JP6832884B2 - Automatic driving system and status notification device - Google Patents

Description

The present invention relates to an automatic traveling system for automatically traveling a work vehicle and a situation notification device used therein.

Conventionally, there is known an automatic traveling system that acquires the current position of a working vehicle using a satellite positioning system and automatically travels an unmanned working vehicle along a target traveling route generated in advance (see, for example, Patent Document 1). .).
In the automatic driving system described in Patent Document 1, when the unmanned vehicle is automatically driven in the work area where the manned vehicle driven by the passenger is traveling, the existence range of the manned vehicle up to a predetermined time point is predicted, and the range thereof is predicted. When it is predicted that the position of the unmanned vehicle will interfere with the existence range of the manned vehicle, the deceleration control command or the like is displayed on the display unit of the manned vehicle to avoid the actual interference. ..

Japanese Unexamined Patent Publication No. 2000-339029

Although the automatic driving system described in Patent Document 1 automatically drives an unmanned vehicle in a work area where a manned vehicle is traveling, it is assumed that the unmanned vehicle is driven on a road such as a farm road or a general road. It has not been. In the future, if there are two work areas separated from each other across the road, labor saving and improvement of work efficiency will be achieved when moving the work vehicle from one work area to the other work area through the road. For the purpose of the above, it is necessary to automatically drive the work vehicle and move it between the two work areas through the road. However, it is necessary to ensure sufficient safety when the work vehicle is automatically driven to enter and leave the work area from the road.

In view of this situation, a main problem of the present invention is that in an automatic traveling system for automatically traveling a work vehicle, a rational configuration is sufficient for the automatic traveling of the work vehicle to move between two work areas through a road. The point is to provide technology that can ensure the sex.

The first feature configuration of the present invention is an automatic traveling system including a control unit that automatically travels the working vehicle based on the current position of the working vehicle measured by using a satellite positioning system.
The control unit can execute inter-work area movement control in which the work vehicle is automatically traveled along a predetermined inter-region movement target travel route to move between two work areas through a road.
Entry / exit status information that is installed in the entrance / exit section of the work area and indicates the entry / exit status of the work vehicle from the road to the work area in response to the input of a notification instruction from the control unit via wireless communication. Equipped with a status notification device that can notify the road side
When the control unit executes the movement control between work areas to automatically drive the work vehicle and pass the entrance / exit unit, the notification device is notified to the status notification device installed in the entrance / exit unit. The point is to execute the entrance / exit status notification process that outputs an instruction to notify the entrance / exit status information.
In addition, the status notification device according to the present invention used in this automatic traveling system has a status notification unit capable of notifying the entrance / exit status information and the status notification unit when a notification instruction is input via wireless communication. It is characterized in that it is provided with a notification control unit for notifying the entrance / exit status information.

According to this configuration, the control unit on the work vehicle side automatically runs the work vehicle based on the current position of the work vehicle measured by the satellite positioning system, and moves between the two work areas through the road. Movement control can be executed. When the control unit executes movement control between work areas to automatically drive the work vehicle and passes through the entrance / exit section of the work area, the control unit causes the status notification device installed in the entry / exit section to be contacted. The entrance / exit status notification process is executed in the form of outputting a notification instruction by wireless communication. In the entrance / exit section where the work vehicle passes by automatic driving, the status notification device installed in the entry / exit section enters / exits the work vehicle in response to the input of the notification instruction via wireless communication from the control section. The entrance / exit status information indicating the status is notified to the road side.
Then, the driver or pedestrian of the manned vehicle on the road side recognizes the entry / exit status information notified by the status notification device, and the automatically traveling work vehicle enters / exits from the road to the work area. It is possible to immediately and surely grasp what is inside and ensure safety.
Therefore, according to the present invention, in an automatic traveling system for automatically traveling a work vehicle, it is possible to ensure sufficient safety with a rational configuration when the work vehicle is automatically traveled and moved between two work areas through a road. It is possible to provide the technology that can be used.

In the second characteristic configuration of the present invention, the entry / exit status information indicates entry information indicating the entry of the work vehicle from the road to the work area and exit of the work vehicle from the work area to the road. Including exit information
The notification instruction includes an entrance notification instruction for notifying the entrance information and an exit notification instruction for notifying the exit information.
The control unit executes a predetermined entrance notification process and a predetermined exit notification process as the entrance / exit status notification process.
When the work vehicle enters the work area from the road, the entrance notification process outputs the entrance notification instruction to the status notification device installed in the entrance / exit section that the work vehicle passes through at the time of entry, and outputs the entrance notification instruction to the entrance. It is a process to notify information
When the work vehicle leaves the road from the work area, the exit notification process outputs the exit notification instruction to the status notification device installed in the entrance / exit section that the work vehicle passes through at the time of exit. The point is that it is a process of notifying information.

