of the work path after the work by the work implement on the work path is completed. The vehicle body portion travels independently to a travel end position, and the control unit autonomously travels the vehicle body portion toward a position in the vicinity of a field entrance as the travel end position, and the control unit at the travel end position The azimuth angle of the vehicle body is controlled to the azimuth angle directed toward the field entrance / exit .

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running | working completion | finish position of the independent traveling work vehicle which carries out autonomous traveling can be set to the position which does not prevent the work of other work vehicles, and the work efficiency of other work vehicles can be improved. .

The schematic side view of an autonomous traveling work vehicle and an accompanying 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 setting condition of the driving | running | working end position with respect to an autonomous running work vehicle. The figure which shows the setting condition of the conventional driving | running | working end position with respect to an autonomous running work vehicle. The figure which shows the condition of the setting change of a driving | running | working end position. The figure which shows the setting method (calculation method of a setting position) of a driving | running | working end position. The figure which shows the stop condition (when controlling an azimuth | direction angle) to the driving | running | working completion position of an autonomous running work vehicle.

  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 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 (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 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 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 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.

  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 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, 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 farm field end (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 R after the route is generated, 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.

  Further, when the work route Ra and the travel route Rb are generated, the travel end position Gr of the autonomous travel work vehicle 1 is set. The travel end position Gr is a position at which the autonomous traveling work vehicle 1 that has finished the work by the work implement 24 at the work end position Gw is autonomously traveled by the control unit 30 and stopped.

  Here, the configuration of the work route generation device according to an embodiment of the present invention will be described. As shown in FIG. 2, the autonomous traveling work vehicle 1 can store a mobile GPS antenna 34 that is a position detection unit that can detect a current position N that is position information of the vehicle body 2, and an agricultural field H that the vehicle body 2 travels. A memory 309 serving as a storage unit, a control unit 30 capable of instructing the traveling of the vehicle body 2 in the field H and the work performed by the work implement 24 attached to the vehicle body 2, and the route R of the vehicle body 2 in the field H are generated. A remote operation device 112 as a route generation unit.

  In the autonomous traveling work vehicle 1, the route R of the vehicle body 2 is generated by the remote operation device 112, but the route R of the vehicle body 2 is changed by the control unit 30 instead of the remote operation device 112. It is good also as composition to generate. In the autonomous traveling work vehicle 1, the control unit 30 controls the traveling of the vehicle body unit 2 and the operation of the work implement 24, but instead of the control unit 30, the remote control device 112 performs the vehicle body unit operation. It is good also as a structure which controls 2 driving | running | working and operation | movement of the working machine 24. FIG. Further, in the autonomous traveling work vehicle 1, the memory 309 is configured to store the farm field H in which the vehicle body unit 2 travels, but instead of the memory 309, the remote operation device 112 (more specifically, the remote operation device 112 includes The field H may be stored in a memory (not shown) provided.

  That is, the work route generation device 150 according to an embodiment of the present invention includes a mobile GPS antenna 34 that is a position detection unit that can detect the current position N that is position information of the vehicle body 2, and a farm field H that travels the vehicle body 2. A memory 309 as a storage unit capable of storing the vehicle, a control unit 30 capable of instructing the traveling of the vehicle body 2 in the field H and the work by the work implement 24 attached to the vehicle body 2, and the route of the vehicle body 2 in the field H And a remote operation device 112 as a route generation unit for generating R.

  In the autonomous traveling work vehicle 1, the travel end position Gr is set by the work route generation device 150 in consideration of the generated work route Ra and travel route Rb of the work vehicle 100 and the current position of the work vehicle 100. The

  In the setting of the travel end position Gr, before or after the route generation setting, for example, “There is a possibility of colliding with a manned vehicle after the work is completed. “Are you sure?” Is displayed on the display device 113. Here, when “Yes” is selected, the work route generation device 150 can present a recommended point on the display device 113 so that an arbitrary position can be selected. Alternatively, when “No” is selected, the work path generation device 150 can display a warning that there is a possibility of collision on the display device 113. The travel end position Gr can be configured to automatically update the setting appropriately during the work by the work route generation device 150 in consideration of the current position of the work vehicle 100, or during the work. It is possible to adopt a configuration in which the operator corrects appropriately.

