KR20180100355A - Path generating device - Google Patents

Abstract

It is possible to set an obstacle area around the obstacle and prevent the path from being created, and to set the obstacle area in the package (H) so that the path set in the working area can work efficiently avoiding the obstacle area. The control unit 130 of the control unit 30 of the autonomous traveling work vehicle 1 or the remote control device 112 capable of communicating with the control unit 30 that is a route generating device capable of generating a route (Rb) for generating a work path (Ra) but not a work path (Ra) for generating a work path (Ra) for performing work in the work area A third region in which travel is prohibited in the package H and a third region in which a work route Ra is not generated but a travel route Rb for traveling can be generated It is set around Allows the fourth region to be set.

Description

Path generating device

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a traveling / working path generating device in the case where an obstacle exists in a working area for performing work by a working vehicle.

Description of the Related Art [0002] Conventionally, there is known a technique in which a tractor is provided with a position detecting means and an orientation detecting means to detect the position of a corner by running in a field, (See, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 10-66405

In the above-mentioned technique, no obstacle such as a telegraphic system, rocks, or trees existing in the package has been considered. Therefore, if the work path is set to avoid an obstacle, there is a possibility that a large unworked portion occurs around the obstacle or an unmanned work vehicle and an unmanned work vehicle run unnecessarily long routes around the obstacle.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an obstacle detection apparatus and method capable of effectively preventing an obstacle area from being created by setting an obstacle area around an obstacle, A route generating unit for generating a route to the destination;

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

That is, the present invention is a route generating apparatus having a control section capable of generating an autonomous traveling and workable route within a package, the control section including: a first area in which a work path for carrying out an operation in the package is generated; A second area set around the first area that does not create a working path but allows a traveling path for traveling to be created, a third area in which traveling is prohibited in the package, and a working path is not created And a fourth region set around the third region that enables generation of a traveling route for traveling can be set.

The present invention enables the control section to set a fifth area in which the work path connecting the fourth area and the second area is not generated in the first area.

The present invention is characterized in that the control section is capable of generating a work path in the first area excluding the third area, the fourth area and the fifth area.

In the present invention, the control unit forms the fifth area in parallel with a work path generated in the first area.

In the present invention, when the third region is set in the first region, the control unit is set so that at least one side constituting the third region is substantially parallel to a specific side constituting the first region.

The present invention relates to a route generating apparatus having a control section capable of generating an autonomous traveling and workable route in a package, wherein the control section includes: a first area in which a work path for carrying out an operation in the packaging is generated; A second region set around the first region that allows generation of a travel route for which no travel is generated but a third region in which the travel is prohibited in the package; It is possible to set a fourth region which is set around the third region which enables generation of the traveling route for the first region and the fourth region to be included in the second region when the second region and the fourth region overlap each other So that it can be set.

The present invention relates to a route generating apparatus having a control section capable of generating an autonomous traveling and workable route in a package, wherein the control section includes: a first area in which a work path for carrying out an operation in the packaging is generated; A second region set around the first region that allows generation of a travel route for which no travel is generated but a third region in which the travel is prohibited in the package; It is possible to set a fourth region which is set around the third region which enables generation of the traveling route for the first region and the sixth region which is less than the predetermined width between the second region and the fourth region, The fourth region and the sixth region can be included and set in the second region.

In the present invention, in a case where a plurality of third regions and fourth regions exist in the package, when the fourth regions are opposed to each other with a seventh region of less than a predetermined width therebetween, Can be included and set in the fourth area of either one of them.

By using the above-described means, even when an obstacle in which traveling is prohibited exists in the package, the route is set and the work can be efficiently performed.

1 is a schematic side view of an autonomous traveling work vehicle and a traveling work vehicle.
2 is a control block diagram.
3 is a diagram showing an initial screen.
4 is a view showing a package setting.
5 is a view showing an area of packaging.
6 is a view showing the shape of a package.
Fig. 7 is a view showing a state of recognizing the shape of the packaging end (field end). Fig.
8 is a view showing the correction of the package shape.
9 is a diagram showing the position and direction of environment recognition means for acquiring peripheral information.
10 is a view showing a state in which boundary feature points are selected on the display device.
11 is a view showing a state in which a package end is recognized by a distance sensor for acquiring peripheral information.
12 is a diagram showing an area in the case where an obstacle exists in the package.
Fig. 13 is a diagram showing the positioning around the obstacle. Fig.
14 is a view showing a route in the case where two packages in which an obstacle is present are sequentially operated.
Fig. 15 is a view showing a route in the case where two packages in which an obstacle is present are separately operated.
16 is a view showing a package in which an obstacle area overlaps with a dogleg;
17 is a view showing a package in which the obstacle area is separated from the open position by a predetermined distance.
18 is a view showing a plurality of obstacle areas and a predetermined distance apart from each other.
Fig. 19 is a view showing the setting of the width of the one-place.
Fig. 20 is a view showing the setting of the width of one of the openings when the openings are inclined with respect to the longitudinal direction.
Fig. 21 is a view showing the setting of the width of the side support when turning twice and turning. Fig.

(Hereinafter, also referred to as an unmanned vehicle) 1 capable of autonomous autonomous travel (hereinafter, sometimes referred to as an unmanned vehicle), and an incentive traveling work vehicle (Hereinafter sometimes referred to as an attracted vehicle) 100 as a tractor, and a rotary tiller as a working machine is mounted on the autonomous traveling work vehicle 1 and the traveling work vehicle 100, respectively. However, the working vehicle is not limited to a tractor, but may be a combine or the like. The working machine is not limited to a rotary tiller, but may be a recliner, a lawn mower, a rake, a planter or a fertilizer.

In the present specification, the term "autonomous running" means that the tractor is controlled by the control unit (ECU) included in the tractor so that the tractor travels along a predetermined path.

In some cases, the farming operation in a single package is performed as an unmanned vehicle or a manned vehicle, such as cooperative work, follow-up work, and accompanying work in agricultural work. In addition, in cooperation work of agriculture work, in addition to "to carry out agriculture work in single package as unmanned vehicle and manned vehicle", "agriculture work in different packaging such as adjacent pavement is performed at the same time Unmanned vehicle and manned vehicle "may be included.

Fig. 1 is a side view showing a schematic configuration of an autonomous traveling work vehicle and a traveling work vehicle, and Fig. 2 is a control block diagram showing these control configurations. 1 and 2, the overall configuration of a tractor which becomes an autonomous traveling work vehicle 1 will be described. A dashboard 14 is formed in the rear cabin 11 of the bonnet 2 and a dashboard 14 is mounted on the dashboard 14. The dashboard 14 is provided with an engine 3 in the bonnet 2, A steering handle 4 is formed. And the direction of the front wheels 9, 9 is rotated through the steering apparatus by the rotation of the steering handle 4. [ The steering actuator 40 for operating the steering apparatus is connected to the steering controller 301 constituting the control section 30. [ The steering direction of the autonomous running work vehicle 1 is detected by the steering sensor 20. [ The steering sensor 20 is composed of an angle sensor such as a rotary encoder and is disposed at a base portion of the front wheel 9. However, the detection structure of the steering sensor 20 is not limited to a specific one as long as the steering direction can be recognized, and the turning of the steering handle 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30. [

The control unit 30 includes a steering controller 301, an engine controller 302, a shift control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, 307, and the like, and each has a central processing unit (CPU), a storage device such as a RAM or a ROM, an interface, etc. The storage device stores programs and data for operation, And data can be transmitted and received.