According to this configuration, when an automatically traveling work vehicle passes through an entrance / exit section from a road and enters a work area, an entry notification process is executed by the control unit and the vehicle is installed in the entry / exit section. The notification device automatically notifies the road side of the entrance information indicating the entrance of the work vehicle during automatic traveling to the work area.
In addition, when a work vehicle that is automatically traveling passes through the entrance / exit section from the work area and exits to the road, the control section executes the exit notification process, and the status notification device installed in the entry / exit section determines the exit notification process. Exit information indicating the exit of the work vehicle during automatic traveling to the road will be automatically notified toward the road side.
That is, when the work vehicle moves between the two work areas by automatic driving, it is automatically automatically moved when leaving the work area at the departure point to the road and when entering the work area at the arrival point from the road. The corresponding exit information and entrance information can be notified from the status notification device installed in the corresponding entrance / exit section to ensure safety according to each situation.
Therefore, the driver, pedestrian, etc. of the manned vehicle on the road side of the entrance / exit section identifies the exit information and the entry information, so that the automatically traveling work vehicle passes through the entry / exit section and exits. It is possible to clearly recognize whether to enter or to enter, and to respond even more safely depending on the situation.

The third feature configuration of the present invention is based on the current position of the work vehicle measured by using the satellite positioning system and the target travel path for movement between regions including the position of the entrance / exit portion. It is provided with an entrance / exit timing detection unit that detects an entrance / exit start timing before the vehicle passes through the entrance / exit unit and an entrance / exit end timing after the work vehicle passes through the entrance / exit unit.
In the entry / exit status notification process, the control unit causes the status notification device to start notifying the entry / exit information at the entry / exit start timing detected by the entry / exit timing detection unit, and the entry / exit timing. The point is that the notification of the entrance / exit information is terminated at the entrance / exit end timing detected by the detection unit.

According to this configuration, the entry / exit timing detection unit refers to the current position of the work vehicle measured by using the satellite positioning system in the target travel path for inter-region movement including the position of the entry / exit unit. The entry / exit start timing before the work vehicle that is automatically traveling along the target travel route for inter-regional movement passes through the entrance / exit section, and the work vehicle that is automatically traveling along the target travel route for inter-regional movement enters / exits. It is possible to easily detect the entry / exit end timing after passing through the section.
In the entry / exit status notification process, the control unit starts notification of entry / exit information to the status notification device at the entry / exit start timing detected by the entry / exit timing detection unit, and the entrance / exit end detected by the entry / exit timing detection unit. At the timing, the notification of entry / exit information is terminated to the status notification device.
That is, from the time when the work vehicle starts passing through the entrance / exit section to the end, the entry / exit information is notified from the status notification device installed in the entry / exit section. Therefore, when the work vehicle passes through the entrance / exit portion, the safety can be surely ensured at an appropriate timing.

The figure which shows the schematic structure of the automatic driving system Block diagram showing the schematic configuration of the autonomous driving system Diagram showing the target travel route for work and the target travel route for movement between areas Diagram showing the state of the tractor passing through the entrance / exit section The figure which shows the state (a) which shows the entrance information and the state (b) which shows the exit information on the electric bulletin board.

An embodiment of a work vehicle to which the automatic traveling system according to the present invention is applied will be described with reference to the drawings.
In this automatic traveling system, as shown in FIG. 1, the tractor 1 is applied as the work vehicle according to the present invention, but other than the tractor, a passenger rice transplanter, a combine, a passenger mower, a wheel loader, a snowplow, etc. And unmanned work vehicles such as unmanned mowers can be applied.

As shown in FIGS. 1 and 2, this automatic traveling system includes an automatic traveling unit 2 mounted on a tractor 1 and a mobile communication terminal 3 set to communicate with the automatic traveling unit 2. As the mobile communication terminal 3, a tablet-type personal computer, a smartphone, or the like having a touch-operable display unit 51 (for example, a liquid crystal panel) or the like can be adopted.

