JP6695248B2 - Autonomous driving system - Google Patents

Description

  The present invention relates to an autonomous traveling system. More specifically, the present invention relates to an autonomous traveling system of a work vehicle capable of autonomous traveling along a predetermined traveling route.

  BACKGROUND ART Conventionally, there is known an autonomous traveling system for a work vehicle that can autonomously travel along a predetermined traveling route. Patent Document 1 discloses a work vehicle provided in this type of autonomous traveling system and a method for detecting and responding to an abnormality in the work vehicle. In the autonomous traveling system of Patent Document 1, when it is detected that the work vehicle has protruded outside the set section, the vehicle is immediately stopped once, the abnormality is notified, and the coping method is displayed to display a manager. And ask the driver to take measures including temporary manual driving and operation. After the administrator or driver responds to the abnormality, it is configured to restart the work after checking the return to the normal state and confirming with the administrator or driver. There is.

JP-A-2000-66725

  However, in the configuration of Patent Document 1, when the work vehicle protrudes outside the set section and stops, the administrator or the driver manually drives the work vehicle to move to the work restart position (position where work is restarted). After that, it was necessary to restart the work. Accurate movement of the work vehicle to a specific position within the work section requires advanced driving technology, and there is room for improvement in that work cannot be restarted easily.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an autonomous traveling system capable of easily resuming work after a work vehicle has stopped.

Means and effects for solving the problems

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

According to the aspect of the present invention, an autonomous traveling system having the following configuration is provided. That is, this autonomous traveling system includes a position information acquisition unit, a control unit, a restart position setting unit, and a position alignment route creation unit . The position information acquisition unit acquires position information of the work vehicle. The controller causes the work vehicle to autonomously run along a predetermined work route while autonomously running the work vehicle along a predetermined travel route, and performs the work based on a deviation of the work vehicle from the travel route. Stop the vehicle. The restart position setting unit sets the restart position of the autonomous work by the work vehicle after the stop. The alignment route creation unit creates a travel route from the stop position of the work vehicle to the restart position. After the stop, when the current position of the work vehicle is within the first range, the control unit can restart the autonomous work of the work vehicle from the current position of the work vehicle. In addition, when the current position of the work vehicle is within a second range, the control unit follows the travel route from the current position generated by the position alignment route creating unit to the restart position of the work vehicle. It is possible to resume autonomous work after the vehicle has autonomously traveled.

  This allows the autonomous work to be restarted without the user driving the work vehicle to pinpoint the restart position, and after the stop, the autonomous work can be easily restarted.

  In the autonomous traveling system described above, the control unit is configured such that, after the stop, the current position of the work vehicle is outside the first range and within the second range, and the traveling route advances with respect to the restart position. In the case of being ahead in the direction, it is preferable that the work vehicle can be made to autonomously work along the work route after the work vehicle is moved backward to the restart position.

  Accordingly, when the work vehicle stops ahead of the restart position in the traveling direction based on deviation from the travel route, the work vehicle can move backward to reach the restart position depending on the orientation of the vehicle body of the work vehicle.

  The above-mentioned autonomous traveling system preferably has the following configuration. That is, as a result of the control unit stopping the work vehicle based on the deviation of the work vehicle from the travel route in the non-work area where the work vehicle does not perform work, the work vehicle is When the work is stopped in the work area, the restart position setting unit can set the restart position at the boundary between the work area and the non-work area on the travel route. When the restart position is set to the boundary by the restart position setting unit, the control unit causes the work vehicle to autonomously run along the work route after causing the work vehicle to autonomously travel to the boundary. Is possible.

  As a result, the work vehicle crosses the boundary between the non-work area and the work area to reach the work area between the time when the work vehicle is stopped based on the deviation of the work vehicle and the time when the work vehicle is actually stopped. When it comes in, the restart position is set at the boundary of both areas, so that the work is properly performed.

  In the autonomous traveling system, the restart position setting unit may not set the restart position when the control unit is stopped based on a stop signal when the work vehicle is located on the travel route. preferable.

  As a result, the restart position is not set when it is sufficient to restart the autonomous traveling and the autonomous work on the spot, so that the processing can be made efficient.

The side view showing the whole robot tractor composition with which the autonomous running system concerning one embodiment of the present invention is equipped. The top view of a robot tractor. The figure which shows the radio | wireless communication terminal with which the autonomous running system which concerns on one Embodiment of this invention is equipped. The block diagram which shows the main structures of the control system of a robot tractor and a radio | wireless communication terminal. The figure which shows the example of a display of the monitoring screen on the display of a wireless communication terminal. The figure explaining the deviation determination width and margin width set to a work route. The flowchart which shows the first half part of a process until a robot tractor deviates from a traveling path and stops, and until autonomous traveling and autonomous work are restarted. The flowchart which shows the latter half part of a process until a robot tractor deviates from a traveling route and stops, and restarts autonomous traveling and autonomous work. The figure which shows a mode that the robot tractor deviated from the work route and stopped. The figure which shows the case where a robot tractor deviates from a non-work path and stops in a non-work area. The figure which shows the case where a robot tractor deviates from a non-work route and stops in a work area. The 1st range and the 2nd range set on the basis of a restart position, and a mimetic diagram explaining a tractor in the state where it stopped in the advancing direction of a run route from the restart position in the 2nd range. The schematic diagram explaining the tractor in the state stopped in the advancing direction of a traveling route from the restart position within the 2nd range. The figure explaining the modified example of the 1st range and the 2nd range considered when determining whether the preparation of the alignment route is possible. The hatching in the drawing indicates the region outside the first range and within the second range.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the following, the same reference numerals are given to the same members in each drawing of the drawings, and redundant description may be omitted. In addition, the names of members and the like corresponding to the same reference numerals may be simply paraphrased or may be paraphrased by the names of superordinate concepts or subordinate concepts.

