CN108780318A

CN108780318A - Coordinates measurement device

Info

Publication number: CN108780318A
Application number: CN201780010586.1A
Authority: CN
Inventors: 平松敏史
Original assignee: Yanmar Co Ltd
Current assignee: Yanmar Co Ltd
Priority date: 2016-03-07
Filing date: 2017-03-03
Publication date: 2018-11-09
Also published as: KR20190119150A; KR20180100355A; CN114859915A; KR102144244B1; KR102113414B1; WO2017154772A1

Abstract

In order to enable there are setting barrier region around barrier without generating path and enable to the path avoiding obstacles region that operating area set and efficiently carry out operation, as the coordinates measurement device that can generate path that self-discipline traveling and operation can be carried out in field (H), the control unit (130) of restraining oneself the control unit (30) or the long-distance operating device (112) that can be communicated with the control unit (30) that travel working truck (1) following region can be set：1st region generates the working path (Ra) that operation is carried out in the field (H) in the 1st region；2nd region does not generate working path (Ra) in the 2nd region but can generate the driving path (Rb) for traveling, and the 2nd region is set in around the 1st region；3rd region in the field (H) and forbids travelling；And the 4th region, it does not generate working path (Ra) in the 4th region but the driving path (Rb) for traveling can be generated, the 4th region is set in around the 3rd region.

Description

Coordinates measurement device

Technical field

The present invention relates to using working truck carry out operation operating area in there are traveling in the case of barrier/ The generating means of working path.

Background technology

Currently, there is known following technologies, that is, installation position detection unit and orientation detection unit on tractor carry out So that tractor is travelled in field and the position in corner is detected, so-called teaching traveling, thus to the operation in field Path is set.(for example, referring to patent document 1).

Patent document

Patent document 1：Japanese Unexamined Patent Publication 10-66405 bulletins

Invention content

In the technology, the barriers such as existing electric pole, stone, trees in field are not accounted for.Therefore, if Working path is set in a manner of avoiding obstacles, it is likely that can with occurring larger non-operation around barrier part, Or unmanned operation vehicle and someone's working truck carry out unnecessary traveling around barrier on longer path.

The present invention be exactly in view of the foregoing and complete, a kind of coordinates measurement device is provided, the coordinates measurement device with As under type is set, that is, there are around barrier set barrier region without generate path, and make to make Industry region setting path avoiding obstacles region and can be carried out efficiently operation.

Project to be solved by this invention is as described above, below illustrate the method for solving the project.

That is, the present invention is a kind of coordinates measurement device, have can generate can be carried out in field self-discipline traveling and The control unit in the path of operation, wherein the control unit can set following region：1st region generates in the 1st region The working path of operation is carried out in the field；2nd region does not generate working path in the 2nd region but can generate For the driving path of traveling, the 2nd region is set in around the 1st region；3rd region, in the field And forbid travelling；4th region does not generate working path in the 4th region but can generate the driving path for traveling, should 4th region is set in around the 3rd region.

In the present invention, the control unit can be set in the 1st region by the 4th region and the 2nd region company Pick up the 5th region for carrying out and not generating working path.

In the present invention, the control unit can be in the 1st region in addition to the 3rd region, the 4th region, the 5th area Remaining area other than domain generates working path.

In the present invention, the 5th region is set as putting down with the working path generated in the 1st region by the control unit Row.

In the present invention, the control unit will constitute the 3rd in the case where the 3rd region to be set in the 1st region At least one of region while be set as with constitute the 1st region it is specific while it is substantially parallel.

The present invention relates to a kind of coordinates measurement device, self-discipline traveling and work can be carried out in field by having to generate The control unit in the path of industry, wherein the control unit can set following region：1st region generates in the 1st region The working path of operation is carried out in the field；2nd region does not generate working path in the 2nd region but can generate use In the driving path of traveling, the 2nd region is set in around the 1st region；3rd region, in the field and Forbid travelling；4th region does not generate working path in the 4th region but can generate the driving path for traveling, this 4 regions are set in around the 3rd region, also, in the case where the 2nd region and the 4th region are overlapped, the control unit energy It is enough to be set as the 4th region to be contained in the 2nd region.

The present invention relates to a kind of coordinates measurement device, self-discipline traveling and work can be carried out in field by having to generate The control unit in the path of industry, wherein the control unit can set following region：1st region generates in the 1st region The working path of operation is carried out in the field；2nd region does not generate working path in the 2nd region but can generate use In the driving path of traveling, the 2nd region is set in around the 1st region；3rd region, in the field and Forbid travelling；4th region does not generate working path in the 4th region but can generate the driving path for traveling, this 4 regions are set in around the 3rd region, also, in the 2nd region and the 4th region across the 6th region less than regulation amplitude And it is opposed in the case of, the control unit can be set as the 4th region and the 6th region to be contained in the 2nd region.

In the present invention, the control unit in the field there are in the case of multiple 3rd regions and 4 region, The 4th region each other across less than regulation amplitude the 7th region and it is opposed in the case of, the 7th region can be set as include In any one the 4th region.

Invention effect

By using means as described above, even if forbidding the barrier of traveling etc to be present in the situation in field Under, it can also carry out path setting and efficiently carry out operation.

Description of the drawings

Fig. 1 is self-discipline traveling working truck and travels the summary side elevation of working truck.

Fig. 2 is control block diagram.

Fig. 3 is the figure for indicating initial picture.

Fig. 4 is the figure for indicating field setting.

Fig. 5 is the figure in the region for indicating field.

Fig. 6 is the figure for the shape for indicating field.

Fig. 7 is the figure for indicating the case where shape to field end is identified.

Fig. 8 is the figure for the correction for indicating field shape.

Fig. 9 is to indicate to obtain the position of the Context awareness unit of peripheral information and the figure of direction.

Figure 10 is figure the case where indicating to select edge feature point on the display apparatus.

Figure 11 is figure the case where indicating that field end is identified using the range sensor for obtaining peripheral information.

Figure 12 is to indicate that there are the figures in region in the case of barrier in field.

Figure 13 is the figure for indicating the position setting around barrier.

Figure 14 be indicate using two in order to there are the field of barrier carry out operation in the case of path figure.

Figure 15 be indicate using two respectively to there are the field of barrier carry out operation in the case of path figure.

Figure 16 is the figure in the field for indicating that barrier region is Chong Die with the edge of a field.

Figure 17 is the figure for indicating barrier region with the edge of a field at a distance of the field of predetermined distance.

Figure 18 be indicate there are multiple barrier regions and they at a distance of the field of predetermined distance figure.

Figure 19 is the figure of the setting for the amplitude for indicating the edge of a field.

Figure 20 is the figure of the setting for the amplitude for indicating the edge of a field of the edge of a field relative to length direction and in the case of inclined.

Figure 21 is to indicate to turn over twice and the figure of the setting of the amplitude on side ground more than needed in the case of being turned round.

Specific implementation mode

Following examples are illustrated, that is, the self-discipline traveling Operation Van of self-discipline traveling will be carried out in a manner of unmanned It (in the following, sometimes referred to as vehicle) 1 and is carried out in phase by operator (user) with self-discipline traveling working truck 1 Steering operation, someone traveling working truck (in the following, sometimes referred to as someone's vehicle) 100 is set as tractor, is travelled in self-discipline Rotary tillage device is separately installed with as working rig on working truck 1 and traveling working truck 100.But Operation Van It is not limited to tractor, can also be combine harvester etc., in addition, working rig is not limited to rotary tillage device, Can also be banking machine, grass trimmer, rake, seeder, fertilizer applicator etc..

In this specification, " self-discipline traveling " means that the control unit (ECU) having using tractor has tractor Standby is controlled such that tractor is travelled along scheduled path with the relevant structure of traveling.

Sometimes the coordination that the agricultural operation in single field is referred to as agricultural operation will be executed using vehicle and someone's vehicle Operation follows operation, operation etc. of accompanying.In addition, the coordinative operation as agricultural operation, " is utilizing vehicle and someone's vehicle Execute the agricultural operation in single field " on the basis of, can also include " to utilize vehicle and someone's vehicle in the phase same time Execute the agricultural operation in the different fields such as adjacent field ".

