JP7179891B2 - Driving area identification system, driving area identification method - Google Patents

Description

TECHNICAL FIELD The present invention relates to technology of an autonomously traveling work vehicle, and more particularly to technology of a travel area identification system, which is a device for identifying a travel area of an autonomous travel work vehicle.

2. Description of the Related Art Conventionally, working vehicles such as tractors that can autonomously travel (unmanned) along a set route (autonomous traveling working vehicles) are known.
The work vehicle disclosed in Patent Document 1 is provided with a control program that defines routes in each of a work area (central part of the work site) and an area (peripheral part) excluding the work area where work is performed by the work vehicle, The control program allows the work vehicle to autonomously travel along the route, thereby automating the predetermined work.

The work vehicle disclosed in Patent Document 1 is equipped with a device for registering and identifying a farm field, which is a travel area. The field shape is registered by specifying the part).

JP-A-10-66405

However, in the prior art disclosed in Patent Document 1, if the vertex of the travel locus is specified incorrectly, the shape of the farm field, which is the travel area, may be incorrectly set. In some cases, the route was set in the wrong driving area.

The present invention has been made in view of such current problems. To provide a travel area identification system capable of preventing a route from being set in an erroneous travel area by notifying that there is a travel area or correcting the setting of the travel area.

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

That is, the travel area specifying system according to the present invention includes a travel control unit that controls travel of a vehicle body, a position information acquisition unit that can acquire position information of the vehicle body, and the a traveling locus area specifying unit capable of specifying a traveling locus area of the vehicle body based on the traveling locus of the vehicle body; and specifying a traveling area in which the vehicle body travels based on a plurality of selected points selected from the traveling locus. and a notification unit capable of executing a predetermined notification, wherein the predetermined notification is given to the driving area when the driving area partially overlaps with area data obtained in advance. This is a notification suggesting that there is an error.

Further, the travel area specifying system according to the present invention includes: a travel control unit that controls travel of a vehicle body; a position information acquisition unit that can acquire position information of the vehicle body; a traveling locus area specifying unit capable of specifying a traveling locus area of the vehicle body based on the traveling locus of the vehicle body; and specifying a traveling area in which the vehicle body travels based on a plurality of selected points selected from the traveling locus. and a correction unit capable of correcting the travel area, wherein the correction unit corrects the travel area and the travel area when the travel area partially overlaps area data obtained in advance. The travel area is corrected so as to match the area data.

According to the travel area specifying system according to the present invention, when the travel area partially overlaps the area data obtained in advance in setting the route of the autonomously traveling work vehicle, it is notified that there is an error in the travel area. or by correcting the travel area so that the travel area matches the area data, it is possible to prevent a route from being set in an erroneous travel area.

1 is a schematic side view of an autonomous traveling work vehicle and an accompanying traveling work vehicle; FIG. FIG. 2 is a control block diagram of the autonomous working vehicle; The figure which shows the initial screen of a remote control. The figure which shows a field setting when using an autonomously traveling work vehicle. The figure which shows the area|region of a field. The figure which shows the acquisition condition of the driving|running|working locus|trajectory in an agricultural field. The figure which shows the setting condition of an agricultural field shape based on the driving|running|working locus|trajectory in an agricultural field. The figure which shows the erroneous setting condition of an agricultural field shape. The figure which shows the determination condition of an agricultural field shape by map information. FIG. 10A is a diagram showing a setting state of a field shape in an agricultural field (when two areas are set in one field), (A) a diagram showing a division state of a farm field, and (B) a diagram showing a setting state of an agricultural field shape. FIG. A diagram showing the setting status of the field shape (when two areas are set in one field), (A) a diagram showing the setting status of an incorrect field shape, and (B) the determination status of the field shape based on the area data. illustration.

A configuration of an autonomously traveling working vehicle, which is a working vehicle according to an embodiment of the present invention, will be described with reference to FIGS. 1 to 5. FIG. As shown in FIG. 1, an autonomous traveling work vehicle 1 capable of automatically traveling unmanned
, and a manned working vehicle 100 that is steered by a worker accompanying the autonomous traveling working vehicle 1
is a tractor, and an autonomous traveling working vehicle 1 and a working vehicle 100 are each equipped with a rotary tillage device as a working machine. However, the work vehicle is not limited to a tractor, and may be a combine harvester, etc., and the work machine is not limited to a rotary tillage device, and may be a ridge maker, a mower, a rake, a seeding machine, a fertilizer applicator, or the like. may

In this specification, the term "autonomous travel" means that the tractor travels along a predetermined route under the control of a configuration related to travel provided in the tractor by a control unit (ECU) provided in the tractor. Execution of agricultural work in a single field by unmanned vehicles and manned vehicles is sometimes referred to as cooperative work, follow-up work, accompaniment work, and the like of agricultural work. In addition, as cooperative work of agricultural work, "executing agricultural work in a single field with unmanned vehicles and manned vehicles"
In addition to , "executing agricultural work in different fields such as adjacent fields by unmanned vehicles and manned vehicles at the same time" may be included.