  The present invention relates to an autonomous traveling system in which one or a plurality of work vehicles are run in a predetermined farm field to autonomously run the work vehicles when all or part of agricultural work in the farm field is executed. Regarding In the present embodiment, a tractor will be described as an example of the work vehicle, but as the work vehicle, in addition to a tractor, a rice transplanter, a combine, a civil engineering / construction work device, a snowplow, etc. Machine is also included. In the present specification, autonomous traveling means that the control unit (ECU) included in the tractor controls a configuration related to traveling included in the tractor and the tractor travels along a predetermined route. This means that the control unit included in the tractor controls the configuration related to the work included in the tractor, and the tractor performs the work along a predetermined route. On the other hand, the manual traveling / manual work means that the user operates each component provided in the tractor to perform traveling / work.

  In the following description, a tractor that is autonomously run / worked may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that is manually run / worked is referred to as a “manned tractor”. Sometimes. When a part of the agricultural work is performed by the unmanned tractor in the field, the remaining agricultural work is performed by the manned tractor. Performing agricultural work in a single field with unmanned tractors and manned tractors may be referred to as cooperative work of agricultural work, follow-up work, accompanying work, and the like. In the present specification, the difference between the unmanned tractor and the manned tractor is the presence / absence of an operation by the user, and each configuration is basically common. That is, even an unmanned tractor can be boarded (operated) by the user for operation (that is, can be used as a manned tractor), or even a manned tractor can be dismounted by the user and autonomously driven. -It is possible to work autonomously (that is, it can be used as an unmanned tractor). In addition, as cooperative work of agricultural work, in addition to "performing agricultural work in a single field with unmanned vehicles and manned vehicles", "unmanned vehicles and manned vehicles with agricultural fields in different fields such as adjacent fields at the same time “To perform” may be included.

  Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing the overall configuration of a robot tractor 1 included in an autonomous traveling system 99 according to an embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a diagram showing the wireless communication terminal 46 included in the autonomous traveling system 99 according to the embodiment of the present invention. FIG. 4 is a block diagram showing a main configuration of a control system of the robot tractor 1 and the wireless communication terminal 46.

  As shown in FIG. 1, a robot tractor (work vehicle) 1 provided in an autonomous traveling system 99 according to an embodiment of the present invention is a work operated by performing wireless communication with a wireless communication terminal 46. It is a vehicle. The user operates the wireless communication terminal 46 to appropriately exchange signals with the control unit 4 of the tractor 1, so that the tractor 1 can be autonomously run and work.

  First, a robot tractor (hereinafter sometimes simply referred to as “tractor”) 1 included in an autonomous traveling system 99 according to an embodiment of the present invention will be described mainly with reference to FIGS. 1 and 2. ..

  The tractor 1 includes a traveling machine body (body portion) 2 capable of autonomously traveling in a field (traveling area). The working machine 3 shown in FIGS. 1 and 2 is detachably attached to the traveling machine body 2. Examples of the working machine 3 include various working machines such as a cultivator, a plow, a fertilizer applicator, a mower, and a seeder. Among them, a desired working machine 3 is selected as necessary and the traveling machine body is selected. Can be attached to 2. The traveling machine body 2 is configured to be able to change the height and the posture of the mounted work machine 3.

  The configuration of the tractor 1 will be described in more detail with reference to FIGS. 1 and 2. As shown in FIG. 1, the traveling body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels (wheels) 7, 7 and its rear part supported by a pair of left and right rear wheels 8, 8. There is.

  A hood 9 is arranged at the front of the traveling machine body 2. In the bonnet 9, an engine 10 which is a drive source of the tractor 1 and a fuel tank (not shown) are housed. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. An electric motor may be used as the drive source in addition to or in place of the engine.

  At the rear of the hood 9, a cabin 11 for a user to board is arranged. Inside the cabin 11, there are mainly provided a steering handle 12 for a steering operation by a user, a seat 13 on which the user can sit, and various operating devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11, and may not have the cabin 11.

  As the above-mentioned operation device, the monitor device 14, the throttle lever 15, the main speed change lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO speed change lever 18, the auxiliary speed change lever 19, and the work machine lifting switch shown in FIG. 28 etc. can be mentioned as an example. These operating devices are arranged near the seat 13 or near the steering handle 12.

  The monitor device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is an operation tool for setting the output rotation speed of the engine 10. The main shift lever 27 is an operation tool for continuously changing the traveling speed of the tractor 1. The hydraulic operation lever 16 is an operation tool for switching an unillustrated hydraulic external extraction valve. The PTO switch 17 is an operation tool for switching the transmission / interruption of power to a PTO shaft (power extraction shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the working machine 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is shut off. Then, the PTO shaft does not rotate and the working machine 3 is stopped. The PTO gear shift lever 18 is used to change the power input to the work machine 3, and is specifically an operation tool for gear shift operation of the rotational speed of the PTO shaft. The subtransmission lever 19 is an operation tool for switching the speed ratio of the traveling subtransmission gear mechanism in the transmission 22. The working machine lifting switch 28 is an operating tool for lifting and lowering the height of the working machine 3 mounted on the traveling machine body 2 within a predetermined range.

  As shown in FIG. 1, a chassis 20 of the tractor 1 is provided below the traveling machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

  The machine body frame 21 is a support member in the front part of the tractor 1, and supports the engine 10 directly or through a vibration isolating member or the like. The transmission 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

  As shown in FIG. 4, the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). .. The control unit 4 is configured to include a CPU, a ROM, a RAM, an I / O, etc., which are not shown, and the CPU can read various programs from the ROM and execute them. The controller 4 is electrically connected to a controller for controlling each configuration (for example, the engine 10) included in the tractor 1 and a wireless communication unit 40 capable of wirelessly communicating with another wireless communication device. ing.

  As the above controller, the tractor 1 includes at least an unillustrated engine controller, vehicle speed controller, steering controller, and lift controller. Each controller can control each component of the tractor 1 according to an electric signal from the control unit 4.

  The engine controller controls the rotation speed and the like of the engine 10. Specifically, the engine 10 is provided with a governor device 41 including an actuator (not shown) that changes the rotation speed of the engine 10. The engine controller can control the number of revolutions of the engine 10 by controlling the governor device 41. Further, the engine 10 is provided with a fuel injection device 45 for adjusting the injection timing / injection amount of fuel for injecting (supplying) into the combustion chamber of the engine 10. By controlling the fuel injection device 45, the engine controller can stop the supply of fuel to the engine 10 and stop the driving of the engine 10, for example.