  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 unit 30 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 unit 30 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 and transferred. In addition, when wirelessly transferring, the wireless LAN is used.

  Next, the setting of the travel end position Gr in the autonomous traveling work vehicle 1 according to an embodiment of the present invention will be described. In the following description, when the work route generation device 150 appears, FIG. 2 is appropriately referred to.

  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 work vehicle 100 travels along with the autonomous traveling work vehicle 1 that autonomously travels in the field H by the operation of the operator.

  And in this embodiment, as shown in FIG. 6, by the work path | route production | generation apparatus 150 which comprises the autonomous running work vehicle 1, as shown in FIG. 6, while forming n work path | route Ra, headland HB and the side In the spare part HC, a travel route Rb on which the autonomous traveling work vehicle 1 and the work vehicle 100 travel is formed. In FIG. 6, for example, by displaying the nth work route Ra as Ra (n), it is possible to distinguish what number the work route Ra is.

  And in the autonomous running work vehicle 1, it is comprised by the work path | route production | generation apparatus 150 so that the driving | running | working end position Gr can be set on the headland HB. The autonomous traveling work vehicle 1 can prevent the autonomous traveling work vehicle 1 from traveling autonomously outside the field H by setting the traveling end position Gr to the headland HB. In this embodiment, the case where the traveling end position Gr of the autonomous traveling work vehicle 1 is set on the headland HB is illustrated, but the traveling end position Gr of the autonomous traveling work vehicle 1 is the work in the field H. What is necessary is just to set to area | regions other than area | region HA, and you may set on the side part margin HC.

  Conventionally, in setting the travel end position Gr of the autonomous traveling work vehicle 1, the work route Ra, the travel route Rb, and the like of the work vehicle 100 are not considered, so the position on the headland HB as shown in FIG. In some cases, the travel end position Gr is set at a position close to the travel route Rb through which the work vehicle 100 will pass. When the travel end position Gr is set at a position as shown in FIG. 7, when the work vehicle 100 travels along the travel route Rb, the autonomous traveling work vehicle 1 stopped at the travel end position Gr is There was a problem of getting in the way.

  Therefore, in the autonomous traveling work vehicle 1 according to the embodiment of the present invention, the work route generation device 150 takes into consideration the work route Ra and the traveling route Rb of the work vehicle 100 and the travel end position Gr of the autonomous traveling work vehicle 1. It is configured to be able to set.

  In the embodiment shown in FIG. 6, the autonomous traveling work vehicle 1 reaches the nth work route Ra (n) among the n work routes Ra, Ra,... Formed by the work route generation device 150. It is configured to perform work on each work route Ra that is skipped. When the autonomous traveling work vehicle 1 matches the current position N of the autonomous traveling work vehicle 1 with the work end position Gw set at the end point of the nth work route Ra (n) by the control unit 30, The work by the machine 24 is completed, and the vehicle 24 autonomously travels to the travel end position Gr.

  That is, in the autonomous traveling work vehicle 1 according to one embodiment of the present invention, the control unit 30 causes the vehicle body unit 2 to travel from the work end position Gw to the travel end position Gr in the headland HB as the second region. is there. In the autonomous traveling work vehicle 1 having such a configuration, the traveling end position Gr with respect to the autonomous traveling work vehicle 1 can be set to a position that does not obstruct the work of the work vehicle 100 reliably, and the work efficiency of the accompanying work vehicle 100 is increased. Can be better.

  In addition, the work vehicle 100 has a work route Ra (n−) that is one before the n-th work route Ra (n) among the n work routes Ra, Ra... Formed by the work route generation device 150. Until 1), it is configured to perform work on each work route Ra of one skip.