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

The control unit 30 includes a steering controller 301, an engine controller 302, a shift controller 303, a horizontal controller 304, a work controller 305,
A positioning control unit 306, an autonomous driving controller 307, etc. are provided, each of which has a CPU (
(Central processing unit), storage devices such as RAM and ROM, and interfaces, etc. Programs and data for operation are stored in the storage device, and communication is possible so that information and data can be sent and received by CAN communication. and Also, the autonomous driving controller 307 has a memory 309 as a storage unit in which programs, data, and the like are stored.

A driver's seat 6 is arranged behind the steering handle 5 , and a transmission case 7 is arranged below the driver's seat 6 . Rear axle cases 9, 9 are provided continuously on both left and right sides of the transmission case 7, and rear wheels 11, 11 are supported by the rear axle cases 9, 9 via axles. Power from the engine 4 is changed by a transmission (main transmission and sub-transmission) in the transmission case 7 to drive the rear wheels 11 and 11 . The speed change device is composed of, for example, a hydraulic continuously variable speed change device. The transmission means 44 is a transmission control controller 303 of the control section 30 .
is connected with The number of revolutions of the rear wheels 11 is detected by the vehicle speed sensor 27 and input to the transmission controller 303 as the running speed. However, the method of detecting the vehicle speed 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, and the PTO clutch is turned on and off by the PTO on/off means 45. It is connected so that it is possible to control the connection and disconnection of power to the PTO shaft. Further, when a seeding machine, a ridge coating machine, or the like is mounted as a working machine, a working machine controller 308 is provided so as to be able to control the working machine uniquely.
8 is connected to the work control controller 305 via an information communication wiring (so-called ISOBUS).

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

An engine speed sensor 6 is provided in an engine controller 302, which serves as engine speed control means.
1, a water temperature sensor, an oil pressure sensor, etc. are connected 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, and controls it so that it does not become overloaded. ing.

In addition, a level sensor 29 for detecting the liquid level of the fuel is arranged in the fuel tank 15 arranged below the step and connected to the display means 49. The display means 49 is provided on the dashboard 14 of the autonomous traveling work vehicle 1, Displays the remaining amount of fuel. Then, the remaining amount of fuel is calculated by the autonomous traveling controller 307, and the workable time is calculated.
2 so that the display device 113 of the remote control device 112 can display the remaining amount of fuel and the workable time. The display means for displaying the tachometer, fuel gauge, oil pressure, and abnormality may be configured separately from the display means for displaying the current position and the like.

On the dashboard 14, a display means 49 for displaying a tachometer, a fuel gauge, an oil pressure, a monitor indicating an abnormality, a set value, and the like is arranged. The display means 49 is the remote control device 1
As with 12, it is a touch panel type, enabling data input and selection, switch operation, button operation, and the like.

Further, a working machine 24 is installed via a working machine mounting device 23 on the rear portion of the vehicle body 2 of the tractor so as to be able to move up and down. In this embodiment, a rotary tillage device is employed as the working machine 24, and an elevating cylinder 26 is provided on the transmission case 7. By extending and contracting the elevating cylinder 26, an elevating device constituting the working machine mounting device 23 is operated. By rotating the arm, the working machine 24 can be raised and lowered. The lifting cylinder 26 is expanded and contracted by the operation of the lifting actuator 25 , and the lifting actuator 25 is connected to the horizontal control controller 304 of the control section 30 . A tilting cylinder is provided on one of the right and left lift links of the work implement mounting device 23 , and a tilting actuator 47 for operating the tilting cylinder is provided by the horizontal control controller 3 .
04.

The positioning control unit 306 serving as a position detection unit has a movement G for enabling detection of position information.
A PS antenna 34 and a data receiving antenna 38 are connected, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 12 . The positioning control unit 306 includes
A position calculation means is provided to calculate the latitude and longitude, and the current position is displayed on the display means 49 or the remote control device 11.
2 display device 113 can display. In addition to GPS (United States), a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonass satellite (Russia) can be used to achieve highly accurate positioning. explain.