  The vehicle speed controller controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 which is, for example, a hydraulic swash plate type hydraulic continuously variable transmission. The vehicle speed controller can change the gear ratio of the transmission 22 and realize a desired vehicle speed by changing the angle of the swash plate of the transmission 42 by an actuator (not shown).

  The steering controller controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12. With this configuration, when the tractor 1 travels on a predetermined route (as an unmanned tractor), the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. Then, a control signal is output to the steering controller so that the obtained rotation angle is obtained. The steering controller drives the steering actuator 43 based on the control signal input from the control unit 4, and controls the turning angle of the steering handle 12.

  The lifting controller controls lifting of the work machine 3. Specifically, the tractor 1 includes a lifting actuator 44 including a hydraulic cylinder or the like near a three-point link mechanism that connects the work machine 3 to the traveling machine body 2. With this configuration, the elevating controller drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate the work implement 3, thereby performing the agricultural work by the work implement 3 at a desired height. It can be carried out. By this control, the working machine 3 can be supported at a desired height such as a retracted height (height at which farming is not performed) and a working height (height at which farming is performed).

  Since the plurality of controllers (not shown) described above control each part such as the engine 10 based on the signal input from the control part 4, it is said that the control part 4 substantially controls each part. You can figure it out.

  In the tractor 1 including the control unit 4 as described above, the user rides in the cabin 11 and performs various operations to control each unit of the tractor 1 (the traveling machine body 2, the working machine 3, etc.) by the control unit 4. Then, the farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can perform autonomous traveling and autonomous work based on a predetermined control signal output from the wireless communication terminal 46, even if the user does not board the tractor 1. There is.

  Specifically, as shown in FIG. 4 and the like, the tractor 1 is equipped with various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 includes the positioning antenna 6 and the like required to acquire the position information of itself (the traveling body 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel on the field.

  Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in more detail. Specifically, as shown in FIG. 4 and the like, the tractor 1 of the present embodiment includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a front camera 56, a rear camera 57, a vehicle speed sensor, and a memory. The unit 55 and the like are provided. In addition to these, the tractor 1 is provided with an inertial measurement unit (IMU) capable of specifying the attitude (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

  The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is attached to the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information acquisition unit 49 as the position detection unit shown in FIG. The position information acquisition unit 49 calculates and acquires the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as, for example, latitude / longitude information. The position information acquired by the position information acquisition unit 49 is input to the control unit 4 and used for autonomous traveling.

  Although a high-precision satellite positioning system using the GNSS-RTK method is used in the present embodiment, the present invention is not limited to this, and other positioning systems may be used as long as high-precision position coordinates can be obtained. Good. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

  The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user and transmits a signal to the wireless communication terminal 46. As shown in FIG. 1, the wireless communication antenna 48 is attached to an upper surface of a roof 92 included in the cabin 11 of the tractor 1. The signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. A signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48, and received by the wireless communication terminal 46.

  The front camera 56 photographs the front of the tractor 1. The rear camera 57 photographs the rear of the tractor 1. The front camera 56 and the rear camera 57 are attached to the roof 92 of the tractor 1. The moving image data shot by the front camera 56 and the rear camera 57 is transmitted from the wireless communication antenna 48 to the wireless communication terminal 46 by the wireless communication unit 40. The wireless communication terminal 46 that receives the moving image data displays the content on the display 37.

  The vehicle speed sensor detects the vehicle speed of the tractor 1, and is provided, for example, on the axle between the front wheels 7, 7. The data of the detection result obtained by the vehicle speed sensor is signal-processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46, and the content thereof is displayed on the display 37. .. In addition to the vehicle speed sensor, the tractor 1 is provided with various sensors for detecting (monitoring) the state of the tractor 1.

  The storage unit 55 stores a travel route for autonomously traveling the tractor 1 and a work route for autonomous operation, and a transition of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous traveling (travel locus). It is a memory to do. In addition, the storage unit 55 stores various kinds of information necessary for causing the tractor 1 to autonomously travel and work.

  As shown in FIG. 3, the wireless communication terminal 46 is configured as a tablet-type personal computer including a touch panel 39. The user can refer to the information displayed on the display 37 of the wireless communication terminal 46 (for example, the information from the front camera 56, the rear camera 57, the vehicle speed sensor, etc.) for confirmation. In addition, the user operates the touch panel 39 or the hardware key 38 or the like arranged near the display 37 to instruct the control unit 4 of the tractor 1 to control signals for controlling the tractor 1 (for example, temporarily. Stop signal etc.) can be transmitted. The wireless communication terminal 46 is not limited to a tablet type personal computer, and instead of this, for example, a notebook type personal computer may be used. Alternatively, when a manned tractor travels along with the unmanned tractor 1 to perform the above-mentioned cooperative work, the monitor device 14 mounted on the manned tractor can be a wireless communication terminal.

  The tractor 1 configured as described above travels along the travel route P on the field while performing agricultural work by the work implement 3 along the work route P1 based on a user's instruction using the wireless communication terminal 46. You can

  Specifically, the user performs various settings using the wireless communication terminal 46 to perform a linear or polygonal work path P1 for agricultural work, and an arc-shaped turning circuit that connects the ends of the work path P1. It is possible to generate a travel route (path) P as a series of routes that are alternately connected (non-work route along which the tractor 1 turns) P2. Then, the information on the travel route (work route P1 and non-work route P2) P generated in this way is input (transferred) to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 and predetermined. By operating the control unit 4, the tractor 1 can be controlled so that the tractor 1 autonomously travels along the travel route P while the work machine 3 autonomously operates along the work route P1.

  Hereinafter, the configuration of the wireless communication terminal 46 will be described in more detail with reference to FIGS. 3 to 5. FIG. 5 is a diagram showing a display example of the monitoring screen 100 on the display 37 of the wireless communication terminal 46.

  As shown in FIGS. 3 and 4, in the wireless communication terminal 46 of the present embodiment, in addition to the display 37, the hardware keys 38, and the touch panel 39, the display control unit 31, the storage unit 32 are the main components of the control system. A field acquisition unit 33, a work area acquisition unit 34, a travel route acquisition unit 35, an automatic alignment start instruction unit 36, an autonomous traveling / autonomous work restart instruction unit 30, and the like.