  As shown in FIG. 6, the autonomous traveling work vehicle 1 at the end of work in the work area HA, as shown in FIG. 6, work route Ra (n−4) → travel route Rb → work route Ra (n−2) → travel route Rb → work It progresses in the order of route Ra (n), and when it reaches work end position Gw, it completes the work on work route Ra (n) and is configured to travel autonomously toward travel end position Gr on headland HB. ing.

  On the other hand, at the end of work in the work area HA, the work vehicle 100 operates as shown in FIG. 6 while the operator performs a driving operation and accompanies the autonomous travel work vehicle 1 traveling autonomously. ) → travel route Rb → work route Ra (n-3) → travel route Rb → work route Ra (n−1) in this order, and when the work on the work route Ra (n−1) is finished, the headland Transition to finishing work of HB and side margin HC.

  That is, the autonomous traveling work vehicle 1 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 a moving GPS serving as a position detection unit capable of detecting position information of the vehicle body portion 2. An antenna 34, a memory 309 that is a storage unit capable of storing a farm field H that is a traveling region in which the vehicle body unit 2 travels, a control unit 30 that can control the traveling of the vehicle body unit 2 in the field H and the work performed by the work implement 24, Remote control device 112 that is a route generation unit that generates route R of vehicle body 2 in agricultural field H. In agricultural field H that is stored in storage unit 309 by control unit 30, mobile GPS antenna 35 uses A work vehicle capable of autonomously traveling along a route R generated by the remote control device 112 while detecting the current position N, and the farm field H is a work route Ra on which work is performed by the work implement 24. Including the work area HA that is the first area that includes the headland HB that is the second area that does not include the work path Ra on which the work is performed by the work machine 24, and the control unit 30 uses the work machine 24 on the work path Ra. After the completion of the work, the vehicle body 2 can travel from the work end position Gw on the work route Ra to the travel end position Gr set in the headland HB.

  In addition, the work route generation device 150 according to an embodiment of the present invention stores the mobile GPS antenna 34 that is a position detection unit that can detect the position information of the vehicle body unit 2 and the farm field H that is a travel region in which the vehicle body unit 2 travels. A possible memory 309, a control unit 30 capable of instructing the traveling of the vehicle body 2 in the field H and the work by the work machine 24 mounted on the vehicle body 2, and a route for generating the route R of the vehicle body 2 in the field H A remote operation device 112 as a generation unit, and the farm field H is a work area HA that is a first area including a work path Ra on which work is performed by the work machine 24, and a second area that does not include the work path Ra. The remote control device 112 includes the headland HB, and travels in the vehicle body unit 2 from the work end position Gw at which the work by the work implement 24 ends on the work route Ra to the travel end position Gr set in the headland HB. Those which are capable of generating a travel route Rb to.

  According to the autonomous traveling work vehicle 1 and the work route generation device 150 having such a configuration, the traveling end position Gr with respect to the autonomous traveling work vehicle 1 can be set to a position that does not interfere with the work of the work vehicle 100, and the accompanying work is performed. The work efficiency of the vehicle 100 can be improved.

  Here, the autonomous traveling work vehicle 1 can select the traveling end position Gr in consideration of the traveling route Rb of the work vehicle 100 after finishing the work on the work route Ra (n−1). For example, when the work vehicle 100 is scheduled to turn counterclockwise on the headland HB, the first travel end position Gr1 can be selected, or the work vehicle 100 can be selected as the headland. When turning clockwise in HB is planned, the second travel end position Gr2 can be selected.

  In addition, according to the work route generation device 150 according to an embodiment of the present invention, the work route Ra of another work vehicle 100 is a work route Ra accompanying the right rear side of the autonomous traveling work vehicle 1 and autonomously. It is also possible to set the travel end position Gr at a different position in the headland HB depending on the work route Ra accompanying the left rear side of the travel work vehicle 1.

  In addition, according to the work route generation device 150 according to an embodiment of the present invention, the work route Ra of another work vehicle 100 is a work route Ra accompanying the right rear side of the autonomous traveling work vehicle 1 and autonomously. It is also possible to set the travel end position Gr to different positions (travel end position Gr1 and travel end position Gr2) in the headland HB depending on the work route Ra accompanying the left rear side of the traveling work vehicle 1. .

