JP6886626B2 - Travel area registration system for work vehicles - Google Patents

Description

The present invention relates to a traveling area registration system for a work vehicle.

Conventionally, it is known that a work vehicle such as a tractor can autonomously travel (unmanned travel) along a set route, and for example, there is one shown in Patent Document 1. The work vehicle shown in Patent Document 1 is provided with a control program for defining a work route in each of a work area (central part of the work site) where work is performed by the work vehicle and an area (peripheral part) excluding the work area. The control program makes it possible to automate a predetermined work by autonomously driving the work vehicle along the work route.

Japanese Unexamined Patent Publication No. 10-66405

However, in the conventional work vehicle capable of autonomous traveling as shown in Patent Document 1, it is necessary for the operator to drive and operate the work vehicle up to the start position of the work. For this reason, conventionally, it has been necessary for the operator to return to another accompanying work vehicle after arranging the work vehicle at the work start position, and there is a problem that the work cannot be started immediately after the work vehicle is arranged. Further, when the arrangement of the work vehicles is separated, the labor required for the operator to move becomes large.

The present invention has been made in view of the current problems, and by setting the traveling start position of the work vehicle within the area set around the area including the work path where the work is performed by the work machine. , An object of the present invention is to provide a travel area registration system for a work vehicle, which makes it easy to arrange the work vehicle at a travel start position.

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

That is, in claim 1, it is a traveling area registration system for a work vehicle that registers the shape of the traveling area in which the work vehicle travels, and the work vehicle includes a vehicle body portion and a work machine mounted on the vehicle body portion. , A position detection unit capable of detecting the position information of the vehicle body unit, a storage unit capable of storing a traveling area in which the vehicle body unit travels, and a controllable operation of the vehicle body unit in the traveling area and work by a working machine. A control unit and a route generation unit for generating a route of a vehicle body unit in the traveling region are provided, and the traveling region includes a first region including a work route in which work is performed by the work machine, and the first region. The control unit includes the second area set around the area and the travel start permission area set in the second area, and the control unit is the position detection unit in the travel area stored in the storage unit. While detecting the current position of the vehicle body unit, the vehicle body unit is controlled so as to be able to autonomously travel along the route generated by the route generation unit, and in the second region, the start of work by the work machine can be started. When instructed, it is determined whether or not the current position of the vehicle body is in the travel start permission area, and when it is determined that the vehicle body is within the travel start permission area, the vehicle body is moved from the current position to the work path. after autonomous travel to the start point, the to start operation by the working machine, the travel start permission region, set based on the deviation between the current position of the said starting point or al-rolled building imaginary extension body portion Is to be done.

According to the present invention, a travel start permission region is set in a second region set around a first region including a work path where work is performed by a work machine, and a travel start position of a work vehicle is set. By setting it within the travel start permission area, it becomes easy to arrange the work vehicle capable of autonomous traveling at the travel start position, and the work efficiency can be improved.

Schematic side view of an autonomous traveling work vehicle and a traveling work vehicle. A control block diagram of an autonomous traveling work vehicle. The figure which shows the initial screen of a remote control device. The figure which shows the field setting when using the autonomous traveling work vehicle. The figure which shows the area of a field. The figure which shows the situation at the time of starting autonomous driving of an autonomous driving work vehicle. The figure which shows the relationship between the running start position of an autonomous traveling work vehicle, and a field. The figure which shows the judgment situation by the azimuth angle at the time of starting autonomous driving to the work start position of the autonomous driving work vehicle. The figure which shows the autonomous driving situation (when the deviation α is less than a threshold value) to the work start position of an autonomous traveling work vehicle. The figure which shows the autonomous driving situation (when the deviation α exceeds a threshold value) to the work start position of an autonomous traveling work vehicle. The figure which shows the setting situation of the autonomous driving start position in an autonomous traveling work vehicle. The figure which shows the setting state of the autonomous driving start position in consideration of the azimuth angle and deviation in an autonomous driving work vehicle. A diagram showing a set shape of an autonomous traveling start position, (A) a circle, (B) a rectangle, and (C) a shape whose width narrows toward the work area side.

The configuration of the autonomous traveling work vehicle, which is the work vehicle according to the embodiment of the present invention, will be described with reference to FIGS. 1 to 5. As shown in FIG. 1, an autonomous traveling work vehicle (hereinafter, may be referred to as an unmanned vehicle) 1 capable of autonomously traveling unmanned, and a manned manned vehicle operated by an operator in cooperation with the autonomous traveling work vehicle 1. An embodiment in which the traveling work vehicle (hereinafter, may be referred to as a manned vehicle) 100 of the above is used as a tractor, and the autonomous traveling work vehicle 1 and the traveling work vehicle 100 are each equipped with a rotary tilling device as a work machine will be described. However, the work vehicle is not limited to the tractor and may be a combine or the like, and the work machine is not limited to the rotary tiller but is a ridger, a mower, a rake, a seeder, a fertilizer, etc. You may.

As used herein, the term "autonomous traveling" means that the tractor travels along a predetermined route by controlling the configuration of the tractor with respect to traveling by a control unit (ECU) provided in the tractor. Performing farm work in a single field with unmanned vehicles and manned vehicles may be referred to as cooperative work, follow-up work, accompanying work, and the like of farm work. In addition, as cooperative work of farm work, in addition to "performing farm work in a single field with unmanned vehicles and manned vehicles", "farming work in different fields such as adjacent fields with unmanned vehicles and manned vehicles at the same time" "To do" may be included.

In FIGS. 1 and 2, the overall configuration of the tractor serving as the autonomous traveling work vehicle 1 will be described. In the vehicle body 2 of the tractor, the engine 4 is installed inside the bonnet 3, the dashboard 14 is provided in the cabin 12 at the rear of the bonnet 3, and the steering handle 5 serving as a steering operation means is provided on the dashboard 14. It is provided. The rotation of the steering handle 5 rotates the directions of the front wheels 10 and 10 via the steering device. The steering actuator 40 that operates the steering device is connected to the steering controller 301 that constitutes the control unit 30. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 includes an angle sensor such as a rotary encoder, and is arranged at a rotation base of the front wheel 10. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 5 may be detected or the operating amount of the power steering may be detected. The detected value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

The control unit 30 includes a steering controller 301, an engine controller 302, a shift control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, an autonomous driving control controller 307, and the like, and each includes a CPU (central processing unit). It is equipped with a storage device such as a RAM or ROM, an interface, etc., and the storage device stores programs and data for operation, and can communicate so that information and data can be transmitted and received by CAN communication. Further, the autonomous travel control controller 307 includes a memory 309 which is a storage unit for storing programs, data, and the like.

The driver's seat 6 is arranged behind the steering wheel 5, and the mission case 7 is arranged below the driver's seat 6. Rear axle cases 9.9 are connected to the left and right sides of the mission case 7, and rear wheels 11 and 11 are supported on the rear axle cases 9.9 via axles. The power from the engine 4 is changed by the transmission (main transmission and auxiliary transmission) in the transmission case 7, and the rear wheels 11 and 11 can be driven. The transmission is composed of, for example, a hydraulic continuously variable transmission, and the movable swash plate of the variable displacement hydraulic pump is operated by a transmission means 44 such as a motor to enable shifting. The speed change means 44 is connected to the speed change control controller 303 of the control unit 30. The rotation speed of the rear wheels 11 is detected by the vehicle speed sensor 27 and input to the shift control controller 303 as the traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

A PTO clutch and a PTO transmission are housed in the mission case 7, the PTO clutch is turned on and off by the PTO on / off means 45, and the PTO on / off means 45 is connected to the autonomous travel control controller 307 of the control unit 30 via the display means 49. It is connected and can control the connection and disconnection of power to the PTO axis. Further, when a seeder, a ridge coating machine, or the like is attached as a working machine, a working machine controller 308 is provided so that the working machine can control its own control, and the working machine controller 308 is via information communication wiring (so-called ISOBUS). Is connected to the work control controller 305.

A front axle case 8 is supported on the front frame 13 that supports the engine 4, front wheels 10 and 10 are supported on both sides of the front axle case 8, and power from the mission case 7 can be transmitted to the front wheels 10 and 10. It is configured in. The front wheels 10 and 10 are steering wheels, which can be rotated by rotating the steering handle 5, and the front wheels 10 and 10 are steered left and right by a steering actuator 40 composed of a power steering cylinder that serves as a driving means for the steering device. It is rotatable. The steering actuator 40 is connected to and controlled by the steering controller 301 of the control unit 30.

The engine speed sensor 61, the water temperature sensor, the oil pressure sensor, and the like are connected to the engine controller 302, which is the engine rotation control means, so that the state of the engine 4 can be detected. The engine controller 302 detects the load from the set rotation speed and the actual rotation speed, controls the load so as not to cause an overload, and transmits the state of the engine 4 to the remote control device 112, which will be described later, so that the display device 113 can display the load. ing.

Further, a level sensor 29 for detecting the liquid level of fuel is arranged in the fuel tank 15 arranged below the step and connected to the display means 49, and the display means 49 is provided on the dashboard 14 of the autonomous traveling work vehicle 1. Display the remaining amount of fuel. Then, the remaining amount of fuel is calculated by the autonomous travel control controller 307 for the workable time, information is transmitted to the remote control device 112 via the communication device 110, and the remaining amount of fuel is displayed on the display device 113 of the remote control device 112. The workable time can be displayed. The display means for displaying the tachometer, fuel gauge, oil pressure, and abnormality may be different from the display means for displaying the current position and the like.

On the dashboard 14, a tachometer of the engine 4, a fuel gauge, a monitor indicating an abnormality, a monitor indicating an abnormality, and a display means 49 for displaying a set value and the like are arranged. The display means 49 is a touch panel type like the remote control device 112, and can input and select data, operate switches, operate buttons, and the like.

Further, the working machine 24 is mounted on the rear portion of the vehicle body portion 2 of the tractor so as to be able to move up and down via the working machine mounting device 23. In the present embodiment, a rotary tillage device is adopted as the working machine 24, and an elevating cylinder 26 is provided on the mission case 7, and the elevating cylinder 26 is expanded and contracted to form the working machine mounting device 23. The arm is rotated so that the working machine 24 can be raised and lowered. The elevating cylinder 26 is expanded and contracted by the operation of the elevating actuator 25, and the elevating actuator 25 is connected to the horizontal control controller 304 of the control unit 30. Further, a tilt cylinder is provided on one of the lift links on the left and right sides of the work equipment mounting device 23, and the tilt actuator 47 for operating the tilt cylinder is connected to the horizontal control controller 304.

A mobile GPS antenna 34 and a data receiving antenna 38 for enabling detection of position information are connected to the positioning control unit 306 serving as a position detecting unit, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 12. .. The positioning control unit 306 is provided with a position calculating means to calculate the latitude and longitude so that the current position can be displayed on the display means 49 or the display device 113 of the remote control device 112. In addition to GPS (USA), satellite positioning systems (GNSS) such as the Quasi-Zenith Satellite (Japan) and Glonass Satellite (Russia) can be used for highly accurate positioning. However, in this embodiment, GPS is used. explain.

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

The azimuth detection unit 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. Specific examples of the azimuth detection unit 32 include a magnetic azimuth sensor and the like. The azimuth detection unit 32 inputs information to the autonomous travel control controller 307 via the CAN communication means.

In this way, the autonomous travel control controller 307 calculates the signal acquired from the gyro sensor 31 and the azimuth detection unit 32 by the attitude / direction calculation means, and the attitude (direction, front-rear direction and left / right of the vehicle body unit 2) of the autonomous travel work vehicle 1 is calculated. Find the inclination of the direction, the turning direction).

The position information of the autonomous traveling work vehicle 1 is acquired by using GPS (Global Positioning System). Examples of the positioning method using GPS include various methods such as independent positioning, relative positioning, DGPS (differential GPS) positioning, and RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

In RTK-GPS (real-time kinematic-GPS) positioning, GPS observation is performed simultaneously by a reference station whose position is known and a mobile station that seeks the position, and the data observed by the reference station is used as a mobile station by radio or other means. This is a method of transmitting to the GPS in real time and finding the position of the mobile station in real time based on the position result of the reference station.

In the present embodiment, the positioning control unit 306 serving as a mobile station, the mobile GPS antenna 34, and the data receiving antenna 38 are arranged on the autonomous traveling work vehicle 1, and the fixed communication device 35, the fixed GPS antenna 36, and the data transmitting antenna serving as reference stations are arranged. 39 is arranged at a predetermined position. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, the phase is measured (relative positioning) by both the reference station and the mobile station, and the data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. It transmits to the data receiving antenna 38.

The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37, .... This signal is transmitted to the positioning control unit 306 for positioning. At the same time, the fixed GPS antenna 36, which serves as the reference station, receives the signals from the GPS satellites 37, 37, ..., Positions them with the fixed communication device 35, transmits them to the positioning control unit 306, analyzes the observed data, and moves. Determine the location of the station.

In this way, the autonomous travel control controller 307 is provided as an autonomous travel means for autonomously traveling the autonomous travel work vehicle 1. That is, the various information acquisition units connected to the autonomous travel control controller 307 acquire the traveling state of the autonomous travel work vehicle 1 as various information, and the various control units connected to the autonomous travel control controller 307 acquire the autonomous travel work vehicle 1. Control the autonomous running of 1. Specifically, the positioning control unit 306 receives the radio waves transmitted from the GPS satellites 37, 37, ..., Obtains the position information of the vehicle body 2 at set time intervals, and receives the position information from the gyro sensor 31 and the azimuth detection unit 32. The steering actuator obtains the displacement information and the azimuth information of the vehicle body unit 2 so that the vehicle body unit 2 travels along the preset path (travel path and work path) R based on the position information, the displacement information and the azimuth information. 40, the speed change means 44, the elevating actuator 25, the PTO on / off means 45, the engine controller 302, etc. are controlled to autonomously travel and automatically work.

Further, an obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and is connected to the control unit 30 so as not to come into contact with the obstacle. For example, the obstacle sensor 41 is composed of a laser sensor, an ultrasonic sensor, and a camera, is arranged at the front, side, and rear of the vehicle body 2 and is connected to the control unit 30, and is connected to the control unit 30 by the control unit 30 in front of the vehicle body 2. It detects whether there is an obstacle on the side or behind, and controls to stop running when the obstacle approaches within the set distance.

Further, the autonomous traveling work vehicle 1 is equipped with a camera 42F for photographing the front, a work machine behind, and a camera 42R for photographing the field state after the work, and is connected to the control unit 30. In the present embodiment, the cameras 42F and 42R are arranged on the front part and the rear part of the roof of the cabin 12, but the arrangement position is not limited, and the cameras 42F and 42R are arranged on the front part and the rear part in the cabin 12 or one camera. Even if the 42 is arranged in the center of the vehicle body 2 and rotated around the vertical axis to photograph the surroundings, a plurality of cameras 42 are arranged at the four corners of the vehicle body 2 to photograph the surroundings of the vehicle body 2. There may be. The images taken by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided in the traveling work vehicle 100.

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

The traveling work vehicle 100, which is a manned traveling vehicle, is operated by a worker, and the traveling work vehicle 100 is equipped with a remote control device 112 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof will be omitted. It is also possible to configure the traveling work vehicle 100 (or the remote control device 112) to be provided with a control unit for GPS.

The remote control device 112 can be attached to and detached from an operation unit such as a dashboard of the traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while being attached to the dashboard of the traveling work vehicle 100, can be carried out of the traveling work vehicle 100 and operated by being carried, or can be attached to the dashboard 14 of the autonomous traveling work vehicle 1. Can also be operated. The remote control device 112 can be configured by, for example, a notebook type or tablet type personal computer. In this embodiment, it is composed of a tablet-type personal computer.

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

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

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

When the model of the tractor is set, the setting screen for the mounting position of the mobile GPS antenna 34 appears. Since the mounting position of the mobile GPS antenna 34 differs depending on the tractor and may differ depending on the technician who mounts the mobile GPS antenna 34, the plan view of the tractor is displayed and the mounting position is set.

When the mounting position of the mobile GPS antenna 34 is set, the setting screen for the size, shape, and position of the working machine mounted on the tractor appears. The position of the work equipment is selected from the front, between the front and rear wheels, the rear, and the offset. When the setting of the work machine is completed, the setting screen of the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. The vehicle speed during work can be different for the outbound route and the inbound route. When the vehicle speed and engine speed settings are complete, the screen returns to the initial screen.

Next, the field setting will be described. When the field setting button 202 is touched, the name of the set field is displayed when the work is performed by using the tractor by the remote control device 112 in the past, that is, when the field set in the past exists. By touching and selecting the field name to be worked on this time from the displayed plurality of field names, it is possible to proceed to the route generation setting described later or return to the initial screen. It is also possible to edit or newly set the set field.

If there is no registered field, a new field setting will be used. When a new field setting is selected, as shown in FIG. 4, the tractor (autonomous traveling work vehicle 1) is positioned at one of the four corners A in the field H, and the "measurement start" button is touched. After that, the tractor is run along the outer circumference of the field H to register the field shape. Next, the operator registers the corner positions A, B, C, D and the inflection point from the registered field shape to specify the field shape.

When the field H is specified, the running start position Sr, the working direction F, and the running end position Gr are set as shown in FIG. If there is an obstacle in this field H, move the tractor to the position of the obstacle, touch the obstacle setting button (not shown), run around the obstacle, and set the obstacle. I do. If an obstacle exists in the vicinity of the periphery of the field H, or if the obstacle is smaller than the minimum turning radius and becomes too large when traveling on the outer circumference thereof, it may be registered from the displayed map of the field. When the above work is completed or when a field registered in the past is selected, a confirmation screen is displayed, and an OK (confirmation) button and an "edit / add" button are displayed. If there is a change in the field registered in the past, touch the "Edit / Add" button.

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

Next, the width of the work machine of the traveling work vehicle 100 is set. That is, the width of the work machine is input by a number. Next, set the number of skips. That is, when the autonomous traveling work vehicle 1 reaches the field edge (headland) and moves from the first work path R1 to the second work path R2, the number of routes to be skipped is set. Specifically, (1) do not skip. (2) Skip one row. (3) Skip two rows. Select one of. Next, the overlap is set. That is, the overlap amount of the work width in the work path R2 adjacent to the work path R1 is set. Specifically, (1) do not overlap. (2) Overlap. Select. If you select "Overlap", the numerical value input screen is displayed, and you cannot proceed to the next step unless you enter the numerical value.

Next, the outer circumference is set. That is, as shown in FIG. 5, an area outside the work area HA in which the work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or by the autonomous traveling work vehicle 1 is set. In other words, a headland HB that swivels in a non-working state at the field edge and a side margin HC that is a non-working area in contact with the outer periphery of the field on both the left and right sides between the headland HB and the headland HB are set. .. Therefore, field H = work area HA + headland HB + headland HB + side margin HC + side margin HC. Normally, the width Wb of the headland HB and the width Wc of the side margin HC are set to be less than twice the width of the work machine mounted on the traveling work vehicle 100, and the autonomous traveling work vehicle 1 and the traveling work vehicle 100. After the parallel running work is completed, the worker gets into the traveling work vehicle 100 and manually operates the outer circumference twice to finish the work. However, it is also possible to work on the outer circumference with the autonomous traveling work vehicle 1.

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

As for the work route Ra and the travel route Rb, the work route Ra and the travel route Rb are generated for the autonomous travel work vehicle 1 and the travel work vehicle 100, respectively. If you want to see the route after the route is generated, you can touch the route generation setting button 203 to display the simulation image and check it. The work route Ra and the travel route Rb are generated without touching the route generation setting button 203. When the work path Ra and the travel path Rb are automatically generated, the work start position Sw and the work end position Gw are set. The work start position Sw and the work end position Gw are set to the corresponding positions closest to the travel start position Sr and the travel end position Gr registered in the field setting. In addition, when each item of the route generation setting is set, the route generation setting is displayed, and "route setting button", "data transfer", and "return to home" are displayed in a selectable manner at the bottom thereof.

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

Here, a method of autonomously traveling the autonomous traveling work vehicle 1 according to the embodiment of the present invention to the work start position Sw will be described. As shown in FIG. 1, the autonomous traveling work vehicle 1 according to the embodiment of the present invention includes a vehicle body portion 2 and a work machine 24 mounted on the vehicle body portion 2, and also shown in FIGS. 1 and 2. As shown, the mobile GPS antenna 34, which is a position detecting unit capable of detecting the position information of the vehicle body unit 2, is provided. Further, the autonomous traveling work vehicle 1 is provided with a control unit 30 capable of controlling the traveling of the vehicle body unit 2 and the work by the working machine 24 in the field H which is the traveling area, and the control unit 30 causes the vehicle body unit 2 to travel. A memory 309, which is a storage unit that can store the shape, position, size, etc. of the field H, which is a traveling area, is provided. In the following description, when the control unit 30 appears, FIG. 2 will be referred to.

Then, in the autonomous traveling work vehicle 1, the data of the work path Ra and the traveling path Rb generated by the remote control device 112 are transferred to the control unit 30, stored in the memory 309, and the vehicle body unit 2 is stored by the moving GPS antenna 34. It is configured as a work vehicle capable of autonomously traveling along the work path Ra and the travel path Rb while detecting the current position N of the vehicle. The current position N of the autonomous traveling work vehicle 1 usually coincides with the position of the mobile GPS antenna 34.

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

When the current position N is located in the field H, the autonomous traveling work vehicle 1 is configured to be able to autonomously travel by the control unit 30. On the other hand, the autonomous traveling work vehicle 1 is configured so that the autonomous traveling work vehicle 1 cannot autonomously travel outside the field H (public road or the like) by the control unit 30.

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

Then, in the autonomous traveling work vehicle 1, when the current position N is located at the traveling start position Sr on the headland HB, the work start button 205 (see FIG. 3) is pressed by the operator to "start work". When the instruction of is given, as shown in FIG. 6, the control unit 30 autonomously travels from the current position N at that time to the work start position Sw, and after reaching the work start position Sw, the work machine 24 ( It can be configured to start the work according to (see FIGS. 1 and 2).

In this way, the autonomous traveling work vehicle 1 is configured so that autonomous traveling can be started at a position away from the work start position Sw. Therefore, when the distance between the entrance of the field H and the work start position Sw is large. In addition, the labor required for the operator to move can be reduced, and the efficiency of work using the autonomous traveling work vehicle 1 can be improved.

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

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

In this case, the remote control device 112 generates a route R from the point Sa to the point Sb. Generally, the route R is generated from the point Sa toward the point Sb, but when the point Sa is near the center of the left-right width of the field H, it is necessary to generate a route from the point Sa to the side opposite to the point Sb. Yes, route generation becomes complicated. Further, when the traveling work vehicle 100 works in cooperation with the autonomous traveling work vehicle 1, it becomes difficult for the operator who operates the traveling work vehicle 100 to predict which route to take next.

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

On the other hand, when the distance L is less than the predetermined set value β, "after traveling from the point Sa to the point Sc by the operation of the operator, autonomous driving accompanied by agricultural work is performed from the point Sc to the point Sb". You may let you choose. This is because when the distance L is short, the burden on the user is small. The timing of making the above selection is not limited to the above timing (that is, at the time of field setting), but a predetermined timing after the field setting is completed, for example, a route R from the point Sa to the point Sb is generated, and the user is guided to the route. It may be after presenting R (for example, displaying the above simulation image).

When the user selects "autonomous travel from point Sa to point Sc without agricultural work, and then autonomous travel with agricultural work from point Sc to point Sb", the remote control device 112 is shown in FIG. As shown in 6, in addition to the above-mentioned work route Ra and travel route Rb, a route R including a travel route Rc from the point Sa to the point Sc is generated.

On the other hand, when the user selects "after driving from the point Sa to the point Sc by the operation of the operator, the remote control device 112 performs autonomous driving with agricultural work from the point Sc to the point Sb". A route R including the work route Ra and the travel route Rb and not including the travel route Rc is generated.

That is, the autonomous traveling work vehicle 1 which is the work vehicle according to the embodiment of the present invention has a position detection capable of detecting the position information of the vehicle body portion 2, the work machine 24 mounted on the vehicle body portion 2, and the vehicle body portion 2. A moving GPS antenna 34, a memory 309 that can store a field H that is a traveling area on which the vehicle body 2 travels, and a control unit that can control the traveling of the vehicle body 2 and work by a working machine in the field H. The field H includes a work area HA, which is a first area including a work path Ra in which work is performed by the work machine 24, and a headland HB, which is a second area set around the work area HA. When the work machine 24 is instructed to start the work at the headland HB, the control unit 30 sets the vehicle body unit 2 to the work start position which is the start point of the work path Ra from the current position N of the vehicle body unit 2. After traveling to Sw, it is possible to start the work by the working machine 24. With such a configuration, it is not necessary to arrange the autonomous traveling work vehicle 1 up to the work start position Sw by the operation of the operator, and the efficiency of the work performed by the autonomous traveling work vehicle 1 can be improved.

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

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

Conventionally, it has not been considered that the orientation of the work vehicle at the work start position Sw affects the running accuracy (and thus the work accuracy) of the work vehicle. Therefore, conventionally, depending on the orientation of the work vehicle at the work start position Sw, the actual travel locus of the work vehicle may deviate from the set travel path Rb, and the work accuracy of the work vehicle capable of autonomous travel is improved. It was sometimes difficult to secure.

The autonomous traveling work vehicle 1 according to the embodiment of the present invention considers that the orientation (azimuth angle) of the autonomous traveling work vehicle 1 affects the traveling accuracy (and thus the working accuracy) when the control unit 30 generates a route. It is configured to be.

When the current position N of the autonomous traveling work vehicle 1 is located at the traveling start position Sr on the headland HB and an instruction to start work is given, the control unit 30 controls the autonomous traveling work vehicle 1 at the current position N. It is configured so that it can be determined whether or not to start autonomous traveling in consideration of the azimuth angle of the traveling work vehicle 1.

In the autonomous traveling work vehicle 1, as shown in FIG. 8, the control unit 30 determines the azimuth angle θ1 of the autonomous traveling work vehicle 1 with respect to the reference orientation X and the orientation of the autonomous traveling work vehicle 1 from the current position N to the work start position Sw. It is configured so that the angle difference dθ with the angle θ2 can be calculated, and when the calculated angle difference dθ is less than a predetermined threshold value, autonomous traveling from the current position N to the work start position Sw is permitted. It is configured to be able to.

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

Then, in the autonomous traveling work vehicle 1, when the angle difference dθ is less than a predetermined threshold value (for example, less than 10 °), the control unit 30 causes the autonomous traveling work vehicle 1 to move from the current position N to the work start position Sw. It can be configured to allow autonomous driving.

That is, the autonomous traveling work vehicle 1 which is the work vehicle according to the embodiment of the present invention includes the azimuth detection unit 32 capable of detecting the azimuth angle of the vehicle body unit 2, and the control unit 30 includes the azimuth angle of the vehicle body unit 2. Unless the angle difference dθ between θ1 and the azimuth angle θ2 from the current position N to the work start position Sw is within a predetermined threshold, the vehicle body portion 2 is not allowed to travel from the current position N to the work start position Sw. As described above, the current state of the vehicle body 2 with respect to the set work start position Sw is configured by autonomously traveling the vehicle body 2 when the angle difference dθ of the azimuth angle θ1 of the vehicle body 2 with respect to the azimuth θ2 is within a predetermined threshold value. The error of the position N can be suppressed.

Further, in the autonomous traveling work vehicle 1, as shown in FIG. 9, the control unit 30 identifies a virtual extension line f in which the first work path R1 including the work start position Sw is extended to the headland HB side, and is virtual. When the current position N with respect to the extension line f is within a predetermined deviation, the control unit 30 can be configured to allow the autonomous traveling work vehicle 1 to autonomously travel. The virtual extension line f faces the work direction F at the work start position Sw, and coincides with the direction of the first work path R1. Further, the "deviation" referred to here is a degree of deviation of the current position N with respect to the virtual extension line f, and specifically, is a distance of the current position N with respect to the virtual extension line f.

That is, in the autonomous traveling work vehicle 1, when the current position N is located in the headland HB and the instruction to start the work is given, the control unit 30 determines the current position N with respect to the virtual extension line f. It is configured so that it can be determined whether or not to start autonomous driving in consideration of the deviation.

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

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

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

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

When the deviation of the current position N with respect to the virtual extension line f is outside the predetermined deviation α, the autonomous traveling work vehicle 1 generates an additional traveling path Rb from the current position N to the work start position Sw, and additionally generates it. It can be configured to allow autonomous travel along the travel path Rb.

That is, in the autonomous traveling work vehicle 1 which is the work vehicle according to the embodiment of the present invention, the work path Ra includes the first work path R1 including the work start position Sw, and the control unit 30 performs the first work. A virtual extension line f, which is a virtual path extending the road R1 to the headland HB, is specified, and if the current position N is outside the predetermined deviation from the virtual extension line f, the vehicle travels from the current position N to the work start position Sw. It is possible to generate a route Rb and allow the vehicle body portion 2 to travel along the traveling route Rb. With such a configuration, when the current position N of the vehicle body portion 2 and the work start position Sw are separated, the autonomous traveling work vehicle 1 is set to the work start position Sw even if the operator does not manned to the work start position Sw. It can be arranged, and it is possible to save the trouble of arranging the autonomous traveling work vehicle 1 at the work start position Sw by the operator.

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

Here, a method of setting the traveling start position Sr will be described. In the autonomous traveling work vehicle 1, as shown in FIG. 11, the control unit 30 sets the traveling start position Sr, which is a position where the autonomous traveling work vehicle 1 can start autonomous traveling, in the field H. Can be done. The autonomous traveling work vehicle 1 is configured by the control unit 30 to allow the start of autonomous traveling when the current position N coincides with the traveling start position Sr.

Since the current position N of the autonomous traveling work vehicle 1 normally coincides with the position of the mobile GPS antenna 34, when the position of the mobile GPS antenna 34 coincides with the traveling start position Sr, the control unit 30 autonomously travels. Can be configured to start.