The tractor 1 is provided with a traveling machine body 7 having left and right front wheels 5 that function as driveable steering wheels and driveable left and right rear wheels 6. A bonnet 8 is arranged on the front side of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter, referred to as an engine) 9 equipped with a common rail system is provided in the bonnet 8. A cabin 10 forming a boarding-type driving unit is provided behind the bonnet 8 of the traveling machine body 7.

The tractor 1 can be configured to the rotary tillage specification by connecting the rotary tillage device, which is an example of the work device 12, so as to be able to move up and down and roll through the rear part of the traveling machine body 7 via a three-point link mechanism 11. it can. Instead of the rotary tillage device, a working device 12 such as a plow, a sowing device, a spraying device, or the like can be connected to the rear part of the tractor 1.

As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 that shifts the power from the engine 9, a fully hydraulic power steering mechanism 14 that steers the left and right front wheels 5, and left and right rear wheels 6. Left and right side brakes for braking (not shown), electronically controlled brake operation mechanism 15 that enables hydraulic operation of the left and right side brakes, work clutch that interrupts transmission to work devices 12 such as rotary tillers (Fig.) (Not shown), an electronically controlled clutch operating mechanism 16 that enables hydraulic operation of the work clutch, an electrohydraulic control type lifting drive mechanism 17 that lifts and lowers the work device 12 such as a rotary tiller, automatic running of the tractor 1, etc. The vehicle-mounted electronic control unit 18 having various control programs related to the above, the vehicle speed sensor 19 for detecting the vehicle speed of the tractor 1, the steering angle sensor 20 for detecting the steering angle of the front wheels 5, and the current position and current orientation of the tractor 1 are measured. The positioning unit 21 and the like are provided.

An electronically controlled gasoline engine equipped with an electronic governor may be adopted as the engine 9. As the transmission 13, a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt type continuously variable transmission, or the like can be adopted. As the power steering mechanism 14, an electric power steering mechanism 14 or the like provided with an electric motor may be adopted.

Inside the cabin 10, as shown in FIG. 1, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, and a touch panel It is equipped with an expression display unit and various operating tools. Both lateral sides of the front portion of the cabin 10 are provided with step 41 for getting on and off the cabin 10 (driver's seat 39).

As shown in FIG. 2, the vehicle-mounted electronic control unit 18 includes a speed change control unit 181 that controls the operation of the speed change device 13, a braking control unit 182 that controls the operation of the left and right side brakes, and a work device 12 such as a rotary tiller. The work device control unit 183 that controls the operation, the steering angle setting unit 184 that sets the target steering angles of the left and right front wheels 5 during automatic driving and outputs them to the power steering mechanism 14, and the preset target driving for automatic driving. It has a non-volatile vehicle-mounted storage unit 185 and the like for storing routes Ps, Pr (see, for example, FIG. 3) and the like.

As shown in FIG. 2, the positioning unit 21 is a satellite that measures the current position and the current orientation of the tractor 1 by using GPS (Global Positioning System), which is an example of a satellite positioning system (NSS: Navigation Satellite System). It is provided with an inertial measurement unit (IMU) 23 and the like, which have a navigation device 22, a three-axis gyroscope, a three-direction acceleration sensor, and the like to measure the posture and orientation of the tractor 1. Positioning methods using GPS include DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinetic GPS: interference positioning method). In this embodiment, RTK-GPS suitable for positioning of a moving body is adopted. Therefore, as shown in FIGS. 1 and 2, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the field.

As shown in FIG. 2, the tractor 1 and the reference station 4 are connected to the GPS antennas 24 and 61 that receive radio waves transmitted from the GPS satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. Communication modules 25, 62 and the like that enable wireless communication of various data including positioning data in the above are provided. As a result, the satellite navigation device 22 receives the positioning data obtained by the GPS antenna 24 on the tractor side receiving the radio waves from the GPS satellite 71 and the GPS antenna 61 on the base station side receiving the radio waves from the GPS satellite 71. Based on the obtained positioning data, the current position and current orientation of the tractor 1 can be measured with high accuracy. Further, the positioning unit 21 is provided with the satellite navigation device 22 and the inertial measurement unit 23 to measure the current position, the current direction, and the attitude angle (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy. Can be done.

The GPS antenna 24, the communication module 25, and the inertial measurement unit 23 provided in the tractor 1 are housed in the antenna unit 80 as shown in FIG. The antenna unit 80 is arranged at an upper position on the front side of the cabin 10.