A driver's seat (5) is arranged behind the steering handle (4), and a mission case (6) is arranged below the driver's seat (5). Rear axle cases 8 and 8 are formed on both right and left sides of the transmission case 6 and the rear wheels 10 and 10 are supported by the rear axle cases 8 and 8 through an axle. The power from the engine 3 is shifted by the speed change device (peripheral speed device or auxiliary speed device) in the transmission case 6 to drive the rear wheels 10 · 10. The transmission is constituted by, for example, a hydraulic type continuously variable transmission, and the movable swash plate of the variable displacement hydraulic pump can be shifted by operating the transmission means 44 such as a motor. The transmission mechanism 44 is connected to the transmission control controller 303 of the control unit 30. [ The number of revolutions of the rear wheel 10 is detected by the vehicle speed sensor 27 and input to the shift control controller 303 as the running speed. However, the method of detecting the vehicle speed and the position of the vehicle speed sensor 27 are not limited.

The PTO clutch and the PTO transmission are accommodated in the transmission case 6 and the PTO clutch is turned on and off by the PTO on-off means 45. The PTO on-off means 45 is connected to the control unit 30) so as to be able to control the power of the power to the PTO shaft. The work machine controller 308 is provided with an information communication line (so-called ISOBUS) 308. The work machine controller 308 is provided with a work machine controller 308 so that the work machine can be controlled independently when a sowing machine, (Not shown).

A front axle case 7 is supported on a front frame 13 that supports the engine 3. Front wheels 9 and 9 are supported on both sides of the front axle case 7, So that power from the front wheels 9 and 9 can be transmitted to the front wheels 9 and 9. The front wheels 9 and 9 are steered wheels so that they can be turned by a turning operation of the steering wheel 4 and are controlled by a steering actuator 40 comprising a power steering cylinder So that the front wheels 9 and 9 can be turned right and left. The steering actuator 40 is connected to the steering controller 301 of the control unit 30 and is controlled.

An engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to the engine controller 302 serving as the engine rotation control means to detect the state of the engine. The engine controller 302 detects the load from the set rotation speed and the actual rotation speed and controls the load so as not to be overloaded and sends the state of the engine 3 to the remote control device 112 to be described later, ). ≪ / RTI >

A level sensor 29 for detecting the liquid level of the fuel is disposed in the fuel tank 15 disposed below the step and connected to the display means 49. The display means 49 is connected to the fuel tank 15, It is formed on the dashboard and displays the remaining amount of fuel. The remaining amount of the fuel is calculated by the autonomous running controller 307 and information is transmitted to the remote control device 112 via the communication device 110 so that the display device 113 of the remote control device 112 The remaining fuel amount and the workable time can be displayed. Further, the display means for displaying the rotating system, the fuel system, the hydraulic pressure, and the abnormality and the display means for displaying the current position and the like may be different from each other.

On the dashboard 14, a display means 49 for displaying a monitor, a setting value, or the like indicating an engine rotation system, fuel system, hydraulic pressure, or the like is disposed. The display means 49 is of a touch panel type like the remote control device 112 and enables data input, selection, switch operation, button operation, and the like.

A rotary tiller 24 is mounted as a working machine on a rear portion of the tractor body through a work machine attachment device 23 so as to be able to move up and down. An elevating cylinder 26 is formed on the mission case 6 and the elevating cylinder 26 is expanded and contracted so that the elevating arm constituting the working machine mounting apparatus 23 is rotated to elevate and lower the rotary tiller 24 . 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. [ An inclined cylinder is formed on the left and right lift links of the machine mounting apparatus 23 and an inclination actuator 47 for operating the inclined cylinder is connected to the horizontal control controller 304. [

A positioning control unit 306 serving as a position detection unit is connected to a mobile GPS antenna (positioning antenna) 34 and a data reception antenna 38 for detecting position information, An antenna (38) is formed on the cabin (11). The positioning control unit 306 is provided with position calculation means to calculate latitude and longitude so that the current position can be displayed by the display means 49 of the display means 49 or the remote control device 112. In addition, positioning using a satellite positioning system (GNSS) such as a quasi-satellite (Japan) or a Gronas satellite (Russia) in addition to GPS (US) is possible, but this embodiment will be explained using GPS .

The autonomous running work vehicle 1 is provided with a gyro sensor 31 for obtaining posture change information of the body part and an azimuth angle detection part 32 for detecting the traveling direction and is connected to the control part 30. [ However, since the traveling direction can be calculated from the GPS position measurement, the azimuth angle detection unit 32 can be omitted.

The gyro sensor 31 detects the angular velocity of the inclination (pitch) of the autonomous running work vehicle 1 in the longitudinal direction of the body part, the angular velocity of the inclination (roll) of the body part in the lateral direction, and the angular velocity of the revolving (urine). It is possible to obtain the inclination angles and the turning angles in the front-rear direction and the left-right direction of the body portion of the autonomous running work vehicle 1 by integrally calculating the three angular velocities. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid type gyro sensor, and a vibration type gyro sensor. The gyro sensor 31 is connected to the control unit 30 and inputs information related to the three angular velocities to the control unit 30. [

The azimuth detection unit 32 detects the direction (traveling direction) of the autonomous running work vehicle 1. A concrete example of the azimuth detection unit 32 may be a self-orientation sensor or the like. The azimuth detection unit 32 inputs information to the autonomous drive control controller 307 via the CAN communication means.

In this way, the autonomic drive control controller 307 calculates the signals obtained from the gyro sensor 31 and the azimuth angle detection unit 32 by the attitude and orientation calculation means to calculate the attitude (direction, Front-rear direction, and the body-side lateral direction).

Next, the positional information of the autonomous traveling work vehicle 1 is acquired by using GPS (Global Positioning System), which is one of the satellite positioning systems.

There are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematic GPS) positioning, and any of these methods can be used as the positioning method using GPS However, in the present embodiment, an RTK-GPS positioning method with high measurement accuracy is employed.

In the RTK-GPS positioning, GPS observation is performed simultaneously in the reference station that knows the location and the mobile station in which the location is to be determined, and the data observed in the reference station is transmitted to the mobile station in real time, The position of the mobile station on the basis of the positional performance of the mobile station.

In this embodiment, the positioning control unit 306, the mobile GPS antenna 34, and the data reception antenna 38 are arranged in the autonomous traveling work vehicle 1, and the stationary communicator 35 serving as the reference station, A fixed GPS antenna 36 and a data transmission antenna 39 are arranged at predetermined positions. The RTK-GPS positioning of the present embodiment performs phase measurement (relative positioning) in both the reference station and the mobile station to transmit data positioned in the fixed communicator 35 of the reference station from the data transmitting antenna 39 And transmits it to the antenna 38.