Fig. 1 is the side view for the outline structure for indicating self-discipline traveling working truck and travelling working truck, and Fig. 2 is to indicate The control block diagram of their control structure.In Fig. 1, Fig. 2, to being tied as the whole of tractor of self-discipline traveling working truck 1 Structure illustrates.For the automobile body part of tractor, engine 3 is provided in hood 2, the driving at 2 rear portion of hood It is provided with instrument board 14 in room 11, the steering wheel 4 as steering operation unit is provided on instrument board 14.Utilize direction disk 4 rotation simultaneously makes the direction of front-wheel 9,9 rotate via steering apparatus.The steering for making steering apparatus act Operated actuator 40 is connect with the steering controller 301 for constituting control unit 30.Operation is travelled to self-discipline using rotation direction sensor 20 The handling maneuver direction of vehicle 1 is detected.By rotary encoder, angularly sensor is constituted rotation direction sensor 20, before being configured at The rotation base portion of wheel 9.But the detection structure of rotation direction sensor 20 and be not limited, as long as can be carried out to handling maneuver direction Identification, can also be to be detected to the rotation of steering wheel 4, or be detected to the actuating quantity of power steering gear.Pass through The detected value that rotation direction sensor 20 obtains is input to the steering controller 301 of control unit 30.

Control unit 30 has steering controller 301, engine controller 302, speed Control controller 303, horizontal control Controller 304, Operation control controller 305, location control component 306, self-discipline traveling control controller 307 etc., have respectively Storage devices, the interface such as CPU (central processing unit), RAM, ROM etc. store the journey for making storage device execution act Sequence, data etc. can be communicated by CAN communication, to receive and send messages, data etc..

Driver's seat 5 is configured at 4 rear of the steering wheel, gearbox 6 is configured below driver's seat 5.Trailing wheel axle box 8,8 connects It is set to the left and right sides of gearbox 6, trailing wheel 10,10 is supported on the trailing wheel axle box 8,8 via axle.From engine 3 Power carries out speed change by the speed change gear (main transformer speed variator, secondary speed-changing device) in gearbox 6 and can drive trailing wheel 10,10. Speed change gear is for example made of Hyaulic infinite variable speed mechanism, and the variable-speed unit 44 etc. of motor etc. can be utilized to make variable capacity type Hydraulic pump movable inclined plate action and carry out speed change.Variable-speed unit 44 is connect with the speed Control controller 303 of control unit 30. The rotating speed of trailing wheel 10 is detected by vehicle speed sensor 27, and speed Control controller 303 is input to as travel speed. But the allocation position of the detection method of speed, vehicle speed sensor 27 does not limit.

PTO clutches, PTO speed change gears are accommodated in gearbox 6, PTO clutches are led to by PTO break-makes unit 45 Disconnected, PTO break-makes unit 45 travels control controller 307 via display unit 49 and with the self-discipline of control unit 30 and connect, can be right Disconnection/connection of the power transmitted to PTO shaft is controlled.In addition, having operation machine controller 308, so as to as operation Machine and working rig can be controlled alone in the case of seeder, ridger being installed etc., the operation machine controller 308 warp It is connect with Operation control controller 305 by information communications patching (so-called ISOBUS).

Front-wheel axle box 7 is supported on the front baffle 13 supported to the engine 3, and front-wheel 9,9 is supported on the front axle The both sides of case 7 are constructed so that the power from the gearbox 6 can be transferred to front-wheel 9,9.The front-wheel 9,9, which becomes, to be turned It is taken turns to manipulating, and can be operated and be rotated according to the rotation of steering wheel 4, also, front-wheel 9,9 can be turned to according to by becoming Handling maneuver actuator 40 that the power steering gear of the driving unit of manipulation device is constituted and carry out left and right turn and manipulate rotation. Handling maneuver actuator 40 connect with the steering controller 301 of control unit 30 and is controlled.

Engine speed sensor 61, water temperature sensor, hydrostatic sensor etc. are connected to rotates control list as engine The engine controller 302 of member, so as to which the state to engine is detected.By engine controller 302 according to setting Rotating speed and actual speed are detected load, control as that will not become overload, and can send the state of engine 3 It can be shown to aftermentioned long-distance operating device 112 and in display device 113.

In addition, being configured at the fuel tank 15 configured below pedal to the horizon sensor 29 that the liquid level of fuel is detected And connect with display unit 49, display unit 49 is set to the instrument board of self-discipline traveling working truck 1, is carried out to the surplus of fuel Display.Moreover, the surplus of fuel can carry out operation the activity duration by self-discipline travel controller 307, it will via communication device 110 Information is sent to long-distance operating device 112, and can show fuel residual amount in the display device 113 of long-distance operating device 112 With can the activity duration.In addition, to rotation instrument, fuel gauge, hydraulic pressure, the abnormal display unit shown and can be to current The display unit that position etc. is shown can be different structure.

On the instrument board 14 be configured with display unit 49, the display unit 49 to indicate engine rotation instrument, Monitor, the setting value etc. of fuel gauge, hydraulic pressure etc. or exception are shown.Display unit 49 is same with long-distance operating device 112 It is sample touch-screen type, additionally it is possible to carry out input, selection, switching manipulation, push-botton operation of data etc..

In addition, being installed and being set in a manner of liftable via working rig mounting device 23 at the rear portion of the automobile body part of tractor It is equipped with rotary tillage device 24 and is used as working rig.Lift cylinders 26 are provided on the gearbox 6, by making the lift cylinders 26 It is flexible, rotary tillage device 24 can be made to lift to make the lifting arm of fabrication process machine mounting device 23 rotate.Lifting Cylinder 26 stretches according to the action of lift actuator 25, and lift actuator 25 and the horizontal control controller 304 of control unit 30 connect It connects.In addition, being provided with inclined cylinder on the promotion connecting rod of the left and right side of the working rig mounting device 23, keep the inclined cylinder dynamic The tilt actuators 47 of work are connect with level control controller 304.

Make it possible to the mobile GPS antenna (positioning antenna) 34 that location information is detected and data reception antenna 38 with It is connected as the location control component 306 of position detection part, mobile GPS antenna 34 and data reception antenna 38 are set to described drive It sails on room 11.Position calculation unit is set to location control component 306 and calculates dimension and longitude so that current location It can be shown in the display device 113 of display unit 49, long-distance operating device 112.In addition, by GPS's (U.S.) On the basis of can be realized using the global position systems (GNSS) such as quasi- zenith satellite (Japan), GLONASS satellite (Russia) Positioning with high accuracy is illustrated using GPS in present embodiment.

Self-discipline traveling working truck 1 have the postural change information for obtaining automobile body part gyrosensor 31 and Azimuth test section 32 for detecting direction of travel, these components are connect with control unit 30.But due to can be according to GPS Position measure and calculate direction of travel, therefore azimuth test section 32 can be omitted.

Angle speed of the gyrosensor 31 to the inclination (pitching) on the automobile body part front-rear direction of self-discipline traveling working truck 1 The angular speed of the inclination (rolling) of degree, automobile body part left and right directions and the angular speed of turning (yaw) are detected.By to this Three angular speed carry out integral and calculatings, can find out the front-rear direction and to the left to automobile body part of self-discipline traveling working truck 1 The angle of inclination of right direction and angle of turn.As the concrete example of gyrosensor 31, mechanical gyroes sensing can be enumerated Device, optical profile type gyrosensor, fluid-type gyrosensor, oscillatory type gyrosensor etc..Gyrosensor 31 and control unit 30 connections, will be with three relevant information inputs of angular speed to control unit 30.

Azimuth test section 32 is detected the direction (direction of travel) of self-discipline traveling working truck 1.As azimuth The concrete example of test section 32 can enumerate magnetic azimuth sensor etc..Azimuth test section 32 is via CAN communication unit and to self-discipline Traveling control 307 input information of controller.

In this way, self-discipline traveling control controller 307 is using posture/orientation arithmetic element and to from above-mentioned gyrosensor 31, the signal that azimuth test section 32 obtains carries out operation, finds out the posture of self-discipline traveling working truck 1 (before direction, automobile body part The inclination of rear direction and automobile body part left and right directions, turn direction).

Then, self-discipline traveling Operation Van is obtained using the GPS (global positioning system) as one of global position system 1 location information.

As the localization method for using GPS, independent positioning can be enumerated, relative positioning, DGPS (differential GPS) are positioned, The various methods such as RTK-GPS (dynamic-GPS in real time) positioning, can also use above-mentioned any means, in present embodiment In, using the high RTK-GPS positioning methods of measurement accuracy.

RTK-GPS positioning is following method, that is, in the reference station for having grasped position and the movement station for wanting to claim out position Point is carried out at the same time GPS observations, and the data observed in reference station are sent to mobile site in real time by the methods of wireless, Position achievement based on reference station and the position for finding out mobile site in real time.

In the present embodiment, self-discipline traveling working truck 1 configuration as mobile site location control component 306, Mobile GPS antenna 34 and data reception antenna 38, fixed communication machine 35, fixed GPS antenna 36 and data as reference station Transmission antenna 39 is configured at specified position.The RTK-GPS of present embodiment be located in reference station and mobile site both sides into The measurement (relative positioning) of row phase, by the data oriented by the fixed communication machine 35 of reference station from data transmission antenna 39 It is sent to data reception antenna 38.

The mobile GPS antenna 34 for being configured at self-discipline traveling working truck 1 receives the signal from GPS satellite 37,37 ....It should Signal is sent to location control component 306 and is positioned.Moreover, simultaneously by the fixation GPS antenna 36 as reference station The signal from GPS satellite 37,37 ... is received, location control component 306 is positioned and be sent to by fixed communication machine 35, The data observed are parsed and are determined with the position of mobile site.

In this way, self-discipline travel controller 307 is arranged to the self-discipline row for making self-discipline traveling working truck 1 carry out self-discipline traveling Sail unit.It is used as certainly that is, obtaining various information by the various information acquisition components being connect with self-discipline travel controller 307 The transport condition of rule traveling working truck 1, goes to self-discipline by the various control members being connect with self-discipline travel controller 307 The self-discipline traveling for sailing working truck 1 is controlled.Specifically, receiving from the electric wave that GPS satellite 37,37 ... is sent and fixed The location information of automobile body part is solved with setting time interval in the control member 306 of position, by gyrosensor 31 and Azimuth test section 32 and the displacement information and azimuth information for finding out automobile body part, so that automobile body part is believed based on above-mentioned position Breath, displacement information and azimuth information and along the mode that preset path (driving path and working path) R is travelled, it is right The progress such as handling maneuver actuator 40, variable-speed unit 44, lift actuator 25, PTO break-makes unit 45, engine controller 302 Control, to carry out self-discipline traveling and can automatically carry out operation.

In addition, obstacle sensor 41 is configured at self-discipline traveling working truck 1 and is connect with control unit 30, so that will not It is collided with barrier.For example, obstacle sensor 41 is made of laser sensor, ultrasonic sensor, camera, it is configured at vehicle body The front in portion, side, rear portion are simultaneously connect with control unit 30, by control unit 30 to the front, side, rear of automobile body part whether There are barriers to be detected, and it is so that traveling is stopped if barrier is close within setpoint distance to control.

In addition, the camera 42F shot to front, being shot to the working rig at rear, post-job field state Camera 42R be equipped on self-discipline traveling working truck 1, and connect with control unit 30.Camera 42F, 42R match in the present embodiment It is placed on the front on the cabin top of driver's cabin 11 and on rear portion, but allocation position does not limit, and can also be such as lower structure, that is, A camera 42 is configured at automobile body part center on front in driver's cabin 11 and rear portion and it is made to be revolved centered on vertical axle Then surrounding is shot, multiple cameras 42 are also configured at four corners of automobile body part and to being clapped around automobile body part It takes the photograph.In addition, working as the case where driver's cabin 11, hood 2 etc. are equipped with the mark of the manufacturing company of self-discipline traveling working truck 1 Under, camera 42F, 42R can also be configured in the back side of the mark.In this case, through hole or rule are set in mark Fixed gap so that location matches of the camera lens of camera 42F, 42R with the through hole or with gap are shot without interfering.By The image that camera 42F, 42R take is shown in the display dress for the long-distance operating device 112 that traveling working truck 100 has Set 113.

Long-distance operating device 112 sets the aftermentioned path R of the self-discipline traveling working truck 1, is gone to self-discipline Working truck 1 is sailed to carry out remote operation, supervise the transport condition of self-discipline traveling working truck 1, the working condition of working rig Stored depending on or to work data, have control unit (CPU, memory) 130, communication device 111, display device 113, Storage device 114 etc..

The operator of traveling working truck 100 as someone's driving vehicle carries out driver behavior by bus, also, is expert at Working truck 100 is sailed to carry long-distance operating device 112 and self-discipline traveling working truck 1 can be operated.Travel Operation Van 100 basic structure is to travel 1 same structure of working truck with self-discipline, therefore omit detailed description.In addition, also It can be set as the structure for the control member for having GPS in traveling working truck 100 (or long-distance operating device 112).

Long-distance operating device 112 relative to traveling working truck 100 and self-discipline traveling working truck 1 instrument board, The upper mounting portion being arranged such as pillar of driver's cabin 11 is ((not shown) for example to install fixed arm for long-distance operating device 112 Component) it is dismantled and assembled.For long-distance operating device 112, can in the state of being installed on the mounting portion of traveling working truck 100 into Row operation can also take out of except traveling working truck 100 and movably be operated, and can also be installed on self-discipline traveling operation It is operated in the state of the mounting portion of vehicle 1.Long-distance operating device 112 can be by such as notebook type, plate individual The wireless communication terminals such as computer are constituted.In the present embodiment, it is made of plate computer.

Also, long-distance operating device 112 and self-discipline traveling working truck 1 are configured to wirelessly mutually carry out Communication, self-discipline traveling working truck 1 and long-distance operating device 112 be separately provided for the communication device communicated 110, 111.Communication device 111 is integrally formed with long-distance operating device 112.Communication unit is configured to for example, by nothings such as WiFi Line LAN and communicate with each other.Long-distance operating device 112 will be set as the touch-screen type that can be operated by touching picture The display device 113 of operation screen be set to basket surface, communication device 111 is accommodated in basket, control unit 130, is deposited Storage device 114, battery etc..

In the following, the step of to being set to path R using the long-distance operating device 112 as coordinates measurement device into Row explanation.Fig. 3 indicates the initial picture that the display device 113 in long-distance operating device 112 is shown.However, it is also possible to make it possible to Enough path R is set using the control unit 30 that self-discipline traveling working truck 1 has.

The display device 113 of long-distance operating device 112 is touch-screen type, if power supply is connected and makes long-distance operating device 112 start, then show initial picture.As shown in figure 3, showing that tractor setting button 201, field set button in initial picture 202, coordinates measurement setting button 203, data transmission button 204, operation start button 205, conclusion button 206.

First, tractor is set for illustrating.

If touching tractor sets button 201, using the long-distance operating device 112 and tractor is used in past attempts In the case of carrying out operation, i.e., in the case where there is the tractor of setting in the past, show the tractor name (type).If from It touches the tractor name this time used in shown multiple tractor names and is selected, then can advance to later aftermentioned Field sets or is back to initial picture.

In the case where newly carrying out tractor setting, the type of tractor is determined.In this case, it directly inputs Type name.Alternatively, the type of multiple tractors can be made to carry out guide look display in display device 113 and be carried out to desired type Selection.

If setting the type of tractor, it is apparent in the size, shape, working rig of the working rig installed on tractor Position setting screen.The position of working rig for example selects between front, front-wheel and trailing wheel, the position of rear portion or offset.

If the setting of working rig terminates, show the vehicle when speed in operation, the engine speed in operation, turning The setting screen of engine speed when speed, turning.Speed in operation can also be set as toward the road speed different with road is returned.

If the setting of speed and engine speed terminates, aftermentioned field setting is may be advanced to, or return To initial picture.

Then field is set for illustrating.Fig. 4 indicate when field set user take self-discipline travel working truck and The case where periphery traveling of progress.Fig. 5 indicate operating area, the region that sets in the fields such as head region.

If touch field set button 202, past attempts using the long-distance operating device 112 and using tractor into In the case of row operation, that is, in the case where there is the field of setting in the past, show the title in set field.If from The field name for carrying out this subjob is touched in shown multiple fields name and is selected, then can be advanced to later aftermentioned Coordinates measurement is set, or is back to initial picture.Additionally it is possible to set field into edlin or new settings.

There is no registered field, new field setting is carried out.If the new field setting of selection, As shown in figure 4, tractor (self-discipline traveling working truck 1) is made to be located at a corner A in four corners in the H of field, touch The button of " measurement starts ".Then, so that tractor is travelled along the periphery of field H and register field shape.Then, operator's root According to registered field shape, diagonal position A, B, C, D, inflection point are registered and determine field shape.

If it is determined that field H, then as shown in figure 5, starting direction F, operation stop bits to operation starting position S, operation G is set to be set.There are in the case of barrier, making tractor be moved to the position of barrier in the H of the field, " barrier is touched Hinder object to set " button and travelled around it, carry out barrier setting.Furthermore it is possible in display device 113 to the map in field Image shown, can also be in the case that overlapping shows the above-mentioned field shape determined on the map image To being specified around barrier in display device 113, barrier setting is thus carried out.

If above-mentioned operation terminates, or if selection past registered field, becomes confirmation screen, shows OK (confirmation) button and " editor/addition " button.In the case where the past, registered field had change, touch " is edited/is chased after Add " button.

If touching OK button when the field is set, become coordinates measurement setting.Coordinates measurement is set, is led to It crosses to touch coordinates measurement setting button 203 in initial picture and can also carry out coordinates measurement setting.

When coordinates measurement is set, display traveling working truck 100 is relative to self-discipline traveling working truck 1 and in which position Set the selection picture travelled.That is, being set to self-discipline traveling working truck 1 and the position relationship for travelling working truck 100 It is fixed.Specifically, showing following four kinds of situations and can be selected by touch：(1) traveling working truck 100 is located at certainly The left back of rule traveling working truck 1；(2) traveling working truck 100 is located at the right back of self-discipline traveling working truck 1；(3) row Sail the dead astern that working truck 100 is located at self-discipline traveling working truck 1；(4) traveling working truck 100 is not accompanied, and (only self-discipline is gone It sails working truck 1 and carries out operation).

Then, the amplitude of the working rig to travelling working truck 100 is set.That is, inputting operation in a manner of number The amplitude of machine.

Then, number is skipped in setting.That is, to reaching field peripheral end (edge of a field) in self-discipline traveling working truck 1 and from the Several row are skipped on path when radial second path movement all the way to be set.Specifically, (1) is not skipped, (2) are skipped for selection Any of 2 row are skipped in 1 row, (3).

Then, the setting being overlapped.That is, the lap of the operation amplitude in pair working path adjacent with working path It is set.Specifically, selection (1) is not superimposed, (2) superposition.In addition, if selection " superposition ", then show that numerical value inputs picture Face can not advance if not inputting numerical value to next step.

Then, periphery setting is carried out.That is, setting utilizes self-discipline traveling working truck 1 as shown in Figure 5 and traveling Operation Van 100 or the region in the outside of the operating area HA of operation is carried out using self-discipline traveling working truck 1.In other words, it sets Field end as non-job state and the edge of a field HB of turning driving, be set as between edge of a field HB and edge of a field HB with the left and right sides The side of the non-operating area ground more than needed HC that connects of field periphery.Thus, the field operating areas the H=edges of a field the HA+ edges of a field HB+ HB + side ground more than needed the sides HC+ ground more than needed HC.In general, the amplitude Wc of the amplitude Wb of edge of a field HB and side ground more than needed HC are set as travelling Two times of length below of the amplitude for the working rig that working truck 100 is installed are made by self-discipline traveling working truck 1 and traveling After the retinue operation that industry vehicle 100 carries out terminates, operator enters traveling working truck 100, by being manually operated in periphery Around two weeks, thus, it is possible to realize that ending is handled.But the shape in field periphery is uncomplicated, additionally it is possible to using certainly Rule traveling working truck 1 carries out operation to periphery.In addition, when periphery is set, the ground more than needed the amplitude Wb of edge of a field HB and side The amplitude Wc of HC is automatically calculated according to the amplitude of working rig as defined amplitude, calculated edge of a field HB amplitude Wb with And the amplitude Wc of side ground more than needed HC can be changed to arbitrary amplitude, user is on the basis of being changed to desired amplitude, also Amplitude Wb, amplitude Wc after change can be respectively set as to the amplitude of edge of a field HB, the amplitude of side ground more than needed HC.But In the case of capable of being changed to arbitrary amplitude, it can not be set as considering traveling, operation and the safety in field and calculating Below the minimum setting amplitude gone out.For example, for edge of a field HB, side ground more than needed HC, in self-discipline traveling working truck 1 traveling, turn In the case of curved, thus it is ensured that working rig without departing from field outside amplitude calculated as minimum setting amplitude.

If the end of input of above-mentioned various settings, shows confirmation screen, confirms if touched, automatically generate Path R.Path R is made of working path Ra and driving path Rb, and working path Ra is the path generated in the HA of operating area And it is to be formed as linear path on one side the path travelled while operation.But it is not rectangle in operating area HA In the case of, the region (edge of a field HB and side ground more than needed (side surplus) HC) outside the HA of operating area is reached sometimes.Travel road Diameter Rb is the path of the Area generation outside the HA of operating area and the path that is travelled without operation, is formed as combining There is the path of straight line and curve.Turning driving is mainly carried out at the HB of the edge of a field.

The path R generates self-discipline traveling working truck 1 and travels the path R of working truck 100.

In the case of to observe the working path after working path generation, pressed by touching coordinates measurement setting Button 203 and show emulating image, and can be confirmed.In addition, generating road not touching coordinates measurement and setting button 203 Diameter R.If set to projects of coordinates measurement setting, show paths generation setting, in its underpart with selectable Mode is shown " path setting button " " data transmission " " being back to homepage ".

When pair relevant information in path (path R) for generating setting with passage path and generating is transmitted, Neng Goutong It crosses and touches the data transmission button 204 set in initial picture and be transmitted.The transmission by long-distance operating device 112 into Row, it is therefore desirable to which the information of above-mentioned setting is sent to the control device of self-discipline traveling working truck 1.There is (1) profit in the transmission The method being wirelessly transmitted with the method that terminal is transmitted, (2) is utilizing terminal in the present embodiment In the case of, the control device of long-distance operating device 112 and self-discipline traveling working truck 1 is directly connected to using USB cable, or Person makes USB storage temporarily be stored, and then connect and is transmitted with the USB terminals of self-discipline traveling working truck 1.Separately Outside, it in the case where being wirelessly transmitted, is transmitted using WiFi (Wireless LAN).

In the following, the field setting registered to field shape is described in more detail.

Currently, based on divided by learning the obtained field of running data, benchmark travels the information in orientation by operation road Diameter is set, the study running data be as obtained from carrying out pilot steering (teaching traveling) in field peripheral portion, But in fact, the boundary of the end in field, i.e. field and ridge, road due to the feature in soil etc. is not necessarily straight Line strictly along the boundary travel being difficult in teaching traveling.In addition, due to determining what is travelled by teaching It is not present in the data of position and is directed to the locally information beyond barriers such as electric pole, water intake valve, the walls come on the inside of field, because This, carries out edge of a field operation, the ending processing operation of side surplus in which can not make self-discipline traveling working truck self-discipline.It therefore, can be with It obtains and the relevant various information of running region, the shape for the running region that working truck 100 is travelled based on above- mentioned information Shape is determined.

Fig. 6 indicates locally to have a complex shape variation because the boundary part in field end is there are barrier etc. Field, in the present embodiment, show field H side DA exist to electric pole outstanding on the inside of field example.Fig. 7 shows Go out the case where shape of field end is identified as peripheral information, here, the feelings that electric pole is identified is shown Condition.Fig. 8 is shown in the field shape registered based on peripheral information and after being corrected to driving trace, shown here as to examining Consider the case where the field peripheral shape of the electric pole of the inside protrusions of field H is registered.

Field setting button 202 is touched in the display device 113 of long-distance operating device 112 and newly carries out field setting In the case of or in the case of carrying out field setting again into edlin to existing field, pressed touching " measurement starts " After button, self-discipline traveling working truck 1 is made to be travelled.In the present embodiment, to making self-discipline traveling working truck 1 be located at field It a corner A in four corners of ground H and touches " measurement starts " button and self-discipline is made to travel working truck 1 along field H's The case where periphery is travelled illustrates.At this point, in location control component 306, receives and sent from GPS satellite 37,37 ... The electric wave that comes and obtain the location information of automobile body part, at the same time, using gyrosensor 31 and azimuth test section 32 Obtain the displacement information and azimuth information of automobile body part.Location information, displacement information based on the automobile body part obtained in this way And azimuth information and obtain driving trace information.

Self-discipline traveling working truck 1 is set to be carried out when driving along the periphery of field H, using in order to self-discipline traveling Operation Van 1 surrounding enviroment are identified and the obstacle sensor 41 and/or camera 42F, 42R that configure, obtain self-discipline traveling together The peripheral information (environmental information) of working truck 1." peripheral information " refers to, such as is constituted using as camera units such as cameras The obtained front of automobile body part and side of obstacle sensor 41 image, utilize the obtained images of camera 42F or profit It is used as laser sensor or the equidistant sensor of ultrasonic sensor and the obstacle sensor 41 that constitutes obtains and field The relevant information in boundary outside the fields such as end and ridge.In the present embodiment, using the image based on front camera 42F as Peripheral information and obtain, and be shown in display device 113.

Driving trace information is corrected based on the peripheral information obtained in the above described manner.Specifically, based on making Grasp the actual peripheral end of field H for image obtained from peripheral information etc., and correspondingly by driving trace to Outside or inside are modified, and are thus corrected to driving trace information and are registered to the peripheral shape of field H.And And the driving path of the periphery of field H is set based on the peripheral shape.That is, when being travelled in the periphery of field H When, it is travelled in a manner of suitably avoiding obstacles, but need to register field periphery in the property according to barrier In the inner part or when outside, it can also believe as in the present embodiment according to as periphery in compared with the path avoided at that time Breath and the image etc. obtained, the shape of Use barriers object, corresponding with barrier, appropriate time to size protruded in the air etc. pair The amount of keeping away is set, and is used in the setting of the driving path in coordinates measurement setting.

In addition, in the present embodiment, based on driving trace information and peripheral information (environmental information) to driving trace Information is corrected, but can not also be corrected to driving trace information, or can choose whether to correcting trace information It is corrected.The case where as not being corrected to correction trace information, it is contemplated that for example, meeting is not present in peripheral information Influence driving trace information outside will because (such as the case where there are barriers near the end of field, field end be song The case where wire shaped) the case where.In this case, judged based on peripheral information outside will because the presence or absence of, there are outsides to want Because in the case of, driving trace information is corrected, there is no outside will because in the case of, not to driving trace information into Row correction.

In addition, in the case where being set as being able to select whether to be corrected driving trace information, such as obtaining row When sailing trace information, to choosing whether based on peripheral information and corrected image is shown, selecting to hold by user In the case of row correction, correction is executed, in the case where having selected not execute correction, does not execute correction.Alternatively, can also be energy It is enough in setting menu (not shown) etc. to whether needing to be corrected based on peripheral information and carrying out selection setting, be corrected to In the case of " needs ", automatically driving trace information is corrected, in the case where being corrected to " not needing ", not to traveling Trace information is corrected.

As above, driving trace information is corrected by obtaining peripheral information, so as to accurately grasp field End is simultaneously registered, even if outstanding for the inside of curvilinear situation or from barrier to field H in the periphery of field H In the case of the peripheral shape complexity of the fields H such as situation, more accurate field region can be also registered and as field region.

Fig. 9 shows to obtain position and the direction of the Context awareness unit of peripheral information.It is carried out to driving trace information In the case of correction, in order to which more accurately field end is identified, it is contemplated that obtain the obstacle sensor of peripheral information 41 and camera 42F, 42R relative to mobile GPS antenna 34 configuration (relative to obtain driving trace information position it is opposite Position), specify the driving trace of any position on driving trace and obstacle sensor 41 and camera 42F, 42R, The position relationship for the field end identified is corrected based on above-mentioned location information and direction on this basis.Specifically For, using sensor or camera and the height of installation site, the relevant location information in horizontal position, they with it is mobile The relative position relation of GPS antenna 34 and the relevant information of detection direction with the shooting direction of camera or sensor, for The image obtained by camera or the detected value that is detected by sensor consider and position and come towards relevant information to row It sails track to be calculated at a distance from field end or barrier, accurately grasps the position of field end.

As described above, by adding the relative position relation with driving trace information on peripheral information, it can be more acurrate Ground utilize with the relevant information in field end that is identified by Context awareness unit, and can automatically carry out the knowledge of field end It manages in other places.

As described above, the correction of driving trace information can be carried out automatically, can also carry out depending on the user's operation. For example, the map image in field can be shown in display device 113, the field of determination is being indicated based on driving trace information Wire shaped or indicate based on the driving trace information corrected according to peripheral information the wire shaped in the field of determination In the case that overlapping is shown on the map image, accurate field end can be specified by user's touch display unit 113 Portion, and driving trace information is corrected depending on the user's operation.In this case.Environmental information obtaining unit is (above-mentioned The general name of environmental sensor 41, camera 42F, 42R) it can be used for the map image progress to field in display device 113 Display.In the case of specified field end, such as control point can be added for above-mentioned wire shaped, by being clicked through to control Row operation, is corrected so as to the part to wire shaped.Alternatively, it is also possible to by user online in shape specify 1 or Multiple edge feature points are automatically corrected driving trace information based on the edge feature point.In the following, to boundary characteristic Point illustrates.

Figure 10 shows the edge feature point for selecting field end on the display apparatus and the feelings registered to field shape Condition.In this example, the image obtained using the obstacle sensor 41 or camera 42F, 42R that are constituted as camera is made to show In the display device 113 of long-distance operating device 112, the position registered as peripheral end is carried out in display device 113 It touches, thus carries out the identification of the peripheral end to the field based on peripheral information.That is, by operator itself in display device The characteristic point (that is, edge feature point) on the field boundary external with it in the image of 113 displays is judged, and is filled in display It sets and is specified on 113.In this case, the display device 113 of long-distance operating device 112 is as the position letter to automobile body part The display unit that breath, driving trace information and peripheral information are shown works, and also works as operation portion, is For peripheral information specified boundary characteristic point the operation portion is operated.Moreover, special based on the boundary specified by user It levies point and driving trace information is corrected, the wire shaped after change is registered as field shape.The school of driving trace information It is just being also based on edge feature point and linked character point and is carrying out.Linked character point is that have with edge feature point identical or class As feature characteristic point, such as can be on map image (image data), by form and aspect, chroma, lightness and specified side The characteristic point of boundary's characteristic point same or like (difference of each element is in defined threshold) is determined as linked character point.

In the above description, driving trace information is corrected when field is registered, but driving trace can also believed Breath and peripheral information are stored in long-distance operating device 112 in association, on this basis, can for example carry out field end afterwards The change operation of the location information in portion is used as the change of field setting.

As the recognition methods for the peripheral end for identifying field based on peripheral information, in addition to being obtained as described above by camera Except being carried out by the visual confirmation of operator on the image obtained, it is also contemplated that the image data that will for example be obtained by camera On the difference of color or the displacement point in the image datas such as difference of lightness be automatically judged as edge feature point etc..In addition, It, will be on the boundary of field end and ridge using laser sensor and the equidistant sensor of ultrasonic sensor Existing step is detected as the variation of distance, and the lower end of the step is set as edge feature point, thus can also be automatically to field The peripheral end on ground is identified (referring to Fig.1 1).

In the present specification, long-distance operating device 112 is when the path R to self-discipline traveling working truck 1 is set It uses.Moreover, the various settings (above-mentioned tractor setting, field setting, coordinates measurement setting) needed for the setting of path R are It is set by suitably being operated to the display device 113 of long-distance operating device 112, but can also be by control unit 30 (such as self-discipline traveling control controller 307) carries out the setting of path R, and the various settings needed for the setting of path R can also lead to It crosses and suitably display unit 49 is operated by user and set.In other words, it is registered in the shape to field In system, can not include long-distance operating device 112, can also include long-distance operating device 112 but in the setting of path R not Use long-distance operating device 112.

In addition, in the present specification, the school of driving trace information precisely in order to the shape in field is determined, is registered and It carries out, but can be used on the basis of the shape in field or replace the shape in field and other regions (are restrained oneself and gone Sail the predetermined region (running region) that working truck 1 is travelled) shape be determined, register.Such as it can be to above-mentioned The shape of operating area use when being determined, registering.Also, it can also be to forbidding carrying out self-discipline traveling working truck The shape of the predetermined region (non-running region) of traveling uses when being determined, registering.Such as it can be in the shape to barrier It is used when being determined, registering.The object no matter determine, registered is running region, is also non-running region, is believed based on periphery Breath and driving trace information is corrected be on this point do not have it is discrepant, in general, for being travelled in running region The traveling of trace information is travelled on the inside of the end of running region, in contrast, for obtaining in non-running region The traveling for obtaining driving trace information is travelled on the outside of the end of running region mostly.In this case, to running region In driving trace information correction the closed wire shaped that will be determined by driving trace information area amplify direction on It carries out, on the other hand, the correction of the driving trace information in non-running region is reduced by the area of above-mentioned closed wire shaped Direction on carry out.

According to the invention based on above recorded this specification, the present invention relates to a kind of rows travelled to working truck The system that the shape in region (for example being realized by field in this specification) is registered is sailed, the system is characterized in that, have： Location information obtaining unit (in the present specification, such as by location control component 306 is realized), and global position system is utilized (in the present specification, such as by GNSS realizing) and obtain traveling working truck 100 location information；Environmental information obtains single First (in the present specification, such as by Context awareness sensor realizing) obtains the environment on the periphery of traveling working truck 100 Information；Driving trace information obtainment unit (in the present specification, for example, by traveling working truck 100 control unit 30 or can The control unit 130 that the wireless communication terminal (long-distance operating device 112) carried out wireless communication with traveling working truck 100 has To realize), obtain the row for indicating the location information based on the traveling working truck 100 obtained by global position system and determination Sail the driving trace information of the driving trace of working truck 100；And registration unit (in the present specification, such as by traveling is made What the control unit 30 of industry vehicle 100 or the wireless communication terminal that can be carried out wireless communication with traveling working truck 100 had Control unit 130 is realized), it will based on the driving trace information obtained by driving trace information obtainment unit and by institute State Context awareness unit acquisition the environmental information to the driving trace information be corrected and determine specific region ( In this specification, realized for example by region obtained from being corrected to running region) shape as running region And it is registered.

In addition, the correction of the driving trace information carried out by registration unit in the present invention is also based on obtaining Context awareness unit Location information and environmental information direction and carry out.In addition, in the present invention, having：Display unit is (in this specification In, such as the image displaying part that is had by working truck or the wireless communication terminal that can be carried out wireless communication with working truck (display unit 49 or display device 113) is realized), it can be to the shape of the running region registered by registration unit (that is, school The shape of running region after just) it is shown；And operating unit (in the present specification, such as by display unit is had Touch screen realize), operation, registration unit can be changed to the shape of the running region shown on the display unit The shape of the running region shown on the display unit is (in the present specification, such as logical according to the operation for operating unit Cross the addition at control point, the specified of edge feature point is realized) and shape of the region as running region after the change changed And it is registered.In addition, certainly, for the shape (shape of the running region before correcting before being registered by registration unit Shape), progress can also be become according to the operation for operating unit more.

In such manner, it is possible to the shape of the running region more accurately travelled to traveling working truck 100 is determined, energy It is enough that identified running region is registered.

To exist in the H of field when the field is set the traveling for forbidding automobile body part flexibly, the barriers such as stone 400 the case where, is described in detail.

As shown in figure 12, there are in the case of barrier 400 in the H of field, when field is set, operator multiplies self-discipline Traveling working truck 1 and be moved to position near barrier 400, select barrier setting and the periphery of barrier 400 into Every trade is sailed.At this point, 4 points (point) 401,402,403,404 on the specified vertex as quadrangle and to the 3rd region (under Face referred to as enters prohibited area K) it is registered.The side of the quadrangle of the periphery for entering prohibited area K is formed with field H's The side of periphery is substantially parallel.However, it is also possible to be used only in the map shown on long-distance operating device 112 and registered.Example Such as, off-limits situation can not be confirmed but wanted in appearance, for flexibly etc. actually if being travelled around Depths can be absorbed in and can not completely disengage the place of such state of affairs, bury place as boulder, above-mentioned such barrier Hinder just can simply be registered as entering prohibited area K without travelling.

In the case where the shape of the barrier 400 has round, sharp shape, if stepped on quadrangle Note, then sometimes remaining partly (operation can carry out but off-limits part) can become larger in vain.In this case, such as Figure 13 institutes Show, additionally it is possible to increase specified point and (401~405) polygon will be set as into prohibited area K.But the quantity of point is simultaneously It does not limit.In addition, the position of specified point can carry out movement in display device 113, change.That is, due to would generally be certainly Set vertex dynamicly, accordingly, there exist actually want slightly extend the case where, want reduce the case where, want tilt the case where, The case where wanting the case where position is staggered or wanting to be set as polygon etc., therefore, it is possible to manually put movement, Change.In addition, in the case where it is polygon to enter prohibited area K, at least one specific side is set as and the in the H of field The side in 1 region (operating area HA) is substantially parallel, non-operation when can reduce coordinates measurement to the greatest extent.

Moreover, after setting barrier 400 is in the entrance prohibited area K of quadrangle therein (or polygon), connect Barrier edge of a field JB and barrier side of the setting as the 4th region on the outside of the specific length (amplitude) for entering prohibited area K Portion ground more than needed JC, to set barrier region J in the HA of operating area.That is, barrier region J is the entrance that will forbid traveling Prohibited area K, as do not generate working path Ra but can generate driving path Rb the 4th region barrier edge of a field JB and barrier The region for hindering ground more than needed JC in object side to obtain altogether.By the way that barrier edge of a field JB and barrier side have more than needed JC, i.e. the 4th The amplitude in region is set as 2 times of length below of the amplitude of working rig, can be by terminating operation around 2 weeks.

In addition, in the 2nd region (edge of a field HB and side ground more than needed HC) and the 4th region (barrier edge of a field JB and barrier side Portion ground JC more than needed) between set the 5th region (entering region HD) for not setting path.That is, by travelling Operation Van by self-discipline 1 and the coordinative operation that carries out of traveling working truck 100 and after having carried out the operation of operating area HA, need operator manual Ground carries out operation in barrier edge of a field JB and barrier side ground more than needed JC, therefore, it is necessary to have more than needed from edge of a field HB or side HC Enter to barrier edge of a field JB or barrier side ground more than needed JC.Therefore, the side that will link between the 2nd region and the 4th region Formula setting is as into the 5th region of approach, being capable of barriers to entry object edge of a field JB and barrier thus after coordinative operation terminates Ground JC have more than needed to carry out operation without damaging with having operation in side.Therefore, the amplitude in the 5th region is set as working rig (or vehicle Body portion) amplitude more than and the amplitude of working rig 2 times of length below.In the amplitude phase of the amplitude and working rig in the 5th region Deng in the case of, to the 4th region into it is fashionable need not the 5th region carry out operation, but by when being come out from the 4th region 5th region carries out operation, can eliminate uncultivated land.On the other hand, the case where the amplitude in the 5th region is more than the amplitude of working rig Under, by carrying out operation to the 4th region into fashionable and while being come out from the 4th region, thus, it is possible to eliminate uncultivated land.Passing through will The amplitude in the 5th region is set as 2 times of equal sizes with the amplitude of working rig, though thus to the 4th region into fashionable and Operation is carried out in the 5th region when being come out from the 4th region, can also prevent the repetition of operation.

The region HD (the 5th region) that enters is set to the shortest position in the distance between the 2nd region and the 4th region, energy It enough reduces to the greatest extent into working area when being come out when 4 region and from the 4th region.However, in side ground more than needed HC and barrier In the case of hindering the distance between object side ground more than needed JC shortest, if be arranged in a manner of it will link between them into region HD, then this enter region HD and cut off the path of the length direction in the HA of operating area, reduce operating efficiency sometimes.Therefore, If what the setting of shorter region was parallel with path R at a distance from edge of a field HB is between the JB of the barrier edge of a field enters region HD, Operating efficiency will not be reduced, additionally it is possible to ideally carry out ending processing.In addition, due to the work in the 1st region (operating area HA) Industry carries out the operation in the 4th region after terminating, therefore, by enter region HD be set in close operation end position G that Side can shorten traveling displacement distance, can improve operating efficiency.

As described above, a kind of operating system, which utilizes self-discipline traveling working truck 1 and traveling working truck 100 carry out operations, the self-discipline travel working truck 1 can along the preset path R in control unit 130 and utilize satellite Position system carries out self-discipline traveling and operation, which is operated by operator and travelled and make with the self-discipline Industry vehicle 1 carries out operation in phase, in the operating system, the control of the self-discipline traveling working truck 1 as coordinates measurement device The control unit 130 of portion 30 processed or the long-distance operating device 112 that can be communicated with the control unit 30 can generate can be in field The path R that self-discipline traveling and operation are carried out in ground H, when field is set, there are in the case of barrier 400 in the H of field, The control unit 30 or control unit 130 can set following region：1st region generates in the 1st region in the field H (operating area HA) carries out the working path Ra of operation；2nd region, does not generate working path Ra but can in the 2nd region The driving path Rb for traveling is generated, the 2nd region is set in around the 1st region；3rd region, in described In the H of field and forbid travelling；And the 4th region, it does not generate working path Ra in the 4th region but can generate for travelling Driving path Rb, the 4th region is set in around the 3rd region, therefore, even if forbidding travelling such barrier In the case that 400 are present in the H of field, it also automatically can carry out path setting and efficiently carry out operation.

In addition, the control unit 130 (or control unit 30) can be set in the 1st region (operating area HA) by institute State the 4th region (barrier edge of a field JB and barrier side ground more than needed JC) and the 2nd region (edge of a field HB and side ground more than needed HC) even The 5th region (entering region HD) for meeting and not generating working path Ra, therefore, it is possible to travel working truck 1 using by self-discipline With traveling working truck 100 carry out coordinative operation and to operating area HA carry out operation after, into the 4th region carry out operation Have operation without damaging, exited while the 5th region carries out operation on one side after which terminates, can it is efficient, And ending operation ideally is carried out to the 4th region.

In addition, the 3rd region (entering prohibited area K) is being set in the described 1st by the control unit 130 (or control unit 30) In the case of in region (operating area HA), at least one side for constituting the 3rd region is set as and constitutes the specific of the 1st region Side it is substantially parallel, therefore, it is possible to reducing non-operation when coordinates measurement to the greatest extent.

In addition, the control unit 130 (or control unit 30) sets the 5th region to and in the 1st region (operating area HA) generate working path Ra it is parallel, therefore, for after having carried out operation to the 4th region to the 5th region carry out operation and Ending processing after exiting, it is roughly the same with post-job ending processing is carried out to other working paths Ra, can ideally into The whole ending processing of row.

In this way, if setting and carries out operation at barrier region J along path R, from field H whole observations when, exist The working path Ra of the length direction of barrier region J is cut off.For on the length direction be cut off operating area HA, The coordinative operation that working truck 1 and traveling working truck 100 are realized, the operation in the region of side are travelled in the presence of using by self-discipline The method that operation is carried out to the region of the other side after end, and by self-discipline traveling working truck 1 and traveling working truck 100 The method for carrying out operation respectively to each region.Which for selecting method, automatically select according to landform, barrier area The position of domain J and different and efficient method.But it is also possible to arbitrarily be selected (by operator) in a manual fashion.

It is concretely demonstrated, in fig. 12, there are in the case of barrier region J in the HA of operating area, will be located at The side of barrier region J in the HA of the operating area and region adjacent with side ground HC more than needed is set as left side operating area The region adjacent with edge of a field HB other than remaining barrier region J is set as preceding cut-out by HAL and right side operating area HAR Operating area HAF and rear cut-out operating area HAB travel working truck 1 from the sides HAL of left side operating area using self-discipline Coordinative operation is carried out with traveling working truck 100.

As shown in figure 14, in the case where left side operating area HAL has even number paths R, for the length of path R The cut-off operating area HA in direction, using self-discipline traveling working truck 1 and traveling working truck 100 this two vehicles to unilateral side Region carry out operation one by one.That is, if the operation of left side operating area HAL terminates, the preceding cut-out region of side is carried out The operation of HAF (being HAB → HAR → HAF in the case that HAL is such as 4 in left side operating area), then carries out right side The operation of portion operating area HAR terminates followed by the operation of the rear cut-out operating area HAB of the other side.

In addition, as shown in figure 15, in the case that in left side operating area, HAL has odd number paths R, the length in path By self-discipline traveling working truck 1, this two vehicles carries out the cut-off operating area HA in direction respectively with traveling working truck 100 Operation to respective region.That is, if the operation of left side operating area HAL terminates, carried out by traveling working truck 100 The preceding cut-out region HAF (operating area HAB is cut off after being in the case that HAL is, for example, 3 in left side operating area) of side Operation, the rear operating area HAB that cuts off carries out by self-discipline traveling working truck 1.Then, 1 He of working truck is travelled using self-discipline It travels working truck 100 and operation is carried out to right side operating area HAR.In addition, in the case where setting enters region HD, accordingly This is vacated in item number, or without operation and sky is walked.

As described above, the control unit 130 (or control unit 30) can in the 1st region in addition to the 3rd region, Remaining area other than 4th region, the 5th region generates working path Ra, therefore, it is possible in order to all operating area HA It carries out operation and improves operating efficiency.

In addition, in the 4th region (barrier edge of a field JB or barrier side ground more than needed JC) and the 2nd region (edge of a field HB or side Portion ground HC more than needed) it is equitant in the case of, be set as two region merging techniques.Such as shown in Figure 16, HB and barrier at the edge of a field In the case of edge of a field JB is equitant, edge of a field HB and barrier edge of a field JB is merged.In this state, control unit 130 can will hinder Object edge of a field JB and barrier side ground more than needed JC is hindered to be regarded as edge of a field HB and set to path R, due to being not necessarily to obstacle Object edge of a field JB and barrier side ground more than needed JC are distinguished, therefore can be simplified in terms of creating program.

In this way, for using self-discipline traveling working truck 1 and travel working truck 100 carry out operation operating system and Speech, self-discipline traveling working truck 1 can carry out self-discipline traveling and operation, the traveling Operation Van using global position system 100 are operated by operator and carry out operation in phase with self-discipline traveling working truck 1, in the operating system, as energy The self-discipline traveling working truck 1 of enough coordinates measurement devices for generating the path that self-discipline traveling and operation can be carried out in the H of field Control unit 30 or the control unit 130 of the long-distance operating device 112 that can be communicated with the control unit 30 can be to as follows Region is set, i.e.,：1st region generates the working path Ra that operation is carried out in the field H in the 1st region；2nd Region does not generate working path Ra in the 2nd region but can generate the driving path Rb for traveling, and the 2nd region is set Around the 1st region；3rd region in the field H and forbids travelling；And the 4th region, the 4th Working path Ra is not generated in region but the driving path Rb for traveling can be generated, the 4th region is set in the 3rd region Around, also, the control unit 30 or the control unit 130 are in the 2nd region (edge of a field HB or side ground more than needed HC) and the 4th region In the case of (barrier edge of a field JB or barrier side ground more than needed JC) overlapping, the 4th region can be set as to be contained in the 2nd area Domain (merging), it is therefore not necessary to consider the operation processing of barrier edge of a field JB and barrier side ground more than needed JC, coordinates measurement becomes Simply, the post-processing of edge of a field HB, side ground more than needed HC and barrier region J also can be carried out simply.

In addition, in the 2nd region (edge of a field HB and side ground more than needed HC) and the 4th region (barrier edge of a field JB or barrier side Portion ground JC more than needed) across in the case that the 6th region HE less than regulation amplitude is opposed, it can be by the 4th region and the 6th region HE is set as being contained in the 2nd region.Such as shown in Figure 17, barrier edge of a field JB with amplitude Wj is detached with edge of a field HB and it is opposed, And in the case that amplitude Wj is less than regulation amplitude T1, it is set as the operating area between barrier edge of a field JB and edge of a field HB The 6th region HE generated in HA is contained in edge of a field HB and merges, and does not set working path Ra, does not utilize self-discipline traveling operation Vehicle 1 or traveling working truck 100 carry out operation.The amplitude of the 6th region HE between 4th region and the 2nd region is, for example, Such as so that the working length of working rig is overall length of tractor or so and can be dropped instead if turning is continually repeated Distance as low operating efficiency.

In this way, the control unit 130 (or control unit 30) in the 2nd region and the 4th region across the 6th less than regulation amplitude Region HE and it is opposed in the case of, the 4th region and the 6th region HE can be set as to be contained in the 2nd region, therefore, be not required to It to utilize self-discipline traveling working truck 1 or travel narrow 6th region of the working truck 100 between the 2nd region and the 4th region HE turns and carries out operation repeatedly, can improve operating efficiency.In addition, for by the 4th region merging technique obtained from the 2nd region Region need not consider different operations for barrier edge of a field JB and barrier side ground more than needed JC, can locate together Manage edge of a field HB, side ground more than needed HC and barrier region J.

In addition, there are multiple the 3rd regions for including barrier 400 in the H of field for the control unit 130 (or control unit 30) And the 4th in the case of region, and in the case where the 4th region is opposed across the 7th region HF less than regulation amplitude each other, energy It is enough to be set as the 7th region HF to be contained in any one the 4th region.Such as shown in Figure 18, divide in barrier 400 and barrier 401 It is liftoff to be present in field H interior and the 4th region (barrier edge of a field JB or barrier side ground more than needed JC) and the 4th region (barrier Edge of a field JB or barrier side ground more than needed JC) between amplitude Wk be less than predetermined distance T2 in the case of, the 7th region HF is set It is merged to be contained in any one the 4th region.Both included the 4th in addition, in the case where amplitude Wk is less than regulation amplitude T2 The case where region and 4 region disconnecting, and include the case where a 4th region part is overlapped.In this way, by by the 4th region each other Merge, to which barrier edge of a field JB and barrier side ground more than needed JC are integrally formed, the work of coordinates measurement and operating area HA Processing after industry becomes simple.

In addition, there are multiple barriers 400 and wherein one or more the 4th regions are relative to the 2nd region in the H of field And it is shorter than regulation amplitude T1 in the case of, can by with it is aforementioned it is same in a manner of merge.As shown in figure 18, in barrier In the case of forming recess area between 401 the 4th region and the 2nd region, also can in the case of condition as defined in satisfaction It is merged in a manner of eliminating recess portion.As defined condition, such as there is the area of recess portion less than threshold value, the lateral width of recess portion Degree is less than threshold value (such as overall length × 2 of tractor) less than threshold value (for example, amplitude of tractor), longitudinal length of recess portion Deng.In this case, the post-job processing of coordinates measurement and operating area HA become simple.

In this way, for the control unit 130, the case where there are multiple 3rd regions and 4 regions in the field H Under, in the case where the 4th region is opposed across the 7th region HF less than regulation amplitude each other, the 7th region HF can be set To be contained in any one the 4th region, coordinates measurement can be made simple.

In the following, being said to the length of self-discipline traveling working truck 1 or traveling working truck 100 when the edge of a field is turned It is bright.

Edge of a field HB is that tractor is used to move to next working path Ra (item) in field peripheral end without operation Dynamic Turning regions have defined edge of a field amplitude Wb.Edge of a field amplitude Wb is in the case where field H is rectangle, as shown in figure 19, As by the min. turning radius of distance L1, body center O from the turning center O of body to working rig rear end, (it is dilatory to be directed to Machine and the setting turning radius set) among L2, working rig amplitude or body amplitude the length L3 of the half of a larger side and The length that safety margin amplitude Lsm is added.That is, edge of a field amplitude Wb=L1+L2+L3+Lsm.

In addition, as shown in figure 20, in field the shape of H be deform quadrangle and edge of a field HB relative to direction of travel and In the case of tilt angle theta, turn partly from distance L1, the minimum of body center O of turning center O to the working rig rear end of body Diameter L2 is in inclined direction, therefore, from the turning center O of the body from inclined edge of a field HB to the distance L1 ' of working rig rear end Min. turning radius L2 ' for the body center O at L1cos (θ -90)=L1sin θ, inclined edge of a field HB is L2-L2cos θ. L3 and L4 is length as hereinbefore.That is, edge of a field amplitude Wb '=L1 '+L2 '+L3+Lsm=L1sin θ+(L2-L2cos θ)+ L3+Lsm。

In addition, in the case where wanting the amplitude Wc of constriction side ground more than needed HC as possible and increase operating area HA, use Revolution is turned over shown in Figure 21 twice.Turn over the side ground amplitude Wc more than needed in revolution twice for this, in starting side, become by 3/2 times is subtracted from distance L1s of the turning center O to working rig rear end, the min. turning radius L2 from body center O of body Length obtained from length that operation amplitude W2 is obtained, safety margin amplitude Lsm are added.That is, Wc=L1+L2-3/2W2+Lsm.

Terminating side, is becoming the minimum of distance L1 and body center O from the turning center O of body to working rig rear end Turning radius L2 length after being added subtracts the length that 3/2 times of operation amplitude W2 obtains, from body center O to body front end again Length L5, safety margin amplitude Lsm be added obtained from length.That is, side ground more than needed amplitude Wc=L1+L2-3/2W2+L5+ Lsm。

For the length of described L1, L2, L3, L5, due to being to be obtained ahead of time in tractor setting, in path When periphery in generation is set, automatically calculated by inputting safety margin amplitude Lsm.It is manually being set by operator In the case of determining edge of a field amplitude Wb and side ground more than needed amplitude Wc, the input value and automatic calculated value are compared, Using larger value, so as to safely turn.

Industrial applicibility

The present invention can be used in coordinates measurement device, which can generate so that can be carried out in field The traveling and working path of the agricultural operation vehicle of self-discipline traveling and automatic job.

The explanation of symbol

1 self-discipline traveling working truck

30 control units

110,111 communication device

112 long-distance operating devices

130 control units

The fields H

The paths R

Ra working paths

Rb driving paths

The operating areas HA

Claims

1. a kind of coordinates measurement device has the control that can generate the path that can carry out self-discipline traveling and operation in field Portion processed,

The coordinates measurement device is characterized in that,

The control unit can set following region：1st region generates in the 1st region and carries out operation in the field Working path；2nd region does not generate working path in the 2nd region but can generate the driving path for traveling, should 2nd region is set in around the 1st region；3rd region in the field and forbids travelling；4th region, Working path is not generated in 4th region but the driving path for traveling can be generated, the 4th region is set in the described 3rd Around region.

2. coordinates measurement device according to claim 1, which is characterized in that

The control unit can set in the 1st region and connect the 4th region and the 2nd region and not generate 5th region of working path.

3. coordinates measurement device according to claim 1, which is characterized in that

The control unit can be in the 1st region other than the 3rd region, the 4th region, the 5th region remaining area Working path is generated in domain.

4. coordinates measurement device according to claim 2 or 3, which is characterized in that

5th region is set as parallel with the working path generated in the 1st region by the control unit.

5. coordinates measurement device according to claim 1, which is characterized in that

The control unit will constitute at least one of the 3rd region in the case where the 3rd region to be set in the 1st region While be set as with constitute the 1st region it is specific while it is substantially parallel.

6. a kind of coordinates measurement device has the control that can generate the path that can carry out self-discipline traveling and operation in field Portion processed,

The coordinates measurement device is characterized in that,

The control unit can set following region：1st region generates in the 1st region and carries out operation in the field Working path；2nd region does not generate working path in the 2nd region but can generate the driving path for traveling, should 2nd region is set in around the 1st region；3rd region in the field and forbids travelling；4th region, Working path is not generated in 4th region but the driving path for traveling can be generated, the 4th region is set in the described 3rd Around region, also, in the case where the 2nd region and the 4th region are overlapped, the 4th region can be set as by the control unit It is contained in the 2nd region.

7. a kind of coordinates measurement device has the control that can generate the path that can carry out self-discipline traveling and operation in field Portion processed,

The coordinates measurement device is characterized in that,

The control unit can set following region：1st region generates in the 1st region and carries out operation in the field Working path；2nd region does not generate working path in the 2nd region but can generate the driving path for traveling, should 2nd region is set in around the 1st region；3rd region in the field and forbids travelling；4th region, Working path is not generated in 4th region but the driving path for traveling can be generated, the 4th region is set in the described 3rd Around region, also, in the case of the 2nd region and the 4th region opposed across the 6th region less than regulation amplitude, institute Stating control unit can be set as the 4th region and the 6th region to be contained in the 2nd region.

8. the coordinates measurement device described according to claim 6 or 7, which is characterized in that

The control unit in the field there are in the case of multiple 3rd regions and 4 region, the 4th region each other every It less than the 7th region of regulation amplitude and in the case of opposed, the 7th region can be set as being contained in any one the 4th region.