As shown in FIG. 2, the mobile communication terminal 3 has positioning data between the terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and the communication module 25 on the tractor side. A communication module 55, etc., which enables wireless communication of various data including the above is provided. The terminal electronic control unit 52 includes a travel route generation unit 53 that generates target travel routes Ps and Pr (see, for example, FIG. 3) for travel guidance for automatically traveling the tractor 1, and various inputs input by the user. It has a non-volatile terminal storage unit 54, etc. that stores data and target travel routes Ps, Pr, etc. generated by the travel route generation unit 53.

When the travel route generation unit 53 generates the target travel routes Ps and Pr, a user such as a driver or an administrator works according to an input guide for setting a target travel route displayed on the display unit 51 of the mobile communication terminal 3. Vehicle body data such as the type and model of the vehicle and the work device 12 are input, and the input vehicle body data is stored in the terminal storage unit 54. The travel areas S and R (see FIG. 3) for which the target travel routes Ps and Pr are generated are defined as a field S (an example of a work area) and a road R such as a farm road or a general road, and the terminal electronic control of the mobile communication terminal 3 The unit 52 acquires the traveling area data including the shapes and positions of the traveling areas S and R and stores them in the terminal storage unit 54.

Explaining the acquisition of the traveling area data in the field S, when the user or the like drives to actually drive the tractor 1, the terminal electronic control unit 52 uses the current position of the tractor 1 acquired by the positioning unit 21 to obtain the field. It is possible to acquire position information for specifying the shape, position, etc. of S. The terminal electronic control unit 52 specifies the shape and position of the field S from the acquired position information, specifies from the shape and position of the specified field S, and acquires the traveling area data including the field S. FIG. 3 shows an example in which the rectangular field S is specified.
On the other hand, the traveling area data on the road R can be obtained from the map information.

When the travel area data including the shapes and positions of the specified travel areas S and R are stored in the terminal storage unit 54, the travel route generation unit 53 stores the travel area data and the vehicle body stored in the terminal storage unit 54. The target travel paths Ps and Pr are generated using the data.

As shown in FIG. 3, the travel route generation unit 53 generates target travel routes Ps and Pr using vehicle body data, travel area data, and the like. For example, the work target travel route Ps for automatically traveling the tractor 1 in the field S is composed of a straight route, a connecting route connecting them, and the like. On the other hand, the inter-regional movement target travel route Pr for automatically traveling the tractor 1 on the road R is configured as a route along the road R when moving between the two fields S. Incidentally, the target traveling routes Ps and Pr shown in FIG. 3 are merely examples, and what kind of target traveling route is set can be appropriately changed.

The target travel routes Ps and Pr generated by the travel route generation unit 53 can be displayed on the display unit 51, and are stored in the terminal storage unit 54 as route data associated with the vehicle body data, the travel area data, and the like. The route data includes the azimuth angles of the target travel routes Ps and Pr, the set engine rotation speed and the target travel speed set according to the travel mode of the tractor 1 on the target travel routes Ps and Pr, and the like. ing.

In this way, when the travel route generation unit 53 generates the target travel routes Ps and Pr, the terminal electronic control unit 52 transfers the route data from the mobile communication terminal 3 to the tractor 1, thereby electronically controlling the vehicle-mounted tractor 1. The unit 18 can acquire the route data. The in-vehicle electronic control unit 18 automatically travels the tractor 1 along the target travel paths Ps and Pr while acquiring its own current position (current position of the tractor 1) by the positioning unit 21 based on the acquired route data. Can be made to. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, in a cycle of several seconds), and the mobile communication terminal 3 grasps the current position of the tractor 1. ing.

Regarding the transfer of the route data, the entire route data can be transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18 at once before the tractor 1 starts the automatic traveling. Further, for example, the route data including the target travel routes Ps and Pr can be divided into a plurality of route portions for each predetermined distance with a small amount of data. In this case, in the stage before the tractor 1 starts the automatic traveling, only the initial route portion of the route data is transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18. After the start of automatic driving, every time the tractor 1 reaches a route acquisition point set according to the amount of data or the like, the route data of only the subsequent route portion corresponding to that point is electronically controlled by the terminal electronic control unit 52. It may be transferred to the unit 18.