The autonomous traveling work vehicle 1 is equipped with a gyro sensor 31 for obtaining posture change information of the vehicle body 2 and an azimuth angle detection section 32 for detecting the traveling direction, and is connected to the control section 30 .
However, since the traveling direction can be calculated from GPS position measurement, the azimuth angle detection unit 32 can be omitted. The gyro sensor 31 detects an angular velocity of tilt (pitch) in the longitudinal direction of the vehicle body 2, an angular velocity of tilt (roll) in the lateral direction of the vehicle body 2, and an angular velocity of turning (yaw). By integrally calculating the three angular velocities, it is possible to obtain the tilt angle of the vehicle body 2 in the longitudinal direction and the lateral direction, and the turning angle. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, a vibrating gyro sensor, and the like. The gyro sensor 31 is connected to the control unit 30 and inputs information on the three angular velocities to the control unit 30 .

The azimuth angle detection unit 32 detects the orientation (traveling direction) of the autonomous traveling work vehicle 1 . A specific example of the azimuth angle detection unit 32 is a magnetic azimuth sensor or the like. The azimuth angle detector 32 is C
Information is input to the autonomous driving controller 307 via the AN communication means.

In this way, the autonomous traveling controller 307 calculates the signals obtained from the gyro sensor 31 and the azimuth angle detection unit 32 by means of the attitude/azimuth calculation means, and determines the attitude of the autonomous traveling work vehicle 1 (
orientation, inclination in the front-rear direction and left-right direction of the vehicle body portion 2, and turning direction).

The position information of the autonomous traveling work vehicle 1 is obtained from GPS (Global Positioning System)
to get it. Positioning methods using GPS include independent positioning, relative positioning, and DGPS (
Differential GPS) positioning, RTK-GPS (real-time kinematic-GP
S) There are various methods such as positioning, and any of these methods can be used,
This embodiment adopts the RTK-GPS positioning method with high measurement accuracy.

RTK-GPS (real-time kinematic-GPS) positioning simultaneously performs GPS observations with a reference station whose position is known and a mobile station whose position is to be determined, and transmits the data observed at the reference station to the mobile station by wireless or other methods. , and based on the position result of the reference station, the position of the mobile station is determined in real time.

In this embodiment, a positioning control unit 306 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling working vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmitting antenna. 39 is placed in place. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, phase measurement (relative positioning) is performed by both the reference station and the mobile station. It transmits to the data receiving antenna 38 .

A mobile GPS antenna 34 arranged on the autonomous traveling working vehicle 1 is connected to GPS satellites 37, 37 .
・Receive signals from This signal is transmitted to the mobile communication device 33 and positioned. At the same time, the fixed GPS antenna 36 serving as a reference station receives signals from the GPS satellites 37, 37 . Determine station location.

Thus, the autonomous traveling controller 307 is provided as autonomous traveling means for causing the autonomous traveling work vehicle 1 to autonomously travel. That is, the various information acquisition unit connected to the autonomous traveling controller 307 acquires the traveling state of the autonomous traveling work vehicle 1 as various information,
The autonomous travel of the autonomous travel work vehicle 1 is controlled by various control units connected to the autonomous travel controller 307 . Specifically, radio waves transmitted from GPS satellites 37, 37, . Displacement information and azimuth information of the vehicle body 2 are obtained, and steering is performed so that the vehicle body 2 travels along a preset route (work route Ra and travel route Rb) based on the position information, displacement information, and azimuth information. The actuator 40, the transmission means 44, the lifting actuator 25, the PTO on/off means 45, the engine controller 302, etc. are controlled to autonomously travel and work automatically.

Further, an obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and connected to the control unit 30,
Avoid hitting obstacles. For example, the obstacle sensor 41 is composed of a laser sensor, an ultrasonic sensor, or a camera, is arranged in the front part, the side part, or the rear part of the vehicle body part 2, and is connected to the control part 30.
A control unit 30 detects whether there is an obstacle in front of, on the side of, or behind the vehicle body 2, and controls to stop traveling when the obstacle approaches within a set distance.