A mobile GPS antenna 34 disposed in the autonomous running work vehicle 1 receives signals from GPS satellites 37, 37, .... This signal is transmitted to the positioning control unit 306 and is positioned. At the same time, the fixed GPS antenna 36 serving as the reference station receives the signal from the GPS satellites 37, 37, ..., transmits it to the positioning control unit 306 to guide the fixed communication device 35, And determines the position of the mobile station.

In this way, the autonomic drive controller 307 is provided as an autonomous running means for autonomously running the autonomous-traveling work vehicle 1. That is, the various information acquisition units connected to the autonomous drive controller 307 acquire the running state of the autonomous running work vehicle 1 as various kinds of information, and by the various control units connected to the autonomous drive controller 307, Thereby controlling the autonomous traveling of the autonomous traveling work vehicle 1. More specifically, the positioning control unit 306 receives the radio waves transmitted from the GPS satellites 37, 37, ..., and obtains the position information of the body part at set time intervals. The position information of the body part is obtained from the gyro sensor 31 and the azimuth detection part 32 (The traveling path and the working path) R, which are preset on the basis of the position information, the displacement information, and the azimuth information, based on the displacement information and azimuth information of the vehicle body, Off means 45, the engine controller 302, and the like so as to be able to autonomously run and work automatically.

An obstacle sensor 41 is disposed in the autonomous traveling work vehicle 1 and is connected to the control unit 30 so as not to collide with the obstacle. For example, the obstacle sensor 41 may be a laser sensor, an ultrasonic sensor, or a camera and may be disposed on the front, rear, or rear of the vehicle body to be connected to the control unit 30, It is detected whether or not there is an obstacle behind the obstacle, and when the obstacle approaches the set distance, the driving is stopped.

The autonomous traveling work vehicle 1 is also provided with a camera 42F for photographing the front side, a rear working machine, and a camera 42R for photographing the packaging state after the work, and is connected to the control section 30. [ In the present embodiment, the cameras 42F and 42R are disposed on the upper and rear portions of the roof of the cabin 11. However, the positions of the cameras 42F and 42R are not limited, and the cameras 42 and 42 may be disposed on the cabin 11, The periphery of the vehicle body may be photographed by arranging the cameras 42 around the vertical axis and arranging the plurality of cameras 42 at four corners of the vehicle body. When the emblem of the manufacturer of the autonomous traveling work vehicle 1 is attached to the cabin 11 or the bonnet 2, the cameras 42F and 42R may be arranged on the back side of the emblem. In this case, a through hole or a predetermined gap is set in the emblem, and the lens of the camera 42F or 42R corresponds to the position of the through hole or gap, so that the shooting is not disturbed. The image photographed by the cameras 42F and 42R is 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 path R to be described later of the autonomous traveling work vehicle 1 or remotely operates the autonomous traveling work vehicle 1 or controls the traveling state of the autonomous traveling work vehicle 1, (A CPU or a memory) 130, a communication device 111, a display device 113, a storage device 114, and the like.

The traveling work vehicle 100 to be the manned driving vehicle is operated by the operator to ride and operate the autonomous traveling work vehicle 1 by mounting the remote control device 112 on the traveling work vehicle 100 have. The basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, and a detailed description thereof will be omitted. It is also possible to provide a GPS control unit in the traveling work vehicle 100 (or the remote control device 112).

The remote control device 112 includes a mounting portion (not shown, for example, a remote control device 112) formed on the dashboard of the traveling work vehicle 100 and the autonomy traveling work vehicle 1, And can be detachably attached to an arm member that can be mounted and fixed. The remote control device 112 can be operated while being mounted on the mounting portion of the traveling work vehicle 100 or can be carried out by carrying it out of the traveling work vehicle 100 or mounted on the mounting portion of the autonomous traveling work vehicle 1 It is also possible to operate it as it is. The remote control device 112 can be constituted by a wireless communication terminal such as a notebook type or a tablet type personal computer. In this embodiment, a tablet-type computer is used.

The autonomous traveling work vehicle 1 and the remote control apparatus 112 are configured to communicate with each other wirelessly. 111 are formed. The communication device 111 is formed integrally with the remote control device 112. [ The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi, for example. The remote control device 112 forms a display device 113 on the casing surface with a touch panel type operation screen that is operable by touching the screen and controls the communication device 111 and the control unit 130 or the storage device 114 ) And batteries.

Next, the procedure for setting the route R by the remote control device 112 as the route generating device will be described. Fig. 3 shows an initial screen displayed on the display device 113 of the remote control device 112. Fig. However, it is also possible to set the route R by the control unit 30 included in the autonomous running work vehicle 1.

The display device 113 of the remote control device 112 is of a touch panel type, and when the power is turned on to start the remote control device 112, an initial screen is displayed. In the initial screen, as shown in Fig. 3, a tractor setting button 201, a package setting button 202, a path generation setting button 203, a data transfer button 204, a work start button 205, 206 are displayed.

First, the tractor setting will be described.

When the tractor setting button 201 is touched and the tractor is used by the remote control device 112 in the past, in other words, when the tractor set in the past exists, the tractor name (model) do. If a tractor name to be used at this time is selected by touching from a plurality of displayed tractor names, it is possible to proceed to the later-described package setting or return to the initial screen.

When a new tractor setting is performed, the model of the tractor is specified. In this case, input the model name directly. Alternatively, a model of a plurality of tractors may be 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 size, shape, and working machine position of the working machine mounted on the tractor is displayed. The position of the working machine is selected, for example, whether it is all, whether it is between the front wheel and the rear wheel, whether it is the rear wheel or the offset.

When the setting of the working machine is ended, a screen for setting the vehicle speed during the operation, the engine speed during the operation, the vehicle speed at the time of turning, and the engine speed at the time of turning is displayed. It is also possible to set the speed of the vehicle during the operation to a different vehicle speed in the roadway and the return roadway.

When the setting of the vehicle speed and the number of engine revolutions is completed, it is possible to advance to the package setting described later or to return to the initial screen.

Next, the packaging setting will be described. Fig. 4 shows a state of the outer circumferential running carried out by the user on the autonomous traveling work vehicle in the package setting. Fig. 5 shows an area set in the package, such as a work area, an interposer area, and the like.

When the package setting button 202 is touched and the operation is performed using the tractor by the remote control device 112 in the past, in other words, when the package set in the past exists, the name of the set package is displayed do. If a package name to perform an operation is selected from a plurality of displayed package names by touching, then it is possible to proceed to the path creation setting described later or return to the initial screen. It is also possible to edit the set package or set a new package.

If there is no registered package, it becomes a new package setting. When the new packing setting is selected, as shown in Fig. 4, the tractor (autonomous traveling work vehicle 1) is placed at one corner (A) of four corners in the package H, Touch the button. Thereafter, the tractor is caused to travel along the outer periphery of the package H to register the package shape. Next, the operator registers the corner positions (A, B, C, and D) and inflection points from the registered package shape to specify the package shape.