When the automatic traveling of the tractor 1 is started, for example, when the user or the like moves the tractor 1 to the starting point and various automatic traveling start conditions are satisfied, the user displays the display unit 51 on the mobile communication terminal 3. The mobile communication terminal 3 transmits the automatic traveling start instruction to the tractor 1 by instructing the start of the automatic traveling. As a result, in the tractor 1, the in-vehicle electronic control unit 18 receives an instruction to start automatic driving, and while the positioning unit 21 acquires its own current position (current position of the tractor 1), the target traveling path Ps, The automatic traveling control for automatically traveling the tractor 1 along Pr is started. The in-vehicle electronic control unit 18 sets the tractor 1 along the target traveling paths Ps and Pr in the traveling areas S and R based on the positioning information of the tractor 1 acquired by the positioning unit 21 (corresponding to the satellite positioning system). It is configured as an automatic driving control unit that performs automatic driving control for automatic driving.

The automatic driving control includes automatic shifting control that automatically controls the operation of the transmission 13, automatic braking control that automatically controls the operation of the brake operation mechanism 15, automatic steering control that automatically steers the left and right front wheels 5, and a rotary tillage device. The automatic control for work, etc., which automatically controls the operation of the work device 12 such as, and the like are included.

In the automatic shift control, the shift control unit 181 sets the target travel paths Ps and Pr based on the route data of the target travel paths Ps and Pr including the target travel speed, the output of the positioning unit 21 and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target traveling speed set according to the traveling mode of the tractor 1 can be obtained as the vehicle speed of the tractor 1.

In the automatic braking control, the braking control unit 182 brakes the left and right sides in the braking region included in the route data of the target traveling paths Ps and Pr based on the target traveling paths Ps and Pr and the output of the positioning unit 21. Automatically controls the operation of the brake operating mechanism 15 so that the left and right rear wheels 6 are properly braked.

In the automatic steering control, the steering angle setting unit 184 sets the left and right based on the route data of the target travel paths Ps and Pr and the output of the positioning unit 21 so that the tractor 1 automatically travels on the target travel paths Ps and Pr. The target steering angle of the front wheels 5 is obtained and set, and the set target steering angle is output to the power steering mechanism 14. The power steering mechanism 14 automatically steers the left and right front wheels 5 based on the target steering angle and the output of the steering angle sensor 20 so that the target steering angle can be obtained as the steering angles of the left and right front wheels 5.

In the automatic work control, the work device control unit 183 sets the tractor 1 to the work target travel path Ps (see, for example, FIG. 3) based on the route data of the target travel paths Ps and Pr and the output of the positioning unit 21. A predetermined work (for example, tilling work) by the work device 12 is started when the work start point such as the start end of the work is reached, and the tractor 1 is the end of the work target travel path Ps (for example, see FIG. 3). The operation of the clutch operation mechanism 16 and the elevating drive mechanism 17 is automatically controlled so that a predetermined work by the work device 12 is stopped when the work end point is reached.

In this way, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operation mechanism 15, the clutch operation mechanism 16, the elevating drive mechanism 17, the in-vehicle electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, and the positioning. The automatic traveling unit 2 is composed of the unit 21, the communication module 25, and the like.

In this embodiment, it is possible not only to automatically drive the tractor 1 without the user or the like boarding the cabin 10, but also to automatically drive the tractor 1 with the user or the like boarding the cabin 10. Therefore, not only can the tractor 1 be automatically driven along the target traveling paths Ps and Pr by the automatic traveling control by the in-vehicle electronic control unit 18 without the user or the like boarding the cabin 10, but also the user or the like can be in the cabin 10. The tractor 1 can be automatically traveled along the target travel routes Ps and Pr by the automatic travel control by the in-vehicle electronic control unit 18 even when the vehicle is on board.

When a user or the like is on board the cabin 10, the vehicle-mounted electronic control unit 18 switches between an automatic driving state in which the tractor 1 is automatically driven and a manual driving state in which the tractor 1 is driven based on the driving of the user and the like. be able to. Therefore, it is possible to switch from the automatic driving state to the manual driving state while the target traveling routes Ps and Pr are automatically traveling in the automatic driving state, and conversely, while traveling in the manual driving state, It is possible to switch from the manual driving state to the automatic driving state. Regarding switching between the manual driving state and the automatic driving state, for example, a switching operation unit for switching between the automatic driving state and the manual driving state can be provided in the vicinity of the driver's seat 39, and the switching operation unit is carried. It can also be displayed on the display unit 51 of the communication terminal 3. Further, when the user operates the steering wheel 38 during the automatic driving control by the vehicle-mounted electronic control unit 18, the automatic driving state can be switched to the manual driving state.