  Specifically, the wireless communication terminal 46 is configured as a computer as described above, and includes a CPU, ROM, RAM and the like. Further, the ROM stores an appropriate program for causing the tractor 1 to perform autonomous traveling / autonomous work. By the cooperation of the software and the hardware, the wireless communication terminal 46 is configured so that the display control unit 31, the storage unit 32, the farm field acquisition unit 33, the work area acquisition unit 34, the travel route acquisition unit 35, the automatic alignment start instruction unit 36, Also, it can be operated as the autonomous traveling / autonomous work restart instruction unit 30 and the like.

  The display control unit 31 creates display data to be displayed on the display 37 and controls the display content appropriately. For example, the display control unit 31 causes the display 37 to display the monitoring screen 100 illustrated in FIG. 5 while the tractor 1 is autonomously traveling along the traveling route P and is autonomously operating along the work route P1.

  The storage unit 32 stores the information about the tractor 1, the information about the farm field, etc. input by the user operating the touch panel 39 of the wireless communication terminal 46, and the created travel route P (work route P1 and non-work route P2). ) Is a memory for storing information and the like.

  The farm field acquisition unit 33 stores the position and shape of the farm field (travel region) for which the tractor 1 is to perform autonomous traveling / autonomous work. The position and shape of the farm field are acquired by, for example, the user riding on the tractor 1 and driving so as to make one round trip along the outer circumference of the farm field, and recording the transition of the position information of the positioning antenna 6 at that time. can do. The position and shape of the farm field acquired by the farm field acquisition unit 33 are stored in the storage unit 32 as farm field information.

  The work area acquisition unit 34 sets the position of a work area in which the tractor 1 is placed in the field where the tractor 1 autonomously travels and in which farm work is performed. More specifically, the wireless communication terminal 46 of the present embodiment is configured such that the width of the headland and the width of the non-cultivated land can be set by performing a predetermined operation. Then, a non-working area consisting of a headland and a non-cultivated area is determined based on the above-mentioned setting contents and the position and shape of the field acquired by the field acquiring unit 33, and the non-working area is changed from the field area. The area excluding is defined as the work area.

  The travel route acquisition unit 35 alternately connects a work route P1 in which the tractor 1 autonomously performs agricultural work in the field and a non-work route (turning circuit) P2 that connects the ends of the work route P1. Generate and obtain P. When the user inputs information necessary for generating the travel route P using the touch panel 39 or the like, the travel route acquisition unit 35 automatically creates the travel route P (work route P1 and non-work route P2) based on the information. .. The travel route P is generated such that the linear or polygonal work route P1 is included in the work area, and the non-work route (turning circuit) P2 is included in the non-work area such as a headland. The travel route P generated by the travel route acquisition unit 35 is stored in the storage unit 32.

  The user appropriately operates the wireless communication terminal 46 to input (transfer) the information on the travel route P generated by the travel route acquisition unit 35 to the storage unit 55 of the tractor 1. After that, the user rides on the tractor 1 to drive the tractor 1 to place the tractor 1 at the start position of the travel route P (see FIGS. 9 and 10). Then, the user gets off the tractor 1 and operates the wireless communication terminal 46 to instruct start of autonomous traveling / autonomous work. As a result, the control unit 4 controls the traveling of the tractor 1 and the farm work so that the tractor 1 travels along the travel route P and performs the farm work along the work route P1.

  With the start of autonomous traveling / autonomous work, the display screen of the display 37 is switched to the monitoring screen 100 shown in FIG.

  On the left side of the monitoring screen 100, a front camera display unit 101 and a rear camera display unit 102 that display the data transmitted from the front camera 56 and the rear camera 57 as moving image data are vertically arranged. On the right side of the monitoring screen 100, a work state display unit 103 that graphically shows the travel route P, the current position, and the like of the tractor 1 by a drawing or the like is arranged. A vehicle speed display unit 106 that displays the current vehicle speed of the tractor 1 is provided above the front camera display unit 101. The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on the data transmitted from the vehicle speed sensor described above.

  Next, control relating to autonomous traveling / autonomous work performed by the tractor 1 of the present embodiment will be described with reference to FIGS. 4 and 6. FIG. 6 is an explanatory diagram for explaining the deviation determination width JW and the margin width MW set on the work path P1.

  The tractor 1 of the present embodiment is configured to constantly monitor whether or not the tractor 1 has deviated from the traveling route P while autonomously traveling and performing autonomous work. When the tractor 1 deviates from the traveling route P due to some reason such as slippage or a malfunction of the steering actuator 43, the control unit 4 of the tractor 1 (traveling machine body 2) controls the traveling machine body 2 to stop. Stop automatically. FIG. 6 shows a state in which the tractor 1 is stopped because it deviates from the work route P1 which is a part of the traveling route P.

  Further, in the present embodiment, when the tractor 1 is automatically stopped based on the departure from the travel route P, a restart position (restart point) for restarting autonomous traveling / autonomous work is set thereafter. It is configured to. In addition, the restart position here means a position where the tractor 1 is arranged to restart the traveling / work from a midway portion of the traveling path P.

  As shown in FIG. 4, the tractor 1 of the present embodiment has a characteristic configuration for realizing the above-described functions, as shown in FIG. 4, a deviation determination unit 51, a restart position setting unit 52, and a positioning route creation determination unit 53. And an alignment path creation unit 54. Further, as a configuration related to the above functions, the wireless communication terminal 46 is provided with an automatic alignment start instruction unit 36 and an autonomous traveling / autonomous work restart instruction unit 30.

  In the following, each configuration related to the above functions will be described in detail with reference to FIG.