When the package H is specified, a work start position S, a work start direction F, and a work end position G are set as shown in Fig. If an obstacle exists in the package H, the tractor is moved to the position of the obstacle, and the "obstacle setting" button is touched to travel around the obstacle setting. It is also possible to display a map image of the package on the display device 113. In the case where the specified package shape is superimposed on the map image, the periphery of the obstacle is designated on the display device 113, May be performed.

When the above operation is completed or a package registered in the past is selected, a confirmation screen is displayed, and an OK button and an "edit / add" button are displayed. If there is a change in the package registered in the past, touch the "Edit / Add" button.

When the OK button is touched in the package setting, path creation is set. The route creation setting can also be set by creating a route by touching the route creation setting button 203 on the initial screen.

In the route generation setting, a selection screen is displayed on the autonomous running work vehicle 1 from which position the traveling work vehicle 100 should travel. In short, 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 positioned directly behind the autonomous traveling work vehicle 1. (3) (4) The traveling work vehicle 100 is not accompanied (the work is performed only by the autonomous traveling work vehicle 1). Are displayed and can be selected by touching.

Next, the width of the working machine of the traveling work vehicle 100 is set. In short, the width of the working machine is input as a number.

Next, the number of skips is set. That is, the number of paths to skip when the autonomous running work vehicle 1 moves from the first path to the second path at the outer periphery of the package (one end) is set. Specifically, (1) Do not skip. (2) One column skip. (3) Skip two rows. .

Next, overlap is set. In short, the overlap amount of the work width in the work path adjacent to the work path is set. Specifically, (1) does not overlap. (2) overlap. . If "overlap" is selected, the numerical value input screen is displayed, and if the numerical value is not inputted, the next step can not be performed.

Next, the outer circumference setting is performed. In other words, as shown in Fig. 5, by the autonomous traveling work vehicle 1 and the traveling work vehicle 100, or by the area outside the work area HA where work is performed by the autonomous traveling work vehicle 1 Is set. In other words, the side seals HC, which are the non-working areas contacting with the outer peripheries of the left and right side packaging between the one side edge HB and the one side edge HB, Respectively. Therefore, the package H becomes the working area HA + the interposer HB + the interposer HB + the side holding HC + the side holding HC. The width Wb of the one leg HB and the width Wc of the side holding HC are set to be not more than twice the width of the working machine mounted on the traveling working vehicle 100, The worker can get on the traveling work vehicle 100 after finishing the work performed by the vehicle 1 and the traveling work vehicle 100 and finish the work by manually changing the outer periphery by two. However, when the shape of the outer periphery of the package is not complicated, it is also possible to work the outer periphery with the autonomous traveling work vehicle 1. The width Wb of the single edge HB and the width Wc of the side edge holding HC are automatically calculated to a predetermined width in accordance with the width of the working machine in the outer peripheral setting, The width Wb of the side support HC and the width Wc of the side support HC can be changed to an arbitrary width so that the user can change the width Wb and width Wc after the change to a desired width, The width of the single edge HB, and the width of the side margin HC. However, when the width can be changed to an arbitrary width, it can not be set to the minimum setting width calculated in consideration of running, work, and safety in the package. For example, when the autonomous traveling work vehicle 1 is running or turning in the single-legged position HB or the side holding wheels HC, the width for ensuring that the working machine does not protrude out of the package is calculated as the minimum setting width .

When the input of the various settings is completed, a confirmation screen is displayed, and when the confirmation is touched, the route R is automatically generated. The route R is composed of a working route Ra and a traveling route Rb and the working route Ra is a route generated in the working area HA while traveling while performing an operation. . However, when the work area HA is not a quadrangle, the work area HA may be emptied out of the work area HA (an open edge HB and a side margin HC). The traveling route Rb is a route generated in an area outside the working area HA, and travels without performing an operation, and is a route combining a straight line and a curved line. It is mainly turning in a dogleg (HB).

The route R is generated between the autonomous traveling work vehicle 1 and the traveling work vehicle 100. [

When it is desired to view the work route after the work route is generated, a simulation image is displayed by touching the route creation setting button 203 and can be confirmed. In addition, the route R is generated even if the route creation setting button 203 is not touched. When each item of the path generation setting is set, the path generation setting is displayed, and a "path setting button", "data transfer", and "return to the home" are displayed in a lower part thereof.

When transmitting the information on the path (route R) generated by the path generation setting, the data transfer button 204 formed on the initial screen can be touched to transmit. Since this transmission is performed by the remote control device 112, it is necessary to transmit the set information to the control device of the autonomous running work vehicle 1. [ This transmission includes a method of transmitting using the terminal (1) and a method of wirelessly transmitting (2). In this embodiment, when the terminal is used, And the control device of the autonomous traveling work vehicle 1 are directly connected or stored in the USB memory once and then connected to the USB terminal of the autonomous traveling work vehicle 1 for transmission. In the case of wireless transmission, the data is transmitted using WiFi (wireless LAN).

Hereinafter, the package setting for registering the package shape will be described in more detail.

Conventionally, a work path is set based on information of a package compartment or a reference running direction obtained by learning running data obtained by manual operation (teaching running) of a package peripheral portion. However, the end of actual packaging, that is, The boundaries of the pavement, the rice paddies, and the roads are not always straight lines depending on the characteristics of the land, and it is difficult to faithfully travel along the boundary in the teaching run. In the positioning data obtained by the teaching run, there is no information on obstacles such as a telephone pole, a water intake valve, and a wall, which are locally buried in the package, so that the finishing work of the canopy or the side margin is carried out on the autonomous traveling work vehicle It could not be done autonomously. Thus, various types of information regarding the travel area are acquired, and the shape of the travel area on which the work vehicle 100 travels can be specified based on the information.

6 shows a package having a locally complicated shape change due to the presence of an obstacle at the boundary of the package end. In this embodiment, in the present embodiment, There is an example in which a telephone pole exists. Fig. 7 shows a state in which the shape of the package end is recognized as peripheral information. Here, a figure in which a telephone pole is recognized is shown. Fig. 8 shows a package shape registered after correcting the travel locus based on the peripheral information. Here, the outer circumferential shape of the package is registered in consideration of the electric pole protruding to the inside of the package H in this case.

When the package setting button 202 is touched on the display device 113 of the remote control device 112 to newly set the package or to edit the existing package to perform package setting again, After touching the button, the autonomous traveling work vehicle 1 runs. In this embodiment, the autonomous traveling work vehicle 1 is placed at one corner (A) of four corners of the package H, and the "measurement start" button is touched to package the autonomous traveling work vehicle 1 H) along the outer periphery of the vehicle. At this time, the positioning control unit 306 receives the radio waves transmitted from the GPS satellites 37, 37, ... and acquires the position information of the body part, and at the same time, the gyro sensor 31 and the azimuth angle detector 32, Displacement information and azimuth information of the vehicle body are acquired. The travel sign information based on the position information, the displacement information, and the azimuth information of the vehicle body thus acquired is acquired.