Further, the autonomous traveling working vehicle 1 is equipped with a camera 42</b>F for photographing the front and a camera 42</b>R for photographing the working machine at the rear and the condition of the field after work, and these are connected to the control unit 30 . Camera 42F
· 42R is arranged on the front and rear of the roof of the cabin 12 in this embodiment, but the arrangement position is not limited, and the front and rear in the cabin 12 or one camera 42 Even if it is arranged at the center of the vehicle body 2 and rotated about the vertical axis to photograph the surroundings, the plurality of cameras 4
2 may be arranged at the four corners of the vehicle body 2 and the surroundings of the vehicle body 2 may be photographed. camera 4
The video captured by 2F/42R is displayed on the display device 113 of the remote control device 112 provided in the work vehicle 100 .

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

The work vehicle 100, which is a manned traveling vehicle, is driven by a worker, and a remote control device 112 is mounted on the work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the working vehicle 100 is substantially the same as that of the autonomous traveling working vehicle 1, detailed description thereof will be omitted. Note that work vehicle 100 (or remote control device 112) may be configured to include a control unit for GPS.

The remote control device 112 is detachable from an operation unit such as a dashboard of the work vehicle 100 and the autonomous traveling work vehicle 1 . The remote control device 112 can be operated while attached to the dashboard of the work vehicle 100, carried outside the work vehicle 100 and operated, or attached to the dashboard 14 of the autonomous traveling work vehicle 1. It is possible. The remote control device 112 can be composed of, for example, a notebook or tablet personal computer. In this embodiment, a tablet personal computer is used.

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

Next, a procedure for setting the route R (work route Ra and travel route Rb) by the remote control device 112 will be described. The display device 113 of the remote control device 112 is of a touch panel type, and when the power is turned on to activate the remote control device 112, an initial screen appears. On the initial screen, as shown in FIG. 3, a tractor setting button 201 and a field setting button 20
2. A route generation setting button 203, a data transfer button 204, an operation start button 205, and an end button 206 are displayed.

First, the tractor setting will be explained. When the tractor setting button 201 is touched, the name (model) of the tractor that has been set in the past is displayed if the tractor has been used for work by the remote control device 112 in the past. When multiple tractor names are displayed, touch the name of the tractor to be used this time to select it, and then return to the initial screen.
When newly setting a tractor, the model of the tractor is specified. In this case, enter the model name directly. Alternatively, a list of a plurality of tractor models is displayed on the display device 113 so that a desired model can be selected.

When the model of the tractor is set, a screen for setting the mounting position of the mobile GPS antenna 34 appears. Since the mounting position of the mobile GPS antenna 34 varies depending on the tractor and may also differ depending on the technician who installs it, a plan view of the tractor is displayed to set the mounting position.

When the mounting position of the mobile GPS antenna 34 is set, a screen for setting the size, shape, and position of the working machine to be attached to the tractor appears. The position of the working machine is selected from the front, between the front and rear wheels, the rear, or offset. When the setting of the working machine is completed, a screen for setting 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 set to different vehicle speeds for the outward and return trips. After setting the vehicle speed and the engine speed, the screen returns to the initial screen.

Next, field setting will be described. When the farm field setting button 202 is touched, the name of the farm field that has been set is displayed if the tractor has been used to work with the remote control device 112 in the past, that is, if there is a farm field that has been set in the past. By touching and selecting the field name to be worked on this time from among the displayed field names, it is possible to proceed to route generation setting, which will be described later, or to return to the initial screen. It is also possible to edit or newly set the set field.

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

When the field H is specified, as shown in FIG. 5, a work start position Sw, a work direction F, and a work end position Gw are set. If there is an obstacle in the field H, move the tractor to the position of the obstacle, touch an obstacle setting button (not shown), travel around the obstacle, and set the obstacle. I do. If an obstacle exists in the vicinity of the field H, or if the obstacle is smaller than the minimum turning radius and becomes too large when traveling around it, 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 appears, 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 path generation setting is performed. The route generation setting can also be set by touching the route generation setting button 203 on the initial screen.
When the mode is shifted to the route generation setting mode, a selection screen for selecting the position at which the work vehicle 100 travels with respect to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the work vehicle 100 is set. Specifically, (1) the work vehicle 100 is positioned to the left rear of the autonomous traveling work vehicle 1 . (2) The work vehicle 100 is positioned to the right rear of the autonomous traveling work vehicle 1 . (3) The work vehicle 100 is positioned directly behind the autonomous traveling work vehicle 1 . (4) The work vehicle 100 does not run side by side (work is performed only by the autonomous traveling work vehicle 1). are displayed and can be selected by touching.