  The deviation determining unit 51 stores whether or not the position of the tractor 1 (traveling vehicle 2, strictly speaking, the positioning antenna 6) deviates from the travel route P, the position information obtained from the position information acquiring unit 49, and the storage. The determination is made based on the path read from the unit 55. Although FIG. 6 shows a case of determining the deviation from the linear work path P1 of the traveling path P, in the present embodiment, the deviation determination unit 51 is predetermined with respect to the work path P1. When the position of the tractor 1 goes out of the predetermined deviation determination width (autonomous traveling continuation range) JW, it is determined that the tractor 1 has deviated from the work route P1. An example of the deviation determination width JW set on the work route P1 is shown in FIG. 6, and the deviation determination width JW is 1/2 of the vehicle width (lateral width of the traveling machine body 2) to the left with the work route P1 as the center, It can be half the width of the vehicle to the right. Since the traveling inertia acts on the tractor 1, the position T2 at which the tractor 1 deviates from the deviation determination width JW does not coincide with the position T3 at which the tractor 1 actually stops after that. The control unit 4 causes the storage unit 55 to store the position coordinates of the position T3 when the tractor 1 deviates from the deviation determination width JW and the traveling machine body 2 actually stops as the deviation stop position.

  The deviation determination unit 51 monitors whether or not the position of the tractor 1 is out of the deviation determination width JW, and at the same time, is it out of the margin width MW determined to be narrower than that. Also monitor whether or not. An example of the margin width MW is shown in FIG. 6, and the margin width MW is, for example, the width MA covering the work path P1 on the left and MA on the right so that the margin width MW is a width that covers the error range of GNSS. It is possible (however, MA <1/2 of vehicle width). Even when the position of the tractor 1 goes out of the margin width MW, the deviation determination unit 51 does not determine that the tractor 1 has deviated from the work route unless it goes out of the deviation determination width JW. As a result, the tractor 1 can be prevented from stopping on the basis of the deviation when the deviation from the traveling route is beyond the range of the GNSS error but does not need to be processed as the deviation from the route. However, the position of the tractor 1 at the time when the tractor 1 moves out of the margin width MW is stored in the storage unit 55 as a point where the traveling locus of the tractor 1 is deviated to some extent. In the following description, the position (position T1 in FIG. 6) where the position of the tractor 1 extends outside the margin width MW may be referred to as a margin excess position.

  The determination of the deviation from the non-working route P2 will not be described in detail, but for example, like the determination of the deviation from the working route P1, whether the position of the tractor 1 deviates from a predetermined deviation determination width or not. It can be configured to determine.

  When the tractor 1 deviates from the travel route P, the restart position setting unit 52 calculates and sets the restart position R1 at which the tractor 1 subsequently restarts autonomous traveling / autonomous work.

  The positioning route creation determination unit 53 causes the tractor 1 to travel from the current position to the restart position R1 as necessary after the tractor 1 has stopped based on the departure of the traveling machine body 2 from the travel route P. The position adjustment route creation unit 54 is instructed to create the position adjustment route. Specifically, as shown in FIG. 12, when considering two ranges (a first range and a second range larger than the first range) with the restart position R1 as a reference, the positioning route creation determination is performed. When the current position of the tractor 1 is within the first range, the unit 53 does not instruct the alignment route creation unit 54 to create the alignment route. On the other hand, the alignment route creation determination unit 53 instructs the alignment route creation unit 54 to create the alignment route when the current position of the tractor 1 is outside the first range and within the second range.

  An example of the first range and the second range is shown in FIG. Although exaggerated in FIG. 12, in the present embodiment, a region surrounded by a small circle (for example, a circle having a radius r = 2 cm) centered on the restart position R1 is the first range, The area surrounded by a large circle (for example, a circle having a radius r = vehicle width / 2) centered on the restart position R1 is the second range.

  The automatic alignment start instruction unit 36 is an operation unit for transmitting a signal to that effect to the control unit 4 when the user wants to automatically perform alignment to align the position of the tractor 1 with the restart position R1. The automatic alignment start instruction unit 36 can be configured as a virtual button displayed on the display 37, for example.

  When the user wants to start the autonomous traveling / autonomous work of the tractor 1 after the tractor 1 is stopped based on the traveling vehicle body 2 deviating from the travel route P, the autonomous traveling / autonomous work restart instruction unit 30 determines whether or not the user wants to start the autonomous traveling / autonomous work. Is an operation unit operated by. The autonomous traveling / autonomous work restart instruction unit 30 can be configured as a virtual button displayed on the display 37, for example. The autonomous traveling / autonomous work resumption instruction section 30 of the present embodiment becomes operable when the tractor 1 is stopped for a certain period of time at or near the restart position (within the first range), but is otherwise inoperable. It is said that.

  Next, when the traveling body 2 deviates from the traveling route P due to some circumstances during the autonomous traveling of the tractor 1, the departure determining unit 51, the restart position setting unit 52, the alignment route creation determining unit 53, and the alignment The processing performed by the route creation unit 54 and the like will be described mainly with reference to FIGS. 7 and 8. FIG. 7 and FIG. 8 are diagrams for explaining the processing until the autonomous traveling / autonomous work is restarted after the tractor 1 deviates from the traveling route and stops.

  When the tractor 1 is autonomously traveling, the deviation determination unit 51 repeatedly acquires the position of the positioning antenna 6 obtained by the position information acquisition unit 49 at a predetermined time interval, and the position of the positioning antenna 6 is determined as described above. It is monitored whether or not the deviation judgment width JW is out of the range. When it is determined by the departure determining unit 51 that the tractor 1 deviates from the travel route P (that is, the position of the positioning antenna 6 deviates from the departure determining width JW), the control unit 4 of the tractor 1 causes the traveling body 2 to move. Immediately perform stop control for stopping.

  When the tractor 1 is traveling on the work route P1 of the traveling route P, when the tractor 1 deviates from the deviation determination width JW, it should also deviate from the margin width MW at the previous stage. .. When the deviation determining unit 51 determines that the position of the tractor 1 (strictly speaking, the positioning antenna 6) is out of the margin width MW, the control unit 4 of the tractor 1 determines the position of the positioning antenna 6 at that time. Is acquired and stored in the storage unit 55 as the above-mentioned margin excess position.

  When the tractor 1 is stop-controlled based on the deviation from the travel route P and it is confirmed from the detection result of the vehicle speed sensor that the traveling machine body 2 is actually stopped, the processing of FIG. 7 is started. The restart position setting unit 52 first determines whether or not the route on which the tractor 1 was traveling immediately before deviating from the traveling route P was a linear or polygonal work route (route for performing agricultural work) P1. (Step S101). That is, when the tractor 1 deviates from the traveling route P, it deviates from the work route (route in which agricultural work is performed) P1 as shown in FIG. 9 and from the non-work route (turning circuit) P2 as shown in FIG. In some cases, the restart position setting unit 52 determines which of the above cases has occurred.