The obstacle sensor 41 and / or the cameras 42F and 42R arranged to recognize the surroundings of the autonomous traveling work vehicle 1 when the autonomous traveling work vehicle 1 travels along the outer periphery of the package H, (Environment information) of the autonomous running work vehicle 1 are also acquired by the information processing apparatus 1 of the first embodiment. The term " peripheral information " includes, for example, images of all and a side of the vehicle body obtained by the obstacle sensor 41 constituted by imaging means such as a camera, an image obtained by the camera 42F or a laser sensor or an ultrasonic sensor And the boundary between the package end and the outside of the package such as a rice paddle by the obstacle sensor 41 constituted as a distance sensor of the vehicle. In the present embodiment, an image obtained by the front camera 42F is acquired as peripheral information and displayed on the display device 113. [

And corrects the travel sign information based on the thus obtained peripheral information. Specifically, the actual peripheral edge of the package H is grasped on the basis of the image or the like obtained as the peripheral information, and the traveling locus is corrected to the outside or the inside so as to match the actual periphery, thereby correcting the traveling locus information, . Then, the traveling route of the outer periphery of the package H is set based on the outer peripheral shape. In other words, when traveling on the outer periphery of the package H, it is necessary to register the outer perimeter of the package on the inner side or the outer side of the path avoiding the obstacle depending on the nature of the obstacle, It is also possible to set an appropriate avoiding amount according to the obstacle by using the shape of the obstacle, the size pushed up to the air, etc. from the image or the like acquired as the peripheral information, and to use it for setting the traveling route in the route generating setting.

In the present embodiment, the running locus information is corrected based on the running locus information and the surrounding information (environment information). However, the running locus information may not be corrected, or the correction locus information may be corrected It is possible. Examples of the case where the correction trajectory information is not corrected include an external factor that affects the running locus information in the peripheral information (for example, when an obstacle exists in the vicinity of the package end, or when the package end is curved In this case, there is no case. In this case, the presence or absence of external factors is determined based on the peripheral information, the travel locus information is corrected when there are external factors, and the travel locus information is not corrected when there are no external factors.

When it is possible to select whether or not to correct the trajectory information, for example, when the trajectory information is acquired, an image for selecting whether to perform correction based on the peripheral information is displayed, When execution is selected, correction is executed, and when non-execution of correction is selected, correction is not executed. Alternatively, whether or not correction based on the peripheral information can be selectively set in a setting menu or the like (not shown), the travel trajectory information is automatically corrected when the correction is "yaw", and when the correction is " The information may not be corrected.

As described above, by acquiring the peripheral information and correcting the traveling locus information, the package end can be accurately grasped and registered, and when the outer periphery of the package H is in a curve or an obstacle protrudes inside the package H Even when the outer shape of the package H is complicated, such as in the case where the package H has a complicated shape, a more accurate packaging area can be registered as the packaging area.

9 shows the position and direction of the environment recognition means for acquiring the peripheral information. The arrangement of the obstacle sensor 41 for acquiring the peripheral information and the moving GPS antenna 34 of the cameras 42F and 42R in order to more accurately recognize the package stage The relative positions of the obstacle sensor 41, the cameras 42F and 42R, and the recognized package ends are clarified in consideration of the running locus at any position on the travel locus, The correction is performed based on the positional information and the direction of these. Specifically, by using the information about the height of the mounting position of the sensor or the camera, the positional information about the horizontal position, the relative positional relationship between them and the moving GPS antenna 34, and the photographing direction of the camera or the detecting direction of the sensor, The position of the package end is accurately grasped by calculating the distance between the running locus and the package end or the obstacle in consideration of the information about the position and the direction of the detection value detected by the image or the sensor acquired by the camera.

As described above, since the peripheral information has a relative positional relationship with the running locus information, the information on the package stage recognized by the environment recognition means can be used more accurately and the recognition process of the package stage is automatically performed Lt; / RTI >

As described above, the correction of the travel locus information may be automatically performed, but it may be performed in accordance with the operation of the user. For example, when a map image of a package is displayed on the display device 113, a line shape indicating a package specified on the basis of the travel sign information on the map image, or travel sign information corrected on the basis of the peripheral information In the case where the line shapes representing the packages to be specified on the basis of overlapping are displayed in a superimposed manner, the user may designate an accurate package stage by touching the display device 113, and correct the travel sign information according to the user's operation. In this case, the environmental information acquisition means (generically referred to as the environment sensor 41 and the cameras 42F and 42R described above) may be used for displaying the map image of the package on the display device 113. [ When a package end is designated, for example, a control point may be added to the line shape, and the control point may be manipulated to correct the part of the linear shape. It is also possible that the user designates one or a plurality of boundary feature points in a line shape and the travel sign information is automatically corrected based on the boundary feature points. Hereinafter, boundary feature points will be described.

10 shows a state in which the boundary feature points of the package ends are selected on the display device to register the package shape. In this example, the recognition of the outer peripheral edge of the package based on the peripheral information is performed by the obstacle sensor 41 constituted as a camera or the image obtained by the cameras 42F and 42R on the display device 113 of the remote control device 112, And touching the position to be registered as the outer peripheral edge on the display device 113. [ Namely, the operator himself / herself determines the minutiae point (that is, the boundary minutiae) of the boundary between the package and the outside in the image displayed on the display device 113, and designates on the display device 113. In this case, the display device 113 of the remote control device 112 functions as a display section for displaying the position information of the body part, the driving locus information, and the peripheral information, As shown in Fig. Then, the running locus information is corrected based on the boundary feature point designated by the user, and the changed line shape is registered as the package shape. The correction of the traveling locus information may also be performed based on the boundary feature point and the related feature point. The related feature points are feature points having the same or similar features as the boundary feature points. For example, on the map image (image data), the color feature, the saturation, and the brightness are the same or similar to the designated boundary feature points It is possible to specify the minutiae as the minutiae concerned.

However, it is also possible to store the traveling locus information and the surrounding information in association with each other in the remote control device 112, and then change the position information of the package end in the post- For example, it is possible to carry out the change as a package setting.

As a method of recognizing the outer circumferential edge of the package based on the peripheral information, in addition to performing the visual perception by the operator on the image acquired by the camera as described above, for example, the difference in color on the image data acquired by the camera Or a difference in brightness or the like, and automatically determining the displacement point on the image data as the boundary feature point. When a distance sensor such as a laser sensor or an ultrasonic sensor is used, a step located at the boundary between the package end and the rice paddle is detected as a change in distance, and the lower end of the step is used as a boundary feature point. (See FIG. 11).

In this specification, the remote control device 112 is used when setting the route R of the autonomous running work vehicle 1. Although the various settings (the tractor setting, the package setting, and the route creation setting) necessary for setting the route R are set by appropriately operating the display device 113 of the remote control device 112, May be set by the controller 30 (for example, the autonomous-drive controller 307) and various settings necessary for the setting of the route R may be set by the user appropriately operating the display means 49. [ In other words, in the system for registering the shape of the package, the remote control device 112 may not be included, and the remote control device 112 may be included. However, in the setting of the route R, .

In this specification, the correction of the running locus information is performed to specify or register the shape of the package. However, in addition to the shape of the package, or in place of the shape of the package, another region (the autonomous traveling work vehicle 1 (Traveling region) in which the vehicle travels (traveling region)). For example, to specify or register the shape of the work area described above. Further, it may be used for specifying / registering the shape of a predetermined area (non-running area) where the running of the autonomous traveling work vehicle is prohibited. For example, to specify or register the shape of the obstacle described above. Even if the specific registration target is the running region, even if it is a non-running region, there is no difference in correcting the running locus information based on the peripheral information. In general, however, running for obtaining the running locus information in the running region Travel in the non-travel region for traveling route information often travels outside the end portion of the travel region while traveling inside the end portion of the travel region. In this case, the correction of the running locus information in the running area is carried out in a direction to enlarge the area of the closed line shape specified by the running locus information, while the correction of the running locus information in the non- Is performed in a direction of reducing the area of the closed line shape.

In consideration of the invention based on the present invention described above, the present invention provides a system for registering a shape of a traveling region (in this specification, implemented by packaging, for example) on which a work vehicle travels, (Realized by, for example, the positioning control unit 306 in this specification) for acquiring the position information of the traveling work vehicle 100 by means of the navigation work vehicle (for example, realized by the GNSS) Based on the positional information of the traveling work vehicle 100 acquired by the satellite positioning system, environment information acquisition means (for example, realized by an environment recognition sensor in this specification) (Hereinafter referred to as " running locus information ") for obtaining running locus information indicating a running locus of the running traveling vehicle 100 (Realized by the control unit 130 included in the control unit 30 of the vehicle driving vehicle 100 or the wireless communication terminal (remote control device 112) capable of wireless communication with the traveling work vehicle 100) (For example, a region obtained by correcting the traveling region in this specification) by correcting the traveling locus information based on the traveling locus information acquired by the acquisition means and the environment information acquired by the environment recognition means (For example, the control unit 30 of the traveling work vehicle 100 or the wireless communication terminal capable of communicating wirelessly with the traveling work vehicle 100) that registers, as the shape of the traveling area, (Realized by the controller 130).

In the present invention, the correction of the running locus information by the registration means is carried out based also on the direction of acquiring the position information and the environment information of the environment recognition means. Further, in the present invention, it is preferable that display means capable of displaying the shape of the travel region (i.e., the shape of the travel region after correction) registered by the registration means (in this specification, for example, wireless communication (Realized by an image display section (display means 49 or display device 113) included in the terminal), operation means capable of changing the shape of the travel region displayed on the display means (in this specification, , And the registration means is configured so that the shape of the running region displayed on the display means is changed in accordance with an operation on the operating means (in the present specification, for example, by adding control points or designation of boundary feature points) And registers the changed area as the shape of the running area. Needless to say, it can be changed in accordance with the operation on the operating means before being registered by the registering means (that is, the shape of the running region before the correction).

In this way, the shape of the running area on which the traveling working vehicle 100 travels can be specified more accurately, and the specified running area can be registered.

In the above package setting, there will be described in detail a case in which there is an obstacle 400 such as softness, rock or the like in which the running of the vehicle body part is prohibited in the package H.

12, when the obstacle 400 exists in the package H, the operator moves on the autonomous traveling work vehicle 1 to a position near the obstacle 400 at the time of package setting, And travels around the periphery of the obstacle 400. [ At this time, a third area (hereinafter referred to as entry prohibited area K) is registered by designating four points (points) (401, 402, 403, and 404) which are vertices of a rectangle. The side of the quadrangle forming the outer periphery of the entry prohibited area K becomes substantially parallel to the side of the outer periphery of the package H. However, it is also possible to register using only the map displayed on the remote control device 112. For example, it is impossible to confirm the appearance, but it is a place where the entrance is prohibited, and a place where a situation that can not escape from a deep place occurs, or a place where a large stone is buried, The fault makes it possible to register as the entry prohibited area K simply without driving.

In the case where the shape of the obstacle 400 has a circular shape or a sharp shape, if the shape of the obstacle 400 is registered as a rectangle, a margin portion (a portion where work can be performed, but entry is prohibited) may become large. In such a case, as shown in Fig. 13, it is also possible to increase the designation point (401 to 405) and make the entry prohibition area K polygonal. However, the number of points is not limited. The position of the point to be designated can be moved or changed on the display device 113. In other words, since vertices are automatically set automatically, there are actually cases in which they are intended to be wider or narrower, inclination is desired, positions are shifted, polygons are set, So that the point can be moved or changed. When the entry prohibited area K is polygonal, at least one specific side is set to be substantially parallel to the side of the first area (work area HA) in the package H, So that work sheets are made as small as possible.

Then, when the entry prohibited region K of the rectangular (or polygon) into which the obstacle 400 enters is set, next, an obstacle 1 JB (second entry) which becomes the fourth region outside the predetermined length (width) And the obstacle side margin JC are set so that the obstacle area J is set in the working area HA. In other words, the obstacle region J is an entry prohibited region K in which running is prohibited, and a barrier obstacle JB (first obstacle), which is a fourth region in which a working path Ra is not generated but a traveling path Rb can be generated ) And obstacle side hold (JC). The width of the fourth zone of the obstacle obstacle JB and the obstacle obstacle JC may be two or less of the width of the working machine to terminate the operation.

It is also possible to provide a fifth region where no path is set between the second region (one side edge HB and side edge holding HC) and the fourth region (one obstacle JB and obstacle side margin JC) (HD)) is set. That is to say, after the operation of the work area HA is performed by the cooperative operation by the autonomous traveling work vehicle 1 and the traveling work vehicle 100, the operator can manually set the obstacle interlock JB and the obstacle lateral interlock JC Since it is necessary to carry out the work, it is necessary to enter the obstacle clearance (JB) or the obstacle side clearance (JC) from the interposer (HB) or the side support (HC). Therefore, it is possible to set a fifth area to be an access road so as to connect between the second area and the fourth area, and after the cooperative work is completed, the obstacle clearance JB and the obstacle side clearance JC) to enter the work. Therefore, the width of the fifth region is set to be not more than twice the width of the working machine (or the vehicle body), and not more than twice the width of the working machine. When the width of the fifth area is equal to the width of the working machine, it is not necessary to perform the operation in the fifth area when entering the fourth area. However, by performing the work in the fifth area when coming out of the fourth area, . On the other hand, when the width of the fifth region is larger than the width of the working machine, the work is performed when entering the fourth region and when coming out of the fourth region. By making the width of the fifth region equal to twice the width of the working machine, duplication of work can be prevented even if the work is performed in the fifth region when entering the fourth region and when leaving the fourth region.

The entry area HD (fifth area) is formed at a position where the distance between the second area and the fourth area is the shortest, so that the working area when entering and exiting the fourth area is made as small as possible. However, if the entry area HD is formed so as to connect therebetween when the distance between the side support HC and the obstacle side support JC is the shortest, And the work efficiency may be lowered in some cases. Thus, if the entry area HD is set to be parallel to the route R in a region where the distance between the one-legged line HB and the one-way interlocking line JB is short, it is possible to smoothly finish the work have. Since the operation of the fourth area is performed after the end of the operation of the first area (work area HA), the entry area HD is set to the side close to the work end position G to shorten the travel distance So that the working efficiency can be improved.

As described above, the autonomous traveling work vehicle 1 that enables autonomous travel and work using the satellite positioning system along the route R set in advance by the control unit 130, and the autonomous traveling work vehicle 1, And the control unit (30) of the autonomous traveling work vehicle (1), which is a route generating device, or a control unit (30) of the autonomous traveling work vehicle (1) The control unit 130 of the remote control device 112 capable of communicating with the control unit 30 is capable of generating a route R capable of autonomous travel and work within the package H, A first area where a work path Ra for carrying out an operation in the package H (work area HA) is generated and a second area in which a work path Ra is not generated (Rb) for generating A third region in which travel is prohibited in the package H and a second region that is set around the first region and a third region in which travel is prohibited in the package H and a travel route Rb It is possible to automatically set the route even if the obstacle 400 in which the travel is prohibited is present in the package H, You will be able to work.

In addition, the control unit 130 (or the control unit 30) may control the fourth area (the obstacle opener JB and the obstacle side margin JC) in the first area (work area HA) (The entry area HD) in which the work path Ra is not formed and the second area (the one-side edge HB and the side edge holding HC) ) Is performed by a cooperative work by the autonomous traveling work vehicle 1 and the traveling work vehicle 100, then enters the fourth area without spoiling the first work area to perform the work, and after the completion of the work, It can be removed while working, and the fourth area can be finished efficiently and neatly.

When the third area (entry prohibited area K) is set in the first area (work area HA), the control part 130 (or the control part 30) Since at least one side is set to be substantially parallel to the specific side constituting the first area, it is possible to make the unprocessed work at the time of path creation as small as possible.

The control section 130 (or the control section 30) forms the fifth area in parallel with the work path Ra generated in the first area (the work area HA), so that the fourth area The finish after the fifth region is worked out after the work is substantially the same as the finish which has been worked on the other work route Ra, and the overall finish can be made smooth.

Thus, when the obstacle region J is set and the work is performed along the path R, the work path Ra in the longitudinal direction in which the obstacle region J is present is divided as seen in the whole package H as a whole. The work area HA divided in the longitudinal direction includes a method of performing the other area after the end of the work of one area by the cooperation work of the autonomous traveling work vehicle 1 and the traveling work vehicle 100, There is a method in which the working vehicle 1 and the traveling work vehicle 100 work in different areas. Which one is selected depends on the position of the terrain or the obstacle region J, and the one with higher efficiency is automatically selected. However, it is possible to manually select (manually).

12, when the obstacle region J is present in the working area HA, the obstacle area J is located on the side of the obstacle area J in the working area HA, (HAL) and a right side work area (HAR), and an area adjacent to the interposer (HB) other than the remaining obstacle area (J) is divided into a full end work area HAF and a rear end work area ), And the cooperative work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 from the left side work area HAL side.

14, when the left-side work area HAL includes the even-numbered route R, the work area HA divided in the longitudinal direction of the route R is divided into the work area HA, (1) and the traveling work vehicle (100). In other words, when the work of the left side work area HAL is finished, the work of one full end area HAF (HAB? HAR? HAF when the left side work area HAL is, for example, four sets) Next, the work of the right side work area HAR is performed, and next, the work of the other rear work type work area HAB is performed and the process is finished.

15, when the left-side work area HAL includes the odd-numbered route R, the work area HA divided in the longitudinal direction of the route travels along with the self- Two units of the working vehicle 100 perform operations in different areas. That is, when the work of the left side work area HAL is completed, the work of the one-side end work area HAF (the left work area HAL, for example, (100), and the autonomous traveling work vehicle (1) carries out the post-dividing work area (HAB). Next, the right side work area HAR is operated by the autonomous traveling work vehicle 1 and the traveling work vehicle 100. [ In addition, in the case of forming the entry area HD, the group is vacated according to the number of the joins, or is vacated without work.

As described above, the control unit 130 (or the control unit 30) generates the work path Ra in the first area except for the third area, the fourth area, and the fifth area Therefore, it is possible to improve work efficiency by sequentially working all the work areas (HA).

In the case where the fourth area (the obstacle interlock JB or the obstacle side clearance JC) overlaps with the second area (either the one side HB or the side side HC) do. For example, as shown in Fig. 16, when the interposer HB and the obstacle interlock JB are overlapped, the interposer HB and the interlocking obstacle JB are integrated. In this state, the control unit 130 can set the route R by considering the obstacle interlock JB and the obstacle side interlock JC as the interposer HB so that the obstacle interlock JB and the obstacle side interlock (JC), it is possible to simplify the creation of the program.

In this manner, the autonomous traveling work vehicle 1 that enables autonomous travel and work using the satellite positioning system, and the traveling work vehicle 100 (100) that cooperates with the autonomous traveling work vehicle 1 to perform operations by the operator The control system of the control unit 30 of the autonomous traveling work vehicle 1, which is a route generating apparatus capable of generating a path capable of autonomous travel and work within the package H, The control unit 130 of the remote control device 112 capable of communicating with the control unit 30 includes a first area in which a work path Ra for performing work in the package H is generated and a first area in which a work path Ra is created A third region in which travel is prohibited in the package H, and a second region that is set in the vicinity of the work path Ra (Ra) ) Is not created, but the state (HB) or the side support HC (HC) and the second region (HC), which is set in the vicinity of the third region, It is possible to set (integrate) the fourth area in the second area in the case where the four areas (the obstacle on the obstacle JB or the obstacle side margin JC) overlap, It is not necessary to consider the work process of the female retainer JC and the route creation is simplified and the post-processing of the one-legged section HB, the side holding section HC and the obstacle section J can be easily performed.

It is also possible to arrange the sixth zone HE between the second zone (the one side edge HB and the side margin HC) and the fourth zone (the obstacle one JB or the obstacle side margin JC) The fourth region and the sixth region HE can be included and set in the second region. For example, as shown in FIG. 17, when the obstacle clearance JB is separated by the width Wj from the one-legged position HB and the width Wj thereof is less than the predetermined width T1, The sixth area HE generated in the work area HA between the first and second roads JB and HB is included in the first position HB so that the work path Ra is not set and the self- The work is set not to be carried out by the traveling work vehicle 100. [ The width of the sixth area HE between the fourth area and the second area is, for example, a distance at which the working length by the working machine is about the entire length of the tractor, and the working efficiency is lowered if the turning is repeated frequently .