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

Next, perimeter setting is performed. That is, as shown in FIG. 5, an area outside the work area HA in which work is performed by the autonomously traveling work vehicle 1 and the work vehicle 100 or by the autonomously traveling work vehicle 1 is set. In other words, the headland HB that turns in a non-working state at the end of the field,
Side free land H that is a non-work area contacting the outer perimeter of the agricultural field on both the left and right sides between the headland HB and the headland HB
C is set. Therefore, field H = work area HA + headland HB + headland HB + side margin HC
+ It becomes the side free space HC. Normally, the width Wb of the headland HB and the width Wc of the side clearance HC are two times or less than the width of the working machine mounted on the working vehicle 100, and the autonomous traveling working vehicle 1 and the working vehicle 100 run side by side. After the work is finished, the worker gets into the work vehicle 100 and manually makes two laps around the outer circumference to finish the work. However, it is also possible to work the outer circumference with the autonomously traveling working vehicle 1 .

When the input of the various settings described above is completed, a confirmation screen appears, and when confirmation is touched, a route R consisting of a work route Ra and a travel route Rb is automatically generated. The work route Ra is a route generated within the work area HA, is a route that travels while performing work, and is a straight route. however,
If the work area HA is not rectangular, it may protrude. The travel route Rb is a route generated in an area (headland HB and side clearance land HC) other than the work area HA, is a route for traveling without performing work, and is a route combining straight lines and curves. , the path for turning at the headland HB.

A work route Ra and a travel route Rb are generated for the autonomously traveling work vehicle 1 and the work vehicle 100, respectively. If you want to see the route after generating the route,
By touching the route generation setting button 203, a simulation image is displayed and can be confirmed. Note that the work route Ra and the travel route Rb are generated even if the route generation setting button 203 is not touched. When the work route Ra and the travel route Rb are automatically generated, the work start position Sw and the work end position Gw are the corresponding positions closest to the start position and end position registered in the field setting.

When each item of the route generation setting is set, the route generation setting is displayed, and "Route setting button", "Transfer data", and "Return to home" are selectably displayed at the bottom.

When transferring the information, 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 . For this transfer, there are (1) a method of transferring using a terminal and (2) a method of transferring wirelessly. The control device of the traveling work vehicle 1 is directly connected, or the data is temporarily stored in a USB memory and then connected to the USB terminal of the autonomous traveling work vehicle 1 for transfer. Also, in the case of wireless transfer, the transfer is performed using a wireless LAN.

Here, the configuration of the travel area specifying device according to one embodiment of the present invention will be described. Figure 2
2, the autonomous traveling work vehicle 1 is provided with a mobile GPS antenna 34 as a positional information acquisition unit capable of acquiring the current position N, which is the positional information of the vehicle body 2. As shown in FIG. In addition, the autonomous traveling work vehicle 1
uses the current position N detected by the mobile GPS antenna 34 to specify the travel locus K of the vehicle body 2, and based on the travel locus K, the travel locus area capable of specifying the travel locus area KA of the vehicle body 2. It has a remote control device 112 which is an identification unit. In the autonomous traveling work vehicle 1, the control unit 30 can also specify the travel locus area KA of the vehicle body unit 2 based on the travel locus K, and the control unit 30 instead of the remote control device 112 , the travel locus area KA of the vehicle body portion 2 may be specified.

In addition, the remote control device 112 of the autonomous traveling work vehicle 1 determines the shape of the farm field H, which is the travel area in which the vehicle body 2 travels based on corners P to U, which are a plurality of selection points selected from the travel locus K (hereinafter referred to as It also has a function as a traveling area specifying unit capable of specifying a field shape HK). In the autonomous traveling work vehicle 1, the control unit 30 can specify the field shape HK based on the corners P to U, which are a plurality of selection points selected from the travel locus K.
Instead of the remote operation device 112, the controller 30 may be configured to identify the field shape HK.

Further, the remote control device 112 of the autonomous traveling work vehicle 1 also has a function as a correction unit capable of correcting the field shape HK. In addition, in the autonomous traveling work vehicle 1, the control unit 3
0, the field shape HK can be corrected, and the remote control device 112
Alternatively, the controller 30 may be configured to correct the field shape HK.

Furthermore, the remote control device 112 of the autonomous traveling work vehicle 1 includes a display device 113 as a notification unit capable of executing a predetermined notification.