As shown in FIG. 3, the traveling area data includes work area data including the shape and position of the field S, which is a work area, and road data including the shape and position of the road R. These traveling area data are preset by the user's operation on the display unit 51 of the mobile communication terminal 3.
The field S is an area in which the tractor 1 is automatically traveled along the target travel path Ps for work to perform a predetermined work (for example, work such as tillage).
On the other hand, the road R is a traveling region connecting the entrance / exit portions Sa of the fields S, and the tractor 1 is automatically traveled along the target traveling route Pr for inter-region movement to move between the two fields S. It is an area for.

As shown in FIG. 3, in the field S, the in-vehicle electronic control unit 18 automatically causes the tractor 1 to travel along the target travel path Ps for work as automatic travel control, and performs a predetermined operation (for example, work such as tillage). ) Is enabled to be executed in the field. This work target travel route Ps starts, for example, from the vicinity of the entrance / exit portion Sa in the field S, meanders in the field S, and then returns to the vicinity of the entrance / exit portion Sa in the field S. It is configured as a route.

On the other hand, on the road R, the in-vehicle electronic control unit 18 automatically travels the tractor 1 along the target travel path Pr for inter-regional movement to move between two fields S through the road R. It is configured to be executable. The target travel route Pr for inter-regional movement is, for example, a route that exits from the field S on the departure side to the road R side through the entrance / exit section Sa, and a road R in the entry / exit section Sa of the field S on the arrival side from that point. It is composed of a route to the point on the side and a route from the point on the road R side to enter the field S on the arrival side through the entrance / exit section Sa.

Further, the automatic traveling system of the present embodiment is configured to ensure sufficient safety when the tractor 1 is automatically driven to enter and exit the field S from the road R as described above. Details will be added below.
As shown in FIGS. 3, 4, and 5, each entry / exit section Sa of the field S is provided with a display 127 (an example of a status notification section) capable of displaying arbitrary information by the notification control device 126. An electric bulletin board 125 (an example of a status notification device) is installed.
The electric bulletin board 125 is configured in a portable vertical signboard type, and is provided with an upper display 127a and a lower display 127b as a display 127.
Note that FIG. 3 shows a state in which the electric bulletin board 125 is installed in all the entrance / exit sections Sa. The electric bulletin board 125 is the entry / exit section of each of the two fields S to which the tractor 1 moves. It suffices if it is installed in Sa. Further, the electric bulletin board 125 may be moved to another entrance / exit section Sa at appropriate times for use.

The notification control device 126 (an example of the notification control unit) provided on the electric bulletin board 125 wirelessly communicates with the in-vehicle electronic control unit 18 of the tractor 1 via the communication module 25 (see FIG. 2) on the tractor 1 side. It is configured to be possible. Then, the notification control device 126 indicates the entry / exit status information indicating the entry / exit status of the tractor 1 from the road R to the field S based on a predetermined notification instruction input from the in-vehicle electronic control unit 18 of the tractor 1 by wireless communication. Is displayed on the upper display 127a and the lower display 127b, and the entrance / exit status information can be notified toward the road R side.

The in-vehicle electronic control unit 18 of the tractor 1 executes the above-mentioned movement control between work areas to automatically travel the tractor 1 and execute a predetermined entry / exit status notification process when passing through the entrance / exit section Sa. It is configured. In this entry / exit status notification process, the in-vehicle electronic control unit 18 identifies the electric bulletin board 125 installed in the entry / exit section Sa that is about to pass in the target travel route Pr for inter-regional movement, and informs the notification control device 126. A notification instruction is output. The electric bulletin board 125 installed in the entrance / exit section Sa is specified by a method such as registering the communication address of the electric bulletin board 125 in advance. Further, the identification of the electric bulletin board 125 is whether it is installed in the entrance / exit section Sa through which the tractor 1 passes at the time of entry, or in the entry / exit section Sa through which the tractor 1 passes at the time of exit. Is also done so that it can be identified.

When the notification instruction is input in this way, the notification control device 126 of the electric bulletin board 125 notifies the entrance / exit status information toward the road R side in the form of displaying the entrance / exit status information on the display 127. Therefore, the driver, pedestrian, etc. of the manned vehicle on the road R side recognizes the entry / exit status information notified by the electric bulletin board 125, so that the automatically traveling tractor 1 moves from the road R to the field S. It is possible to immediately and surely grasp that the vehicle is entering or leaving the venue, which ensures safety.