In this way, when the second region and the fourth region are opposed to each other with the sixth region HE being less than the predetermined width therebetween, the control unit 130 (or the control unit 30) The narrow sixth area HE between the second area and the fourth area can be set by including the area HE in the second area by the autonomous traveling work vehicle 1 or the traveling work vehicle 100 It is not necessary to repeat the turning operation to improve work efficiency. The area where the fourth area is integrated in the second area does not need to be considered as another task as the obstacle interlock JB and the obstacle side interlock JC, The region J can be processed at one time.

When the third region and the fourth region including the obstacle 400 are present in the package H, the control section 130 (or the control section 30) , The seventh region HF can be set to be included in any one of the fourth regions HF and HF. 18, the obstacle 400 and the obstacle 401 are apart from each other in the package H, and the fourth area (obstacle interlock JB or obstacle side interlock JC) When the width Wk between the four zones (the obstacle on the obstacle JB or the obstacle side margin JC) is less than the predetermined distance T2, the seventh zone HF is integrated into one of the four zones Respectively. Further, when the width Wk is less than the predetermined width T2, the fourth region and the fourth region may be apart from each other, or a part thereof may overlap. Thus, by integrating the fourth regions, the obstacle interlock JB and the obstacle lateral interlocking JC are integrated, and the route creation and processing after the work of the work area HA are simplified.

When a plurality of obstacles 400 exist in the package H and one or a plurality of the fourth regions are shorter than the predetermined width T1 with respect to the second region, they are integrated as described above. As shown in Fig. 18, when the concave region is formed between the fourth region and the second region of the obstacle 401, the concave region may be integrated so as to eliminate the concave portion when the predetermined condition is satisfied. As the predetermined condition, for example, the area of the concave portion is less than the threshold value, the width of the concave portion is less than the threshold value (for example, the width of the tractor), and the length of the concave portion in the longitudinal direction is a threshold value Length x 2) or the like. In this case, the route creation and post-operation processing of the work area HA are simplified.

When the third region and the fourth region are present in the package H as described above, the control section 130 determines whether or not the fourth regions HF, which are less than the predetermined width, The seventh area HF can be set to be included in any one of the fourth areas, so that the route creation can be simplified.

Next, the length when the autonomous traveling work vehicle 1 or the traveling work vehicle 100 turns in the open position will be described.

The one-legged section HB is a turn area for moving the tractor to the next working path Ra without performing work on the outer periphery of the package, and has a predetermined dogleg width Wb. As shown in Fig. 19, when the wrapping H is rectangular, the dogleg width Wb is set to a distance L1 from the turning center O of the body to the rear end of the working machine, (The turning radius set for the tractor) L2, the length L3 of the larger half of the working machine width or the machine width, and the safety margin width Lsm. That is, the dogleg width Wb = L1 + L2 + L3 + Lsm.

20, when the shape of the package H is a deformed quadrangle and the interposing point HB is inclined at an angle? Relative to the traveling direction, the distance from the turning center O of the base to the rear end of the working machine The minimum turning radius L2 at the center of gravity O and the minimum turning radius L2 at the center of gravity L1 are inclined so that the distance L1 from the turning center O of the base to the rear end of the working machine at the inclined one- ) Becomes L1 cos (? - 90) = L1 sin ?, and the minimum turning radius L2 'at the gas center O at the inclined one side edge HB becomes L2 - L2 cos?. L3 and L4 have the same length as the above. That is, the intergrowth width Wb '= L1' + L2 '+ L3 + Lsm = L1 sin? + (L2 - L2 cos?) + L3 + Lsm.

When the width Wc of the side grippers HC is made as narrow as possible and the work area HA is desired to be large, a two-turn changeover turn shown in Fig. 21 is employed. The side margin width Wc in the two-turn turning turn is set such that the distance L1 from the turning center O of the gas to the rear end of the working machine and the minimum turning radius A length obtained by reducing the 3/2 working width W2 in the second line L2 and a safety margin width Lsm plus length. In short, Wc = L1 + L2 - 3 / 2W2 + Lsm.

The length obtained by subtracting the 3/2 working width W2 from the length obtained by adding the distance L1 from the turning center O of the base of the machine to the rear end of the machine and the minimum turning radius L2 at the center of the machine O, The length L5 from the gas center O to the tip of the gas, and the safety margin width Lsm. That is, the side margin Wc = L1 + L2 - 3 / 2W2 + L5 + Lsm.

Since the lengths L1, L2, L3, and L5 are acquired in advance in the tractor setting, the length of L1, L2, L3, and L5 is automatically calculated by inputting the safe margin width Lsm in the outer circumference setting for route creation. When the operator manually sets the dogleg width Wb and the side margin Wc, the input value is compared with the automatically calculated value, and the longer side is adopted so that it can be safely swiveled.

Industrial availability

INDUSTRIAL APPLICABILITY The present invention is applicable to a route generating apparatus which enables to create a traveling and a work route of an agricultural (agricultural) work vehicle that enables autonomous travel and automatic operation in a package.

1: autonomous driving work vehicle
30:
110, 111: communication device
112: remote control device
130:
H: Packing
R: Path
Ra: Work Path
Rb: Travel route
HA: Work area

Claims (8)

A route generating apparatus comprising a control section capable of generating an autonomous traveling and workable route within a field,
And a second region that is set around the first region that allows creation of a traveling route for which no working route is generated but for which a traveling route for traveling is generated, And a fourth region that is set around the third region that allows generation of a traveling route for which no working route is generated but for which the traveling route is generated can be set Characterized in that the path generating device comprises: The method according to claim 1,
Wherein the control section enables to set a fifth area in which the work path connecting the fourth area and the second area is not generated in the first area. The method according to claim 1,
Wherein the control unit is configured to allow a work path to be created in the first area except for the third area, the fourth area, and the fifth area. The method according to claim 2 or 3,
Wherein the control unit forms the fifth area in parallel with a work path generated in the first area. The method according to claim 1,
Wherein when the third region is set in the first region, the control section sets at least one side constituting the third region substantially parallel to a specific side constituting the first region. . And a control unit capable of generating an autonomous traveling and workable route within the package,
And a second region that is set around the first region that allows creation of a traveling route for which no working route is generated but for which the working route is generated, And a fourth region that is set around a third region that allows generation of a traveling route for which no working route is generated but for which the traveling route is generated, When the second area overlaps with the fourth area, the fourth area is included in the second area so that the fourth area can be set. And a control unit capable of generating an autonomous traveling and workable route within the package,
And a second region that is set around the first region that allows creation of a traveling route for which no working route is generated but for which a traveling route for traveling is generated, And a fourth region that is set around a third region that allows generation of a traveling route for which no working route is generated but for which the traveling route is generated, And the fourth region and the sixth region are included in the second region when the second region and the fourth region are opposed to each other with the sixth region being less than the predetermined width therebetween. . 8. The method according to claim 6 or 7,
Wherein the control unit is configured to control the first area and the second area in a case where a plurality of the third area and the fourth area exist in the package and the seventh area is opposed to each other with the seventh area, And the fourth region is set to be included in the route.

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