That is, the travel area identification device 150 according to one embodiment of the present invention includes the mobile GPS antenna 34 as a position information acquisition unit capable of acquiring the current position N, which is the position information of the vehicle body 2, and the current position N
and a plurality of selection points P selected from the running trajectory K. ～U
A remote control device 112 which is a traveling area specifying unit capable of specifying the shape of the agricultural field H (agricultural field shape HK), which is a traveling area in which the vehicle body 2 travels based on the above, and a correcting unit capable of correcting the agricultural field shape HK; A control unit 30 is provided.

Next, farm field registration in the autonomous traveling work vehicle 1 according to one embodiment of the present invention will be described. Here, a case of registering an agricultural field H having an uneven shape as shown in FIG. 6 will be described as an example. In the autonomous traveling work vehicle 1, when registering a field H as shown in FIG.
to get As shown in FIG. 6, the shape of the running locus K substantially matches the outer peripheral shape of the field H. As shown in FIG. In addition, since the autonomous traveling work vehicle 1 requires a predetermined turning radius when turning, the corners of the traveling locus K are arcuate unlike the actual shape of the field H. FIG.

Next, in the field registration of the field H, the corners existing on the travel locus K are specified. As shown in FIG. 7, there are six corners P, Q, R, S, T, and U on the running locus K shown in this embodiment. , R, S, T, and U corners,
It is displayed on the display device 113 .

Next, in the field registration of the field H, the operator selects a corner existing on the travel locus K and sets the shape of the field H (field shape HK). For example, as shown in FIG. 7, when the operator selects six corners P, Q, R, S, T, and U on the travel locus K, the field shape HK shown in FIG. 7 is set. be done. If the operator selects all the corners without error, the field shape HK that substantially matches the shape of the field H can be set with high accuracy, as shown in FIG.

On the other hand, for example, when the operator selects only five corners P, Q, R, T, and U on the travel locus K (that is, when he forgets to select the corner S), FIG. A pentagonal field shape HK as shown is set. In this case, the portion of the field shape HK corresponding to the triangle RST is set as part of the field H (internal area), although it is originally an area outside the field H. In such a case, an erroneous field shape HK may be set, and the working route Ra and the traveling route Rb of the autonomous working vehicle 1 may be set outside the field H.

Therefore, in the traveling area identification device 150 according to one embodiment of the present invention, in order to prevent the work route Ra and the traveling route Rb of the autonomous traveling work vehicle 1 from being set in the range outside the field H, the following It has the configuration described.

As shown in FIG. 7, in the travel area identification device 150 according to one embodiment of the present invention, a closed area surrounded by the acquired travel locus K (hereinafter referred to as a travel locus area KA) is defined by the remote control device 112.
When it is detected that a specific point on the field shape HK automatically identified and set by is located outside the identified travel locus area KA, the remote control device 112 sets the field shape HK. It can be configured to determine that it is erroneous (that is, the field shape HK protrudes from the actual field H). The remote control device 112 is configured to issue an alarm on the display device 113 of the remote control device 112 when it determines that the field shape HK is incorrect.

That is, the traveling area identification device 150 according to the present invention determines that the agricultural field H includes an area outside the traveling locus area KA when a specific point on the set agricultural field shape HK is located outside the traveling locus area KA. It is provided with a remote control device 112 which is a determination unit that determines whether or not. According to the travel area identification device 150 having such a configuration, it is possible to more reliably prevent the route R (the work route Ra and the travel route Rb) from being set outside the field H by mistake.

Further, in the travel area specifying device 150 according to one embodiment of the present invention, the travel locus area KA is automatically specified by the remote control device 112, and the area of the set field shape HK,
When the area of the farm field shape HK exceeds the area of the running locus area KA by comparing the area of the running locus area KA, the remote controller 112 determines that the setting of the farm field shape HK is incorrect (
That is, it can be configured to determine that the field shape HK extends beyond the actual field H).

That is, when the area of the set agricultural field shape HK is larger than the area of the traveling locus area KA, the traveling area identifying device 150 according to the present invention determines that the agricultural field shape HK includes an area outside the traveling locus area KA. It has a remote control device 112 as a determination unit. According to such a travel area identification device 150, it is possible to more reliably prevent the route R (the work route Ra and the travel route Rb) from being erroneously set outside the field H.

In addition, in determining whether or not there is a portion overhanging the field H, a threshold value may be appropriately set, and when the area of the overhanging portion exceeds a predetermined threshold value, the overhanging portion is detected. It can be configured to make a determination to that effect.