The entrance / exit notification process executed by the in-vehicle electronic control unit 18 includes an entrance notification process and an exit notification process described below.
The entrance / exit notification process is an entrance / exit notification process that is executed when the tractor 1 enters the field S from the road R. In this entrance notification process, the electric bulletin board 125 installed in the entrance / exit section Sa through which the tractor 1 passes at the time of entry is specified. Then, when entering the field S from the road R through the entrance / exit section Sa, an entry notification instruction is output to the notification control device 126 of the electric bulletin board 125 installed in the entry / exit section Sa. .. Then, the notification control device 126 of the electric bulletin board 125 displays text information such as "Enter here" on the upper display 127a as shown in FIG. 5A in response to the input of the entrance notification instruction. The entrance information indicating the entrance of the tractor 1 such as an arrow from the road R side to the field S side is displayed as the entrance / exit status information.

On the other hand, the exit notification process is an entry / exit notification process executed when the tractor 1 exits from the field S to the road R. In this exit notification process, the electric bulletin board 125 installed in the entrance / exit section Sa through which the tractor 1 passes at the time of exit is specified. Then, when the field S passes through the entrance / exit section Sa and exits the road R, an exit notification instruction is output to the notification control device 126 of the electric bulletin board 125 installed in the entry / exit section Sa. Then, the notification control device 126 of the electric bulletin board 125 displays text information such as "I will come out of here" on the upper display 127a as shown in FIG. 5B in response to the input of the entrance notification instruction. The exit information indicating the exit of the tractor 1 such as an arrow from the field S side to the road R side is displayed as the entry / exit status information.

Further, the notification control device 126 of the electric bulletin board 125, when an entry notification instruction or an exit notification instruction is input from the in-vehicle electronic control unit 18 of the tractor 1, in addition to displaying the entrance information and the exit information on the upper display 127a. As shown in FIGS. 5A and 5B, information indicating on the lower display 127b that the tractor 1 is moving the entrance / exit portion Sa, such as text information such as "Robot tractor is moving". Is displayed as the above entry / exit status information.

As shown in FIG. 2, the in-vehicle electronic control unit 18 of the tractor 1 functions as an entrance / exit timing detection unit 121 that detects an entrance / exit start timing and an entrance / exit end timing. Here, the entry / exit start timing is the timing before the tractor 1 approaches the entry / exit section Sa and passes through the entry / exit section Sa. On the other hand, the entrance / exit end timing is the timing at which the tractor 1 leaves the entrance / exit section Sa after passing through the entry / exit section Sa.

The entry / exit timing detection unit 121 is above the entry / exit start timing based on the current position of the tractor 1 measured by the positioning unit 21 and the target travel route Pr for inter-region movement including the position of the entry / exit section Sa. Detects the end timing of entry and exit. The entry / exit timing detection unit 121 automatically moves the tractor 1 along the work target travel path Ps even when the tractor 1 during automatic traveling in the field S approaches the entrance / exit portion Sa, for example. When the vehicle does not pass through the entrance / exit portion Sa immediately after that, such as when the vehicle is running, the timing is not detected as the entrance / exit start timing.

The in-vehicle electronic control unit 18 of the tractor 1 has an entry / exit timing for the electric bulletin board 125 installed in the entrance / exit section Sa in the entry / exit status notification process executed when the tractor 1 passes through the entry / exit section Sa. The display of the entrance / exit information is started at the entrance / exit start timing detected by the detection unit 121, and the display of the entrance / exit information is terminated at the entrance / exit end timing detected by the entrance / exit timing detection unit 121. With this configuration, from the time when the tractor 1 starts passing through the entrance / exit section Sa to the end, the entry / exit information is notified by the electric bulletin board 125 installed in the entry / exit section Sa, and the entry / exit information is surely performed at an appropriate timing. Safety will be ensured.

For example, when exiting from the field S to the road R, the display of the entrance / exit information on the electric bulletin board 125 is started at the timing when the tractor 1 traveling in the field S approaches the entrance / exit portion Sa 10 m in front. Can be done. On the other hand, when entering the field S from the road R, the display of the entrance / exit information on the electric bulletin board 125 is started at the timing when the tractor 1 traveling on the road R approaches the entrance / exit portion Sa 30 m before. Can be done. In the present embodiment, the approach distance of the tractor 1 to the entrance / exit section Sa, which is the timing for starting the display of the entrance / exit information on the electric bulletin board 125, is set to be different between the time of entry and the time of exit. The distance can be changed as appropriate, and for example, it may be set to be the same at the time of entry and at the time of exit.