  If it is determined in step S101 that the route on which the tractor 1 has traveled immediately before the vehicle deviates from the travel route P is the work route P1 (Yes in step S101), the restart position setting unit 52 sets the restart position. As the information necessary for the calculation, the position information of the above margin excess position (position T1 in the example of FIG. 6) is acquired from the storage unit 55 (step S102).

  Subsequently, the restart position setting unit 52 identifies the work route P1 on which the tractor 1 was traveling immediately before deviating from the travel route P from the plurality of work routes P1, P1, ... And the identified work. A virtual perpendicular line is drawn from the margin excess position T1 acquired in step S102 for the route P1 (step S103). It should be noted that FIG. 6 is an enlarged view of the vicinity of the margin excess position T1 in FIG. 11, and the perpendicular line is described in FIG. Then, the restart position setting unit 52 sets the position of the foot of the perpendicular drawn in step S103 (the position of the intersection of the above perpendicular and the work path P1) as the restart position R1 for restarting the autonomous work, and stores it. (Step S104).

  If the route in which the tractor 1 was traveling immediately before deviating from the traveling route P was the non-working route (route for changing the direction of the traveling machine body 2 without performing agricultural work) P2 in the determination of step S101, then The restart position setting unit 52 determines whether the position where the tractor 1 has stopped is within the work area (step S105).

  When the stop position of the tractor 1 is in the non-work area as shown in the example of FIG. 10 (step S105, No), the restart position setting unit 52 sets an appropriate position on the non-work route P2 as the restart position. (Step S106). As a method of setting the restart position, for example, when there is a straight line portion in the non-working path P2 as shown in FIG. 10, a point closest to the stop position in the straight line portion may be set as the restart position R1. However, the method is not limited to the above method, and the restart position may be determined by another method.

  On the other hand, when the stop position of the tractor 1 is in the work area (step S105, Yes), as shown in the example of FIG. 11, from the time when the stop control of the tractor 1 is performed until the tractor 1 actually stops. In addition, it means that the tractor 1 has entered the work area across the boundary between the non-work area and the work area. In that case, in order to perform the agricultural work evenly (without leaving the uncultivated land area) on the field, the restart position setting unit 52 causes the deviated downstream end of the non-working path P2 (in other words, to the non-working path P2). The upstream end of the work path P1 connected on the downstream side is set as the restart position R1. The restart position R1 is located at the boundary between the work area and the non-work area on the travel route P.

  After the tractor 1 is stopped due to the deviation of the route, the user checks the state of the tractor 1 in order to investigate the cause of the deviation of the route. At this time, in order to facilitate the inspection, the tractor 1 may be moved to an appropriate place in the field, for example.

  After that, when the user desires to restart the autonomous traveling / autonomous work, the user rides on the tractor 1 and manually drives it to move it to the restart position R1 or the vicinity thereof and stop it. At this time, when the current position of the tractor 1 is displayed in real time on the display 37 of the wireless communication terminal 46 together with the restart position R1 (preferably, the second range in step S112 of FIG. 8), the user restarts the tractor 1 at the restart position R1. It is preferable because it makes it easier to understand how to move up to.

  Regardless of the point where the restart position R1 is set, the alignment route creation determination unit 53 operates the autonomous traveling / autonomous work restart instruction unit 30 until the user gives an instruction to restart the autonomous traveling. It stands by (step S108 in FIG. 8).

  When the user dismounts from the tractor 1 and operates the autonomous traveling / autonomous work restart instruction unit 30 of the wireless communication terminal 46 to instruct to restart the autonomous traveling (Yes in step S108), the alignment route The creation determination unit 53 acquires the current position of the tractor 1 (step S109).

  Subsequently, the alignment route creation determination unit 53 determines whether the current position of the tractor 1 is within the first range based on the restart position R1 (step S110). The first range of the present embodiment is set to a range having a radius of about 2 cm centered on the restart position R1. When the current position of the tractor 1 is within the first range (step S110, Yes), the current position of the tractor 1 is sufficiently close to the restart position R1, and therefore the tractor 1 needs to be aligned with the restart position R1 again. Poor in nature. Therefore, in this case, the alignment route creation determination unit 53 does not instruct the alignment route creation unit 54 to create the alignment route.

  Then, the control unit 4 controls the traveling machine body 2, the work machine 3, and the like to restart the autonomous traveling / autonomous work from the current position (step S111), and ends the series of processes.

  If the result of determination in step S110 is that the current position of the tractor 1 is not within the first range (No in step S110), the alignment route creation determination unit 53 determines that the current position of the tractor 1 is based on the restart position R1. It is determined whether or not it is within the second range (step S112). In the second range of the present embodiment, the radius centered on the restart position R1 is set to a range of about ½ of the vehicle width. As a result of the determination in step S112, when the current position of the tractor 1 is not within the second range (No in step S112), the state where the tractor 1 deviates from the travel route P and is stopped is maintained, and the process proceeds to step S108. Return.

  When the current position of the tractor 1 is outside the first range and within the second range (step S112, Yes), since the current position of the tractor 1 is slightly away from the restart position R1, the restart position R1 is automatically aligned. It is considered desirable to do so. Therefore, the alignment route creation determination unit 53 gives an instruction to the alignment route creation unit 54 to create the alignment route. In response to this, the position alignment route creation unit 54 creates a series of position alignment routes that connect the current position (start point) of the tractor 1 to the restart position R1 (end point) (step S113).

  At this time, for example, as shown in FIG. 12, when the current position of the tractor 1 is located forward of the restart position R1 in the traveling direction (forward of the traveling route P in the traveling direction), the alignment route creating unit 54 , A positioning route including a route for moving the tractor 1 backward is created. In the example of FIG. 12, the created alignment path is drawn by a thick broken line. The alignment route created by the alignment route creation unit 54 is calculated so that the traveling machine body 2 faces forward when the tractor 1 reaches the end point thereof.