Furthermore, the traveling area identification device 150 according to one embodiment of the present invention can also be configured to compare the set field shape HK with known map information. As shown in FIG. 9, in the travel area identification device 150, the map information HM of the farm field H is stored in advance in the remote control device 112, and the map information HM
It is configured to be compared with The map information HM includes position information of the field H (latitude and longitude of the end point)
, area, and shape. Then, the remote control device 112 issues an alarm on the display device 113 of the remote control device 112 when there is a portion (for example, a triangle RST shown in FIG. 9) that does not match the map information HM in the field shape HK. It consists of

Here, in the travel area identification device 150, the content of the notification performed by the display device 113 is set to suggest that the field H includes an area outside the travel locus area KA. Specific notification contents to be displayed on the display device 113 include, for example, a sentence urging the operator to confirm, such as "You need to confirm whether the corner is correct." If the route is generated as it is, the route may be generated outside the field H."

Further, in the traveling area identification device 150, instead of notifying that the agricultural field H includes an area outside the area of the traveling locus K by the display device 113, the remote control device 112 indicates that the agricultural field H is outside the area of the traveling locus K. The field shape HK may be corrected so as not to include the area.
In this case, a display is displayed on the display device 113 to confirm "whether or not to correct the field shape HK", and when the operator selects "correction", the correction by the remote control device 112 is executed. can be configured as

For example, the travel area specifying device 150 determines the field shape HK displayed on the display device 113 as
It is configured so that the operator can correct it by instructing on the screen with a touch pen. For example, the configuration can be such that the field shape HK is corrected by the operator performing an operation of additionally selecting the corner S. can.

In addition, in the configuration for comparing the map information and the like with the field shape HK, the traveling area specifying device 150 specifies the overhanging portion by the remote control device 112, and the specified overhanging portion is detected by the remote control device 112. The field shape HK may be corrected so as to be deleted.

Note that the method of identifying the field shape HK after the travel locus K is acquired is not limited to the method of identifying only the corners. For example, the acquired running locus K may be displayed on the display device 113, and the operator may specify the corner and side portions by instructing the screen with a touch pen to specify the field shape HK. According to this identification method, the field shape HK can be identified with high accuracy even when the corner is forgotten to be selected.

Alternatively, as a method of specifying the field shape HK after the travel locus K is acquired, the configuration may be such that the remote control device 112 automatically generates the farm field shape HK from the acquired travel locus K. The operator may check the generated field shape HK, and may correct the field shape HK appropriately according to the actual situation, thereby acquiring a more appropriate field shape HK.

That is, the travel area identification device 150 according to the present invention determines the current position N
and a traveling locus area identification capable of identifying the traveling locus area KA of the vehicle body 2 based on the traveling locus K of the vehicle body 2 identified using the current position N. Also, a remote travel area specifying unit that can specify a field shape HK, which is a travel area in which the vehicle body 2 travels, based on corners P to U, which are a plurality of selection points selected from the travel locus K. It is provided with an operation device 112 and a display device 113 as a notification unit capable of executing a predetermined notification, and the predetermined notification is a notification suggesting that the set field shape HK includes an area outside the travel locus area KA. .

In addition, the travel area identification device 150 according to the present invention uses the current position N which is the position information of the vehicle body 2
and a traveling locus area identification capable of identifying the traveling locus area KA of the vehicle body 2 based on the traveling locus K of the vehicle body 2 identified using the current position N. and a travel area specifying unit that can specify a field shape HK, which is a travel area in which the vehicle body 2 travels, based on the corners P to U, which are a plurality of selection points selected from the travel locus K, Further, a remote control device 112 is provided as a correction unit capable of correcting the field shape HK. When the set field shape HK includes an area outside the travel locus area KA,
The field shape HK is corrected to an area that does not include the area outside the travel locus area KA.

According to the travel area identification device 150 having such a configuration, in setting the route R (the work route Ra and the travel route Rb) of the autonomous traveling work vehicle 1, the route R is erroneously set outside the farm field H, which is the travel area. can be prevented from being set.

Next, FIG. 1 shows agricultural field registration in the autonomous traveling work vehicle 1 according to one embodiment of the present invention.
0, a case where areas are set for each of two types of crops (crop X and crop Y) will be described as an example. Here, a case where a substantially rectangular farm field H as shown in FIG. 10A is divided into two regions, and a crop X is grown in one region and a crop Y is grown in the other region will be described as an example. do.