Further, the tractor 1 is provided with a display 110 capable of displaying that the vehicle is automatically traveling in a state of being visible from the outside. That is, as shown in FIG. 4, the in-vehicle electronic control unit 18 of the tractor 1 is configured to display character information such as "unmanned traveling" on the display 110 while the automatic traveling control is being executed.

[Another Embodiment]
Other embodiments of the present invention will be described. The configurations of the respective embodiments described below are not limited to being applied independently, but can also be applied in combination with the configurations of other embodiments.

(1) The configuration of the work vehicle can be changed in various ways.
For example, the work vehicle may be configured to have a hybrid specification including an engine 9 and an electric motor for traveling, or may be configured to have an electric specification including an electric motor for traveling instead of the engine 9. ..
For example, the work vehicle may be configured as a semi-crawler specification in which left and right crawlers are provided instead of the left and right rear wheels 6 as a traveling portion.
For example, the work vehicle may be configured with rear wheel steering specifications in which the left and right rear wheels 6 function as steering wheels.

(2) In the above embodiment, when the tractor 1 passes through the entrance / exit section Sa and enters / exits the field S, the entry / exit displayed on the display 127 of the electric bulletin board 125 installed in the entry / exit section Sa. Although specific examples of the information have been described, the entrance / exit information displayed on the display 127 can be changed as appropriate depending on the situation and the like. Further, the entrance / exit information may be configured to be output as voice information.

(3) In the above embodiment, the portable electric bulletin board 125 is used, but the electric bulletin board 125 may be configured as being permanently installed in the entrance / exit section Sa of the field S.

1 Tractor (working vehicle)
18 In-vehicle electronic control unit (control unit)
52 Terminal electronic control unit (control unit)
121 Entrance / exit timing detector 125 Electric bulletin board (situation notification device)
127 display (situation notification unit)
126 Notification control device (Notification control unit)
Pr Target travel route Pr Target travel route for movement between regions R Road S Field (work area)
Sa entrance / exit section

Claims (4)

It is an automatic traveling system equipped with a control unit that automatically travels the working vehicle based on the current position of the working vehicle measured by using the satellite positioning system.
The control unit can execute inter-work area movement control in which the work vehicle is automatically traveled along a predetermined inter-region movement target travel route to move between two work areas through a road.
Entry / exit status information that is installed in the entrance / exit section of the work area and indicates the entry / exit status of the work vehicle from the road to the work area in response to the input of a notification instruction from the control unit via wireless communication. Equipped with a status notification device that can notify the road side
When the control unit executes the movement control between work areas to automatically drive the work vehicle and pass the entrance / exit unit, the notification device is notified to the status notification device installed in the entrance / exit unit. An automatic driving system that executes an entry / exit status notification process that outputs an instruction to notify the entry / exit status information. The entry / exit status information includes entry information indicating the entry of the work vehicle from the road to the work area and exit information indicating the exit of the work vehicle from the work area to the road.
The notification instruction includes an entrance notification instruction for notifying the entrance information and an exit notification instruction for notifying the exit information.
The control unit executes a predetermined entrance notification process and a predetermined exit notification process as the entrance / exit status notification process.
When the work vehicle enters the work area from the road, the entrance notification process outputs the entrance notification instruction to the status notification device installed in the entrance / exit section that the work vehicle passes through at the time of entry, and outputs the entrance notification instruction to the entrance. It is a process to notify information
When the work vehicle exits from the work area to the road, the exit notification process outputs the exit notification instruction to the status notification device installed in the entrance / exit section that the work vehicle passes through at the time of exit, and outputs the exit notification instruction to the exit. The automatic traveling system according to claim 1, which is a process for notifying information. The work vehicle passes through the entrance / exit portion based on the current position of the work vehicle measured by using the satellite positioning system and the target travel route for movement between regions including the position of the entrance / exit portion. It is equipped with an entrance / exit timing detection unit that detects the previous entrance / exit start timing and the entrance / exit end timing after the work vehicle has passed the entrance / exit unit.
In the entry / exit status notification process, the control unit causes the status notification device to start notifying the entry / exit information at the entry / exit start timing detected by the entry / exit timing detection unit, and the entry / exit timing. The automatic traveling system according to claim 1 or 2, wherein the notification of the entrance / exit information is terminated at the entrance / exit end timing detected by the detection unit. A status notification device used in the automatic driving system according to any one of claims 1 to 3.
A status notification unit that can notify the entrance / exit status information,
A status notification device including a notification control unit that notifies the status notification unit of the entrance / exit status information in response to an input of a notification instruction via wireless communication.

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