  On the other hand, as shown in FIG. 13, for example, when the current position of the tractor 1 is located behind the restart position R1 in the traveling direction (rearward in the traveling direction of the traveling route P), the alignment route creating unit 54 A positioning path is created such that the tractor 1 is moved forward to reach the restart position R1. The alignment path created by the alignment path creation unit 54 is stored in the storage unit 55.

  When the alignment route is created in step S113, the control unit 4 then autonomously causes the tractor 1 to travel along the alignment route created in step S113, and the tractor 1 stops at the restart position R1. Control (step S114). At this time, in the present embodiment, as shown in the example of FIG. 13, for example, when a positioning route for advancing the tractor 1 to reach the restart position R1 is generated, the control unit 4 positions the tractor 1. Agricultural work is performed by the work machine 3 while autonomously traveling along the combined route. On the other hand, as shown in the example of FIG. 12, in the case of the alignment route in which the tractor 1 is moved backward and reaches the restart position R1, the tractor 1 is aligned with the work machine 3 stopped.

  With the above processing, the tractor 1 is returned to the midway portion (restart position) on the travel route P, and thereafter, the user performs appropriate processing using the wireless communication terminal 46, so that autonomous traveling / autonomous work can be restarted. it can.

  As described above, in the present embodiment, the position of the tractor 1 after the departure stop is set to the first position without the user boarding the robot tractor 1 and operating the tractor 1 to move the tractor 1 to the restart position R1 pinpoint. If it is within one range, it is possible to restart autonomous driving / work from that position. Furthermore, if the position of the tractor 1 after the departure stop is outside the first range and within the second range, a positioning route (see the thick dotted line in FIGS. 12 and 13) is generated and along this route. The tractor 1 can be automatically operated to adjust the position to the restart position R1. As described above, since it is not necessary to manually adjust the position of the tractor to the restart position manually as in the related art, no advanced driving technique is required, and the position can be easily adjusted.

  In addition, in the present embodiment, when the tractor 1 is located ahead of the restart position R1 in the traveling direction, the tractor 1 is automatically moved (autonomously) to perform reverse travel, which is difficult to perform manually. Can be exactly reached. Therefore, since the tractor 1 can be arranged at the restart position R1 without using the turning operation and the like, it is possible to reduce the risk of damaging the field excessively.

  Further, in the present embodiment, when the tractor 1 enters the work area across the boundary between the non-work area and the work area from the time when the tractor 1 deviates from the non-work path P2 to when it actually stops, It is possible to automatically move to the restart position R1 set at the boundary between the non-work area and the work area, and restart the autonomous work from that position. Therefore, farm work can be performed without producing an unworked area.

  Further, in the present embodiment, the restart position R1 is set only when the tractor 1 is stopped based on the departure from the travel route P. That is, if the tractor 1 has not deviated from the travel route P, but is temporarily stopped or emergency stopped due to the user performing an appropriate stop operation on the wireless communication terminal 46, the restart position is Not set. Therefore, the calculation load associated with the setting (calculation) of the restart position can be reduced.

  As described above, the autonomous traveling system 99 of this embodiment includes the position information acquisition unit 49, the control unit 4, and the restart position setting unit 52. The position information acquisition unit 49 acquires the position information of the tractor (work vehicle) 1. The control unit 4 causes the tractor 1 to autonomously run along the predetermined work route P1 while autonomously traveling along the predetermined travel route P, and based on the deviation of the tractor 1 from the travel route P, the tractor 1 To stop. The restart position setting unit 52 sets the restart position R1 of the autonomous work by the tractor 1 after the stop. After the stop, the control unit 4 can restart the autonomous work of the tractor 1 from the current position of the tractor 1 when the current position of the tractor 1 is within the first range based on the restart position R1. Further, when the current position of the tractor 1 is outside the first range and within the second range based on the restart position R1, the control unit 4 causes the tractor 1 to autonomously travel from the current position to the restart position R1. After that, it is possible to restart the autonomous work.

  Accordingly, the autonomous work can be restarted without the user driving the tractor 1 to move the tractor 1 to the restart position R1 in a pinpoint manner, and the autonomous work can be easily restarted after the stop.

  Further, in the autonomous traveling system 99 of the present embodiment, the control unit 4 sets the current position of the tractor 1 after the stop to the restart position R1 outside the first range and the second range from the restart position R1. On the other hand, when the traveling route P is ahead of the traveling direction, as shown in FIG. 12, after the tractor 1 is moved backward to the restart position R1, it is possible to allow the tractor 1 to autonomously work along the working route P1.

  As a result, when the tractor 1 is ahead of the restart position R1 in the traveling direction, the tractor 1 can move backward to reach the restart position R1 depending on the orientation of the vehicle body of the tractor 1.

  The autonomous traveling system 99 of this embodiment has the following configuration. That is, as a result of the control unit 4 performing the stop control of the tractor 1 based on the deviation of the tractor 1 from the travel route P in the non-work route P2 in which the tractor 1 does not perform work, the tractor 1 performs the work by the tractor 1. When the vehicle is stopped in the work area, the restart position setting unit 52 can set the restart position R1 on the boundary between the work area and the non-work area on the travel route P, as shown in FIG. is there. When the restart position R1 is set at the boundary by the restart position setting unit 52, the control unit 4 causes the traveling vehicle body 2 to autonomously travel to the restart position R1 on the boundary, and then to the tractor 1 along the work route P1. It is possible to work autonomously.

  As a result, the tractor 1 crosses the boundary between the non-work area and the work area and reaches the work area between the time when the stop control of the tractor 1 is performed based on the deviation of the tractor 1 and the time when the tractor 1 actually stops. When it enters, the restart position R1 is set at the boundary between both regions, so that the work is appropriately performed.

  Further, in the autonomous traveling system 99 of the present embodiment, when the tractor 1 is stopped by the control unit 4 based on the stop signal when the tractor 1 is located on the travel route P, the restart position setting unit 52 sets the restart position R1. Not set.

  Accordingly, the restart position R1 is not set when it is sufficient to restart the autonomous traveling / autonomous work on the spot, so that the processing can be made efficient.