  That is, in the work route generation device 150 according to an embodiment of the present invention, the remote operation device 112 determines the work end position Gw and the work route Ra of another work vehicle 100 that performs work in the work area HA. When the travel end position Gr can be set in the headland HB and the work route Ra of the other work vehicle 100 is the first work route Ra (scheduled to turn counterclockwise), and the first work route Ra The travel end position Gr can be set to different positions (travel end position Gr1 and travel end position Gr2) in the headland HB in the case of different second work routes Ra (scheduled to turn clockwise). is there. According to the autonomous traveling work vehicle 1 having such a configuration, the traveling of the accompanying work vehicle 100 can be reliably prevented.

  In the autonomous traveling work vehicle 1, the work route generation device 150 takes the current position P of the work vehicle 100 in the headland HB into consideration on the travel route Rb on which the work vehicle 100 has already passed on the headland HB. The travel end position Gr can be set.

  Specifically, the autonomous traveling work vehicle 1 identifies the current position P of the work vehicle 100, identifies the part that has already passed and the part that will pass from the traveling route Rb of the work vehicle 100 in the headland HB, The travel end position Gr of the autonomous travel work vehicle 1 can be configured not to be set on the travel route Rb through which the work vehicle 100 will pass.

  In addition, the autonomous traveling work vehicle 1 can be configured to update in real time information related to a part that has already passed and a part that will pass from the traveling route Rb of the working vehicle 100 in the headland HB. The traveling end position Gr of the autonomous traveling work vehicle 1 can be changed at any time in accordance with the progress of.

  For example, when the work vehicle 100 has not yet entered the work route Ra (n-3) and is on the work route Ra (n-5) by the work route generation device 150, the autonomous traveling work vehicle 1 The autonomous traveling work vehicle 1 is stopped at the temporary stop position Gt. Then, after the work vehicle 100 enters the work route Ra (n-3), the control unit 30 can make the autonomous traveling work vehicle 1 autonomously travel from the temporary stop position Gt to the travel end position Gr. In the autonomous traveling work vehicle 1, the temporary traveling work vehicle 1 is not set based on the position of the autonomous traveling work vehicle 1, the position of the work vehicle 100, and the route R of the work vehicle 100 without setting the temporary stop position Gt. Before the position where the route R and the route R of the work vehicle 100 intersect, the control unit 30 may control the autonomous traveling work vehicle 1 so as to temporarily stop.

  In addition, the autonomous traveling work vehicle 1 can detect the work delay of the work vehicle 100 by detecting the current position P of the work vehicle 100 by the work route generation device 150, and therefore detects the work delay of the work vehicle 100. In this case, without waiting for the work vehicle 100 to reach the work route Ra (n-3), the travel route Rb that has already traveled further ahead of the work route Ra (n-5) exists. The travel end position Gr may be changed.

  In addition, the work route generation device 150 makes contact between the work vehicle 100 and the autonomous traveling work vehicle 1 in consideration of the size of the autonomous traveling work vehicle 1 and the work implement 24, the size of the work vehicle 100 and the work implement 120, and the like. In order to prevent this, the travel end position Gr can be set.

  Specifically, the arrangement of the travel end position Gr is determined so as to satisfy the following formula 1 (see FIG. 8), and the work path Ra passing through the work end position Gw of the autonomous traveling work vehicle 1 is determined. It is set as the structure arrange | positioned with respect to the extension line f in the position away from the distance L or more. Here, A is the tilling width (working width) of the autonomous traveling work vehicle 1, B is the tilling width (working width) of the working vehicle 100, and C is the work overrun by the autonomous traveling work vehicle 1 and the working vehicle 100. The lap amount, D is the maximum width of the work vehicle 100 (or the work machine equipped on the work vehicle 100), and E is the work machine from the position (current position N) of the mobile GPS antenna 34 of the autonomous mobile work vehicle 1. 24 is the distance to the rear end, and α is a margin. In addition, when determining the arrangement of the travel end position Gr, the margin allowance α may not be taken into account.