In such a case, in order to register the area of the crop X as a field, first, the outer peripheral shape of the field H is detected by the autonomous working vehicle 1, and the field shape HK of the entire field H is specified. Here, FIG.
), the field shape HK of the entire field H is identified by selecting the corner PQRS.

Next, in order to specify the area of the crop X, a point T on the line segment PQ and a point U on the line segment RS are additionally selected, and a rectangular portion defined by the point PTUS is defined for the crop X. The field shape HK1 is identified, and the rectangular portion defined by the point QRUT is identified as the field shape HK2 for crop Y.

Here, for example, if the user erroneously selects point T and point U, as shown in FIG. There is concern that

Therefore, in the traveling area specifying device 150 according to one embodiment of the present invention, the area data DX and DY of each area of the crops X and Y are acquired in advance, and the area data DX and DY are used for each field shape H.
By comparing with K1 and HK2, it is possible to prevent erroneous field registration. The area data DX and DY of the crops X and Y include the area of each area,
Positional information of endpoints in each area, map data (including shape, area, and positional information) of each area, and the like can be used.

Then, such region data DX/DY are stored in advance in the remote control device 112, and the specified field shapes HK1 and HK2 are changed to the region data DX/DY by the remote control device 112.
By comparing with DY, erroneous field registration can be prevented.

As a result of comparison using the region data DX and DY, as shown in FIG. 11B, it was determined by the remote control device 112 that there was an error in the field shapes HK1 and HK2 (there was an overlapping portion). In this case, the display device 113 notifies. Alternatively, the field shape HK1/HK
2 is determined to have an error, the remote control device 112 corrects the arrangement of the points T and U so that the identified field shapes HK1 and HK2 match the area data DX and DY, and corrects the placement of each field. The configuration may be such that the shapes HK1 and HK2 are corrected.

2 Body part 34 Mobile GPS antenna (position detection part)
30 Control unit 112 Remote control device 113 Display device 150 Traveling area specifying device H Field (traveling area)
HK Field shape K Running locus KA Running locus area

Claims (4)

a travel control unit that controls travel of the vehicle body;
a position information acquisition unit capable of acquiring position information of the vehicle body;
a travel locus area specifying unit capable of specifying a travel locus area of the vehicle body based on the travel locus of the vehicle body specified using the position information;
A travel area in which the travel control unit can specify a travel area in which the vehicle body travels by connecting adjacent selected points on the travel locus with continuous straight lines for a plurality of selected points selected from the travel locus. a specific part;
and a notification unit capable of executing a predetermined notification,
The travel area specifying system, wherein the predetermined notification notifies that the travel area includes an area outside the travel locus area. a travel control unit that controls travel of the vehicle body;
a position information acquisition unit capable of acquiring position information of the vehicle body;
a travel locus area specifying unit capable of specifying a travel locus area of the vehicle body based on the travel locus of the vehicle body specified using the position information;
A travel area in which the travel control unit can specify a travel area in which the vehicle body travels by connecting adjacent selected points on the travel locus with continuous straight lines for a plurality of selected points selected from the travel locus. a specific part;
and a correction unit capable of correcting the travel area,
The travel area identification system, wherein the correction unit corrects the travel area to an area that does not include an area outside the travel locus area when the travel area includes an area outside the travel locus area. a step of causing the vehicle body to travel by means of a travel control unit that controls travel of the vehicle body;
a step of identifying a travel locus of the vehicle body using the position information of the vehicle body;
a step of specifying, by a processor, a travel locus region of the vehicle body based on the travel locus of the vehicle body;
a step of specifying, by a processor, a travel area in which the vehicle body is to travel, by connecting adjacent selected points on the travel locus with continuous straight lines for a plurality of selected points selected from the travel locus;
and executing a predetermined notification when the specified travel area includes an area outside the travel locus area. a step of causing the vehicle body to travel by means of a travel control unit that controls travel of the vehicle body;
a step of identifying a travel locus of the vehicle body using the position information of the vehicle body;
a step of specifying, by a processor, a travel locus region of the vehicle body based on the travel locus of the vehicle body;
a step of specifying, by a processor, a travel area in which the vehicle body is to travel, by connecting adjacent selected points on the travel locus with continuous straight lines for a plurality of selected points selected from the travel locus;
a step of correcting the travel area to an area that does not include the area outside the travel locus area when the travel area identified includes an area outside the travel locus area.

Images