  Although the preferred embodiment of the present invention has been described above, the above configuration can be modified as follows, for example.

  In the above-described embodiment, when the current position of the tractor 1 is at a position behind the restart position R1 in the traveling direction and the position is automatically adjusted from the position to the restart position R1, the tractor 1 is moved to the position. The work machine 3 is allowed to perform agricultural work while autonomously traveling along the matching route. However, the present invention is not limited to this, and when the tractor 1 is made to travel from the current position to the restart position R1 along the alignment route, it may be made to run (idle) without performing agricultural work.

  Alternatively, when the tractor 1 travels along the alignment route from the current position to the restart position R1 regardless of the direction of the current position of the tractor 1 with respect to the restart position R1 in the traveling direction. In addition, it is very good to drive while doing agricultural work. In that case, for example, the determination process by the alignment route creation determination unit 53 may be started on the condition that the work implement 3 is grounded.

  Alternatively, instead of the above, the determination process by the alignment route creation determination unit 53 may be started on the condition that the tractor 1 has stopped for a predetermined time or longer.

  In the above-described embodiment, when the tractor 1 deviates from the non-working route and enters the work route and stops, the tractor 1 starts from the downstream end of the non-working route P2 that was traveling immediately before departing from the traveling route P. The position of the upstream end of the work path P1 is set as the restart position R1. However, the restart position R1 may be any position on the work route P1 that is set at the boundary between the work area and the non-work area. (Not provided) The restart position R1 may be set at the upstream end or the downstream end of another work path P1. In that case, the travel route P after the autonomous work is restarted is regenerated so that the agricultural work is finally performed on all the work routes P1, P1, ... (For the unworked work route P1). The order of performing the work may be appropriately changed).

  In the above embodiment, the first range and the second range are both circular areas centered on the restart position R1. However, the present invention is not limited to this, and for example, instead of this, The first range and the second range may be a rectangular area or an elliptical area centered on the restart position R1. Further, the restart position R1 does not necessarily have to be arranged at the center of the first range and / or the second range, and the restart position R1 is closer to the already-worked area of the first range and / or the second range (already in the agricultural work. May be arranged). Further, the outer circumference of the first range and / or the second range does not necessarily have to be continuous, and may be discontinuous at some places. An example of setting the first range and the second range other than the examples shown in FIGS. 12 and 13 is shown in FIG. The hatching in FIG. 14 represents a region outside the first range and within the second range, and when the tractor 1 is arranged within this range, the alignment path for automatically performing alignment is shown. Created.

  In the above-described embodiment, the departure determining unit 51, the restart position setting unit 52, the alignment route creation determining unit 53, and the alignment route creating unit 54 are provided in the tractor 1. However, these components are Which of the tractor 1 and the wireless communication terminal 46 is provided is not limited to this. Further, the tractor 1 and the wireless communication terminal 46 may be provided with the other constituent parts.

  A device having a function corresponding to the wireless communication terminal 46 (that is, a field acquisition, a work area acquisition, a travel route / work route acquisition, an automatic alignment start instruction, an autonomous travel / autonomous work restart instruction, and the like are performed. A manipulating device capable of performing the operation may be provided, for example, on the traveling machine body 2 of the manned tractor 1 traveling along with the tractor 1 so as not to be removable. In this case, the wireless communication terminal 46 can be omitted.

  After the traveling route P has completed all the autonomous work in the work area, a work route for performing autonomous work in the non-work area around the work area (for example, a work path that circulates along the non-work area) May be included. In this case, the tractor 1 will eventually perform the autonomous work even in the areas set as the headland and the non-cultivated land as described above, but the tractor 1 is performing the autonomous work in the work area. Since no work is performed in the headland and the non-cultivated area at the stage, the area can be grasped as the non-work area.

  In the above-described embodiment, the work vehicle is the robot tractor 1 that autonomously travels without the user boarding. However, instead of this, the present invention is applied to a general tractor on which a user boards and works, and the autonomous traveling system 99 is operated only when the tractor departs from the travel route P and resumes the work. It is also possible to use the autonomous traveling (automatic traveling).

1 tractor (work vehicle)
4 control unit 49 position information acquisition unit 52 restart position setting unit 99 autonomous traveling system P travel route P1 work route P2 non-work route R1 restart position

Claims (4)

A position information acquisition unit for acquiring position information of the work vehicle,
Control for causing the work vehicle to autonomously work along a predetermined work route while autonomously traveling the work vehicle along the predetermined travel route, and stopping the work vehicle based on deviation of the work vehicle from the travel route Department,
After the stop, a restart position setting unit that sets a restart position of autonomous work by the work vehicle,
A positioning route creating unit that creates a travel route from the stop position of the work vehicle to the restart position;
Equipped with
The control unit is
After the stop, if the current position of the work vehicle is within the first range, it is possible to restart the autonomous work of the work vehicle from the current position of the work vehicle,
When the current position of the work vehicle is within the second range, after the work vehicle is autonomously traveled along the travel route from the current position generated by the alignment route creation unit to the restart position, An autonomous traveling system characterized by being able to resume autonomous work. The autonomous traveling system according to claim 1, wherein
When the current position of the work vehicle is outside the first range and within the second range after the stop and is ahead of the restart position in the traveling direction of the travel route, the control unit performs the work. An autonomous traveling system characterized in that it is possible to cause the work vehicle to perform autonomous work along the work route after the vehicle is moved backward to the restart position. The autonomous traveling system according to claim 1 or 2, wherein
As a result of the control unit stopping the work vehicle based on the deviation of the work vehicle from the traveling route in the non-work area where the work vehicle does not perform work, the work vehicle is operated by the work vehicle. When stopped in the work area to be performed, the restart position setting unit, on the travel route, it is possible to set the restart position at the boundary between the work area and the non-work area,
When the restart position is set to the boundary by the restart position setting unit, the control unit causes the work vehicle to autonomously run along the work route after causing the work vehicle to autonomously travel to the boundary. An autonomous traveling system characterized by being capable of The autonomous traveling system according to any one of claims 1 to 3,
The autonomous traveling system, wherein the restart position setting unit does not set the restart position when the work vehicle is stopped by the control unit based on a stop signal when the work vehicle is located on the travel route.

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