(Formula 1)
L ≧ (A / 2) + B−C + (D−B) / 2 + E + α

  That is, the autonomous traveling work vehicle 1 is configured such that the traveling end position Gr is disposed at a position separated from the work end position Gw of the autonomous traveling work vehicle 1 by a predetermined range (distance L with respect to the extension line f) or more. Note that the traveling end position Gr of the autonomous traveling working vehicle 1 may be set to a position separated from the working end position of the work vehicle 100 by a predetermined range or more with reference to the work end position of the accompanying work vehicle 100.

  In addition, the autonomous traveling work vehicle 1 travels in consideration of the position of the entrance / exit of the farm field H by the work route generation device 150 in consideration of when the autonomous traveling work vehicle 1 is carried out from the farm field H after the work is finished. The end position Gr can be set. That is, the work route generation device 150 can be configured to set the travel end position Gr as close as possible to the entrance / exit of the field H.

  Furthermore, the autonomous traveling work vehicle 1 can detect the azimuth angle θ with respect to the reference azimuth X of the vehicle body unit 2 by the azimuth angle detecting unit 32, and the autonomous traveling working vehicle 1 can be detected by the control unit 30 of the work route generation device 150. The azimuth angle θ (that is, the direction) at the time of stopping can be controlled.

  The autonomous traveling work vehicle 1 is configured to control the azimuth angle θ (orientation) of the autonomous traveling work vehicle 1 when stopped at the traveling end position Gr. When the autonomous traveling work vehicle 1 is stopped at the traveling end position Gr, the autonomous traveling work vehicle 1 is carried out of the field H by directing the azimuth angle θ of the autonomous traveling work vehicle 1 toward the entrance / exit of the field H. In doing so, the autonomous traveling work vehicle 1 can be easily carried out of the field H without causing the field H to be roughened by simply moving the operator straight without turning it back.

  That is, the autonomous traveling work vehicle 1 according to an embodiment of the present invention includes an azimuth angle detection unit 32 that can detect the azimuth angle θ of the vehicle body unit 2, and the control unit 30 controls the vehicle body unit 2 at the travel end position Gr. The azimuth angle θ can be controlled. In the autonomous traveling work vehicle 1 having such a configuration, the autonomous traveling work vehicle 1 can be quickly carried out from the field H without roughening the headland HB and the side margin HC.

  Further, in the autonomous traveling work vehicle 1, the display device 113 (see FIG. 2) provided in the work vehicle 100 displays the traveling end position Gr of the autonomous traveling work vehicle 1 and a touch operation on the screen of the display device 113. Thus, the travel end position Gr can be easily changed. In the autonomous traveling work vehicle 1 having such a configuration, it is possible to flexibly cope with a change in a user's work plan.

  Furthermore, in the autonomous traveling work vehicle 1, the side margin HC is set on the side portion of the field H with the same width as the headland HB by the work route generation device 150 as shown in FIG. Even in the margin HC, the autonomously traveling work vehicle 1 and the work vehicle 100 can be made to travel as in the headland HB. With such a configuration, finishing work can be easily performed in the outer peripheral portion (the headland HB and the side margin HC) of the field H, and the work efficiency can be improved.

  Further, in the autonomous traveling work vehicle 1, as shown in FIG. 6, the side margin HC on the side of the field H has the same width as the headland HB, and therefore the autonomous traveling work vehicle passes through the side margin HC. 1 can be moved, so that it becomes possible to set the travel end position Gr in the direction opposite to the work end position Gw, making it possible to generate a route more flexibly. It is possible to easily generate a route that does not include dummy travel.