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

As shown in FIG. 11, the traveling start position Sr is preferably set on the headland HB. Further, it is more preferable that the traveling start position Sr is set on the headland HB and at a position as far as possible from the work start position Sw.

This is because if the traveling start position Sr is separated from the work start position Sw as much as possible, the orientation of the autonomous traveling work vehicle 1 while the autonomous traveling work vehicle 1 autonomously travels from the traveling start position Sr to the work start position Sw. This is because there is room to correct the corners and posture.

Further, it is more preferable that the traveling start position Sr is set to a position on the virtual extension line f and as far as possible from the work area HA of the headland HB while specifying the virtual extension line f by the control unit 30. ..

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

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

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

Further, when setting the traveling start position Sr, in consideration of the size and shape of the work machine 24, the work machine 24 is separated from the work area HA in the headland HB as much as possible within a range where the work machine 24 does not protrude from the headland HB. It is preferable to set the traveling start position Sr at the above position.

Further, in the autonomous traveling work vehicle 1, a traveling path Rb is set between the traveling start position Sr and the work start position Sw by the control unit 30 so as to travel on the headland HB, whereby the work area HA is set. The autonomous traveling work vehicle 1 can be arranged at the work start position Sw without being disturbed.

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

Therefore, in the autonomous traveling work vehicle 1, by setting the traveling start position Sr as the "region", the required accuracy at the time of positioning is relaxed, and the autonomous traveling work vehicle 1 can be easily positioned at the traveling start position Sr. It is configured to be able to do.

Specifically, in the autonomous traveling work vehicle 1, as shown in FIG. 13A, the traveling start position Sr can be set as a “circular region”. In this case, it is possible to easily set the "region" which is the running start position Sr only by specifying the center point and the radius of the running start position Sr. Further, the radius of the "circular region" in this case is preferably a radius equal to or less than the initial tolerance allowed at the work start position Sw, whereby the positioning accuracy at the work start position Sw can be ensured.

The "region" set as the traveling start position Sr is set as a "circular region" having a predetermined radius centered on a point specified by the operator, and the moving GPS antenna 34 of the autonomous traveling work vehicle 1 is set in the "region". When arranged, it is determined that the autonomous traveling work vehicle 1 is arranged at the traveling start position Sr. With such a configuration, the autonomous traveling work vehicle 1 can be easily arranged at the traveling start position Sr.

Further, by setting the "region" set as the traveling start position Sr in the headland HB, it is possible to prevent the autonomous traveling work vehicle 1 from autonomously traveling outside the field H.

The shape of the "region" set as the traveling start position Sr is not limited to a circle, and may be a polygon (rectangle in this case) as shown in FIG. 13 (B). As shown in 13 (C), the shape may be such that the left and right widths become narrower as the work start position approaches the Sw side.

1 Autonomous traveling work vehicle 2 Body part 24 Work machine 32 Azimuth detection part 34 Mobile GPS antenna (position detection part)
30 Control unit 309 Memory (storage unit)
H field (running area)
HA work area (first area)
HB headland (second area)
Ra work route Rb travel route R1 first work route f virtual extension line Sa travel start position Sw work start position N current position

Claims (1)

It is a traveling area registration system for a work vehicle that registers the shape of the traveling area in which the work vehicle travels.
The work vehicle includes a vehicle body portion, a work machine mounted on the vehicle body portion, a position detection unit capable of detecting the position information of the vehicle body portion, and a storage unit capable of storing a traveling area in which the vehicle body portion travels. A control unit capable of controlling the traveling of the vehicle body portion in the traveling region and work by the working machine, and a route generating unit for generating a route of the vehicle body portion in the traveling region are provided.
The traveling area is set in the first area including the work path where the work is performed by the work machine, the second area set around the first area, and the second area. Including the driving start permission area
The control unit
In the traveling region stored in the storage unit, the position detecting unit detects the current position of the vehicle body unit, and the vehicle body unit is controlled so as to be able to autonomously travel along the route generated by the route generating unit.
In the second region, when the start of work by the work machine is instructed, it is determined whether or not the current position of the vehicle body is in the travel start permission region, and it is determined that the vehicle is within the travel start permission region. If this is the case, the vehicle body is autonomously driven from the current position to the start point of the work path, and then the work by the work machine is started.
The traveling start permission region, the travel area registration system for a working vehicle, characterized in that it is set on the basis of a deviation between the current position of the said starting point or al-rolled building imaginary extension body portion.

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