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 150 Work Route Generation Device 309 Memory (Storage Unit)
H Field (running area)
HA work area (first area)
HB headland (second area)
Ra Work path Rb Travel path Gw Work end position Gr Travel end position N Current position θ Azimuth angle (of body part)

Claims (5)

An autonomous traveling work vehicle that autonomously travels along a preset route ahead of other work vehicles,
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 travel of the vehicle body part and work by the work implement in
The controller can autonomously travel the vehicle body along the route while detecting the current position of the vehicle body by the position detector in the travel region stored in the storage unit. Noh ,
The travel area includes a first area that includes a work route on which work is performed by the work implement, and a second area that does not include a work route on which work is performed by the work implement,
The control unit, after the work by the work implement on the work route is completed, from the work end position on the work route to the second region based on the travel position of the other work vehicle and the planned turning direction . The autonomous traveling work vehicle is characterized in that the vehicle body section travels autonomously up to a travel end position set in (2). An autonomous traveling work vehicle that autonomously travels along a preset route ahead of other work vehicles,
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 travel of the vehicle body part and work by the work implement in
The controller can autonomously travel the vehicle body along the route while detecting the current position of the vehicle body by the position detector in the travel region stored in the storage unit. Because
The travel area includes a first area that includes a work route on which work is performed by the work implement, and a second area that does not include a work route on which work is performed by the work implement,
The control unit causes the vehicle body to travel independently from a work end position on the work path to a travel end position set in a second region after the work by the work implement on the work path is completed. There,
When the route from the work end position to the travel end position includes a region where the other work vehicle is scheduled to travel, the control unit is configured to allow the vehicle body unit to reach the travel end position. An autonomous traveling work vehicle, wherein the vehicle body portion is temporarily stopped and the vehicle body portion is allowed to autonomously travel to the travel end position after the other work vehicle travels . An autonomous traveling work vehicle that autonomously travels along a preset route ahead of other work vehicles,
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 travel of the vehicle body part and work by the work implement in
The controller can autonomously travel the vehicle body along the route while detecting the current position of the vehicle body by the position detector in the travel area stored in the storage unit. Because
The travel area includes a first area that includes a work route on which work is performed by the work implement, and a second area that does not include a work route on which work is performed by the work implement,
The control unit causes the vehicle body to travel independently from a work end position on the work path to a travel end position set in a second region after the work by the work implement on the work path is completed. There,
When the route from the work end position to the travel end position includes a region where the other work vehicle is scheduled to travel, the control unit is configured to perform before the other work vehicle travels in the region. on the other work vehicle until set the traveling end position already running regions, autonomous work vehicle, characterized in that to autonomous the body portion. An autonomous traveling work vehicle that autonomously travels along a preset route ahead of other work vehicles,
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 travel of the vehicle body part and work by the work implement in
The controller can autonomously travel the vehicle body along the route while detecting the current position of the vehicle body by the position detector in the travel area stored in the storage unit. Because
The travel area includes a first area that includes a work route on which work is performed by the work implement, and a second area that does not include a work route on which work is performed by the work implement,
The control unit causes the vehicle body to travel independently from a work end position on the work path to a travel end position set in a second region after the work by the work implement on the work path is completed. There,
When the travel end position is changed by an operation on a display device that can be mounted on the other work vehicle, the control unit causes the vehicle body to autonomously travel to the travel end position after the change. Autonomous traveling work vehicle . An autonomous traveling work vehicle that autonomously travels along a preset route ahead of other work vehicles,
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 work by the work implement, and an azimuth angle detection unit capable of detecting the azimuth angle of the vehicle body part,
The controller can autonomously travel the vehicle body along the route while detecting the current position of the vehicle body by the position detector in the travel area stored in the storage unit. Because
The travel area includes a first area that includes a work route on which work is performed by the work implement, and a second area that does not include a work route on which work is performed by the work implement,
The control unit causes the vehicle body to travel independently from a work end position on the work path to a travel end position set in a second region after the work by the work implement on the work path is completed. There,
The control unit causes the vehicle body to autonomously travel toward the position near the farm entrance as the travel end position, and controls the azimuth angle of the vehicle body at the travel end position to an azimuth angle toward the field entrance. An autonomous traveling work vehicle characterized by: