JP2017127291A - Agricultural working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a more practical shape of a work area to be acquired in an agricultural working vehicle.SOLUTION: A tractor includes a travelling machine body, a going-around antenna route storage part 63, an end position information storage part 61, and an area shape acquisition part 62. The going-around antenna route storage part 63 acquires position information on the travelling machine body on the basis of a positioning signal received by a positioning antenna 6. The end position information storage part 61 stores an offset correction value pre-set for the travelling machine body. The area shape acquisition part 62 specifies the shape of a work area. The going-around antenna route storage part 63 of the area shape acquisition part 62 specifies a going-around antenna route on the basis of the position information on the travelling machine body when the travelling machine body is caused to go around in the work area. An outer peripheral side end route calculation part 66 of the area shape acquisition part 62 specifies an outer peripheral side end route as a shape of the work area on the basis of a going-around direction of the travelling machine body in the going-around travelling, the going-around antenna route, and the offset correction value.SELECTED DRAWING: Figure 3

Description

  The present invention mainly relates to agricultural work vehicles. Specifically, it is an agricultural work vehicle that includes an antenna that receives a positioning signal from a positioning system and that can acquire its own position information based on a signal received by the antenna, and that uses its own position information. The present invention relates to an agricultural work vehicle capable of acquiring the shape of a work area where farm work is performed.

  2. Description of the Related Art Conventionally, an agricultural work vehicle that includes an antenna that receives a positioning signal from a positioning system and that can acquire its position information based on a signal received by the antenna, the agricultural work vehicle performs farm work. 2. Description of the Related Art Agricultural work vehicles that can acquire the shape of a work area are known.

  Patent document 1 discloses this kind of work vehicle. In the work vehicle described in Patent Document 1, the outer shape of the work target site is determined by the site outer shape determination unit by causing the work vehicle to actually travel the outer periphery of the work target site. In this site outline discriminating means, by mounting a GPS antenna on a work vehicle and following the transition of the position of the GPS reception antenna when the work vehicle actually travels the outer periphery of the work site, It is thought that the outline of the work site is being determined.

  Further, Patent Document 2 takes into account the distance from the position of the GPS receiving antenna to each end position on the left and right sides of the work machine when tracking the position of the agricultural work vehicle equipped with the GPS receiving antenna. It is disclosed.

Japanese Patent No. 418581 Japanese Patent No. 3429151

  However, as described in Patent Document 1 described above, by following the transition of the position of the GPS receiving antenna mounted on the work vehicle when the agricultural work vehicle actually travels the outer periphery of the work site, When it is decided to determine the outer shape of the target site, if the distance from the position of the GPS receiving antenna to each end position on the left and right sides of the vehicle body of the work machine is taken into consideration as described in Patent Document 2, the antenna It is necessary to determine whether a position closer to the outer shape of the actual work site can be obtained by offsetting to the left or right side with respect to the traveling direction with respect to the position itself. However, Patent Document 1 and Patent Document 2 do not fully consider this point.

  The present invention has been made in view of the above circumstances, and an object thereof is to make it possible to acquire a work area shape that is more realistic.

Means and effects for solving the problems

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

  According to an aspect of the present invention, an agricultural work vehicle having the following configuration is provided. That is, this agricultural work vehicle includes a vehicle body part, a position information acquisition part, a storage part, and a shape specifying part. The position information acquisition unit can acquire position information of the vehicle body based on a positioning signal from a positioning system received by an antenna. The said memory | storage part memorize | stores the offset correction value preset with respect to the said vehicle body part. The shape specifying unit specifies a shape of a work area where farm work is performed. The shape specifying unit specifies a first work region shape based on position information of the vehicle body when the vehicle body is caused to travel around the work region, and the turning direction of the vehicle body during the circular travel A second work area shape different from the first work area shape can be specified based on the first work area shape and the offset correction value. The shape specifying unit specifies the second work area shape as the shape of the work area.

  As a result, the first work area shape itself grasped based on the positioning signal received from the antenna when the vehicle body is circulated is not recognized as the work area shape, but is set in advance for the vehicle body part. The second work area shape obtained by taking the offset correction value into consideration can also be obtained as the work area shape. Therefore, the shape of the work area more realistic can be acquired. Further, the second work based on the first work area shape and the offset correction value in consideration of the turning direction, regardless of whether the operator makes the turn of the agricultural work vehicle clockwise or counterclockwise. Since the region shape can be calculated, the labor of registering the shape of the work region can be reduced.

  The agricultural work vehicle preferably has the following configuration. That is, the storage unit stores a first offset correction value associated with a straight road and a second offset correction value associated with a turning circuit. The shape specifying unit uses the first offset correction value for a straight road in the first work area shape, and uses the second offset correction value for a turning circuit to determine the second work area shape. Identify.

  This makes it possible to apply an appropriate offset correction value to obtain a realistic work area shape regardless of whether the route when the vehicle travels around the vehicle is a straight road or a turning circuit. Can do.

  The agricultural work vehicle preferably includes an offset correction value adjustment unit capable of adjusting the offset correction value in accordance with a user instruction.

  Thereby, the shape of the work area acquired by the shape specifying unit can be flexibly adjusted according to various situations.

  In the agricultural work vehicle, when two straight roads are connected via a turning circuit in the second work area shape, the shape specifying unit extends the two straight roads to intersect. It is preferable that a third work area shape different from the second work area shape can be specified based on an intersection that is a point.

  This makes it possible to work more realistically by correcting the corners of the route that are rounded because the corners of the work area cannot be sharply turned due to the circumstances of the minimum turning radius when the agricultural work vehicle is traveling around. The shape of the region can be acquired.

  The agricultural work vehicle preferably has the following configuration. In other words, the storage unit stores a first offset adjustment value associated with clockwise traveling and a second offset adjustment value associated with counterclockwise traveling. The shape specifying unit uses the first offset adjustment value when the turning direction of the vehicle body portion is clockwise, and uses the second offset adjustment value when the turning direction of the vehicle body portion is counterclockwise. The second work area shape is specified.

  Thus, for example, even when the distance from the antenna to the left end of the vehicle body is different from the distance from the antenna to the right end of the vehicle body, an appropriate offset adjustment value is applied to change the shape of the work area. Can be identified.

The side view which shows the whole structure of the robot tractor which concerns on 1st Embodiment of this invention. The top view of a robot tractor. The antennas on the roof are omitted. The block diagram which shows the main structures of the control system of a robot tractor. The top view explaining the positional relationship of the positioning antenna and the vehicle width direction edge part of a tractor memorize | stored in the edge part position information memory | storage part as a memory | storage part. The top view which shows a mode that a tractor runs around in order to register the shape of a work area. The top view which shows a mode that the circumference | surroundings antenna path | route as a 1st work area shape obtained by the circumference | surroundings travel is offset to the right side of the tractor's advancing direction, and the outer peripheral side edge path | route as a 2nd work area shape is calculated. The top view which shows a mode that the outer peripheral side edge part path | route as a 2nd work area shape is offset outside in order to adjust according to a user's instruction | indication. The block diagram which shows the structure of a turning part correction part. The top view which shows a mode that it correct | amends so that the roundish part may be squared in an outer peripheral side edge part path | route, and acquires a 3rd work area shape. The flowchart which shows the process which a control apparatus performs in order to acquire the shape of a work area. The block diagram which shows the main structures of the control apparatus with which the agricultural work vehicle which concerns on a 2nd modification is equipped. The block diagram which shows the main structures of the control apparatus with which the agricultural work vehicle which concerns on a 3rd modification is equipped. The block diagram which shows the main structures of the control apparatus with which the agricultural work vehicle which concerns on 2nd Embodiment is equipped. The top view which shows two outer peripheral side edge part path | route candidates. The flowchart which shows the process which a control apparatus performs in order to acquire the shape of a work area in 2nd Embodiment.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an overall configuration of a robot tractor 1 according to an embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a block diagram showing the main configuration of the control system of the robot tractor 1 in the first embodiment.

  First, a robot tractor (hereinafter may be simply referred to as “tractor”) 1 as an embodiment of an agricultural work vehicle according to the present invention will be described. The tractor 1 which concerns on 1st Embodiment is provided with the traveling body 2 as a vehicle body part which self-propels in the agricultural field area | region. A work machine 3 indicated by a chain line in FIGS. 1 and 2 is detachably attached to the traveling machine body 2. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine, and a desired work machine 3 is selected from these as required. 2 can be attached. The traveling machine body 2 is configured to be able to change the height and posture of the attached work machine 3.

  The structure of the tractor 1 is demonstrated with reference to FIG.1 and FIG.2. As shown in FIG. 1, the traveling machine body 2 which is a vehicle body portion of the tractor 1 is supported at its front portion by a pair of left and right front wheels 7 and 7 and at its rear portion by a pair of left and right rear wheels 8 and 8. ing.

  A bonnet 9 is disposed at the front of the traveling machine body 2. An engine 10 that is a drive source of the tractor 1 is accommodated in the bonnet 9. The engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine.

  A cabin 11 for an operator to board is arranged behind the bonnet 9. Inside the cabin 11, there are mainly provided a handle 12 for a steering operation by an operator, a seat 13 for the operator to sit on, and various operation devices for performing various operations. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Examples of the operation device include the monitor device 14, the throttle lever 15, the shift lever, the lift lever, the PTO switch 17, the PTO transmission lever 18, and the plurality of hydraulic transmission levers 16 shown in FIG. 2. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the handle 12. The monitor device 14 is configured to display various information of the tractor 1. The throttle lever 15 is for setting the rotational speed of the engine 10. The shift lever is for changing the speed ratio of the transmission 22. The raising / lowering lever is for raising / lowering the height of the working machine 3 attached to the traveling machine body 2 within a predetermined range. The PTO switch 17 is for switching the transmission / cutoff of power to a PTO shaft (power take-off shaft) (not shown) protruding from the rear end of the transmission 22. That is, when the PTO switch 17 is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work implement 3, while when the PTO switch 17 is in the OFF state, the power to the PTO shaft is cut off. Thus, the PTO shaft does not rotate and the work machine 3 is stopped. The PTO speed change lever 18 is used to change the power input to the work machine 3, and specifically, is a speed change operation for the rotational speed of the PTO shaft. The hydraulic speed change lever 16 can switch and operate a hydraulic external take-off valve (not shown).

  As shown in FIG. 1, a chassis 20 of the tractor 1 is provided at the lower part of the traveling machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The transmission 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheel 8.

  As shown in FIG. 3, the tractor 1 is a control unit for controlling the operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.) A control device 4 is provided. The control device 4 is electrically connected to a governor device 41, a transmission device 42, a lift actuator 44, and the like.

  The governor device 41 adjusts the rotational speed of the engine 10. By controlling the governor device 41 by the control device 4 and appropriately adjusting the rack position, the rotational speed of the engine 10 can be set to a desired rotational speed.

  Specifically, the transmission 42 is, for example, a movable swash plate type hydraulic continuously variable transmission, and is provided in the transmission 22. By controlling the transmission device 42 by the control device 4 and appropriately adjusting the angle of the swash plate (not shown), the transmission gear ratio of the transmission 22 can be set to a desired transmission gear ratio.

  The lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the traveling machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It is raised or lowered to either of these. By controlling the elevating actuator 44 by the control device 4 and appropriately moving the work implement 3 up and down, it is possible to perform farm work with the work implement 3 at a desired height in the field area, for example.

  The tractor 1 including the control device 4 as described above controls various parts of the tractor 1 (the traveling machine body 2, the work implement 3, and the like) by the control device 4 when the operator gets into the cabin 11 and performs various operations. Thus, the farm work can be performed while traveling in the field area. In addition, the tractor 1 according to the present embodiment is allowed to travel by instructing forward, backward, turning and the like by the remote control device 46 shown in FIGS. 1 and 3 even when the operator does not board the tractor 1. It is also possible to run autonomously.

  Specifically, as shown in FIG. 3, the tractor 1 includes various configurations in the control device 4 for enabling autonomous traveling. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of the vehicle body (vehicle body portion) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel in the field area.

  Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in detail. Specifically, as shown in FIGS. 1 and 3, the tractor 1 includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, and the like.

  The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the handle 12 and adjusts the rotation angle (steering angle) of the handle 12. By controlling the steering actuator 43 by the control device 4 and appropriately operating it, the steering angle of the handle 12 is set to a desired value, the front wheel 7 which is a steering wheel is turned, and the tractor 1 is turned at a desired turning radius. Can be operated.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is disposed on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 shown in FIG. 3, and the position information calculation unit 49 stores the position information of the tractor 1 (strictly, the positioning antenna 6). For example, it is calculated as latitude / longitude information. The position information calculated by the position information calculation unit 49 is acquired by a position information acquisition unit (not shown) of the control device 4 and used for controlling the tractor 1.

  Here, as a specific example of the positioning system, there is a satellite positioning system using GPS technology (GPS satellite), but instead, a system using other satellites such as a quasi-zenith satellite and a Glonus satellite is used. It is also possible to do. Moreover, as a positioning system using GPS technology, single positioning, relative positioning, DGPS positioning, RTK-GPS positioning, or the like can be employed.

  The wireless communication antenna 48 receives a signal from the remote operation device 46 or transmits a signal to the remote operation device 46. As shown in FIG. 1, the radio communication antenna 48 is disposed on the upper surface of the roof 92 of the cabin 11 of the tractor 1. A signal from the remote control device 46 received by the wireless communication antenna 48 is subjected to signal processing by the transmission / reception processing unit 91 shown in FIG. 3 and then input to the control device 4. The signal transmitted from the control device 4 to the remote operation device 46 is subjected to signal processing by the transmission / reception processing unit 91, then transmitted from the wireless communication antenna 48 and received by the remote operation device 46.

  Specifically, the remote operation device 46 is configured as a tablet personal computer including a touch panel. The operator can confirm the information by referring to information displayed on the display of the remote operation device 46 (for example, information on a field area necessary for autonomous traveling). Further, the operator can operate the remote control device 46 to transmit a control signal for controlling the tractor 1 to the control device 4 of the tractor 1. Note that the remote operation device 46 is not limited to a tablet-type personal computer, but can be configured by, for example, a notebook-type personal computer. Alternatively, when a manned tractor (not shown) is caused to travel along with the unmanned tractor 1, a monitor device mounted on the manned tractor can be used as a remote control device.

  The control device 4 shown in FIG. 3 includes various units for controlling the tractor 1 to autonomously travel. In addition to this, various configurations such as a positioning antenna 6 are provided in the tractor, so that an existing tractor can be installed. It can be used as an unmanned robot tractor 1. The control device 4 is configured as a small computer having a CPU, a ROM, a RAM, and the like, and an operation program, an application program, and various data are stored in the ROM. As a result of the cooperation of the hardware and software, the control device 4 is used as the field information storage unit 51, the work information storage unit 52, the work route creation unit 53, the end position information storage unit 61 as a storage unit, and the shape specifying unit. The region shape acquisition unit 62, the display data generation unit 60, and the like can be operated.

  The tractor 1 configured as described above calculates a work route in the field area by the work route creation unit 53 based on an instruction of an operator using the remote operation device 46, and autonomously travels along the work route. Agricultural work by the work machine 3 can be performed. In this way, the route on the field area where the tractor 1 autonomously travels may be referred to as a “work route” in the following description. In addition, an area that is a target of farm work by the work machine 3 of the tractor 1 in the farm area may be referred to as a “work area”. This work area is determined as an area excluding the headland and the margin from the entire field area, and is set in advance when the tractor 1 travels around (described in detail later) by an operator or the like.

  Next, each part with which the control apparatus 4 is provided in order to enable autonomous driving | running | working is demonstrated individually with reference to FIG.

  The farm field information storage unit 51 stores various information related to a farm field area that is a target for performing farm work by autonomous traveling with the tractor 1. Specifically, as the information regarding the field area, the position and shape of the field area, the position and shape of the work area that is the area where the farm machine 3 performs the farm work in the field area, and the farm work by the work machine 3 starts in the work area. A work start point that is a point where the farm work is performed, a work end point that is a point where the farm work is finished, and the like can be given. Here, the position and shape of the farm field region can be acquired by grasping the location of the straw or the like by image processing or the like. In addition, the position and shape of the work area are acquired by the area shape acquisition unit 62 by causing the tractor 1 to travel around as described later. Other information can be set by, for example, an operator operating the touch panel of the remote operation device 46.

  The work information storage unit 52 stores, as work information, the type and width of work performed by the work machine 3 attached to the tractor 1. In the present embodiment, these pieces of information can be set by the operator operating the touch panel of the remote operation device 46. Examples of work types include tillage work and sowing work. The work width means an effective width in which work is performed by the work machine 3, and is, for example, 3 meters.

  The work route creation unit 53 creates the work route by calculation based on the work information read from the work information storage unit 52 and the field information read from the field information storage unit 51. The work path is generated as a series of paths alternately connecting a farm work path that is a linear path on which farm work is performed and a swivel path on which a turning operation (direction change) is performed.

  The end position information storage unit 61 as a storage unit is information on the distance shown in FIG. 4, specifically, for example, a distance L corresponding to the distance from the positioning antenna 6 to the left end of the tractor 1 in the vehicle width direction of the tractor 1, A distance R corresponding to the distance from the positioning antenna 6 to the right end of the tractor 1 is stored as an offset correction value. When the work implement 3 is mounted on the tractor 1 as in the present embodiment, the “left end” and “right end” of the tractor 1 indicated by the distances L and R include the work implement 3. Means the left end and the right end of the tractor 1 in the vehicle width direction. Note that the distance L and the distance R may be the same value or different values.

  The distances L and R can be stored in the end position information storage unit 61, for example, when the operator actually measures the distance and inputs the distance to the remote control device 46. However, the method of acquiring these distances L and R is not limited to this. For example, instead of this, when the operator inputs the type of the work machine 3 to the remote control device 46, the distances L and R are automatically set. It is good also as what is calculated (estimated) by.

  The area shape acquisition unit 62 as the shape specifying unit illustrated in FIG. 3 is for acquiring the shape of the work area that is the target of the farm work by the work machine 3. The region shape acquisition unit 62 includes a circular antenna path storage unit 63 as a position information acquisition unit, a steering angle storage unit 64, a circular direction determination unit 65, an outer peripheral side end path calculation unit 66, and an offset as an offset correction value adjustment unit. An adjustment unit 67, a turning portion correction unit 68, and the like are provided.

  The circular antenna path storage unit 63 serving as the position information acquisition unit registers the position information of the positioning antenna 6 and moves the tractor 1 along the shape of the work area C (for example, along the contour) as shown in FIG. When the operator actually performs a lap (one turn) operation, the lap locus of the positioning antenna 6 is substantially stored by storing the temporal change (transition) of the position information. In the following, the operation of traveling the tractor 1 so as to circulate along the shape of the work area C as described above (for example, along the contour) is referred to as “circular traveling”, and the position registered at this time A circling locus of the positioning antenna 6 obtained by using information may be referred to as a “circular antenna path”. The shape of the circular antenna path corresponds to the “first work area shape” in the present embodiment. The transition of the position information of the positioning antenna 6 can be acquired, for example, by repeatedly receiving the positioning signal from the satellite by the positioning antenna 6 at a constant time interval. Alternatively, when an operator who has boarded the tractor 1 operates an operation tool (for example, a switch) at a timing when the position information is desired to be registered, position information corresponding to a desired position in the outer shape of the work area C during the orbital traveling is obtained. It can also be acquired.

  The steering angle storage unit 64 shown in FIG. 3 stores a change (transition) with time of the steering angle of the tractor 1 in the course of the circular traveling of the tractor 1 described above. Specifically, during the above-described round traveling, the steering angle sensor 93 monitors the steering angle of the handle 12, and the detection results are sequentially stored in the steering angle storage unit 64. In this embodiment, the detected value of the steering angle is zero when the operation position of the steering wheel 12 is neutral, minus when the steering wheel 12 is on the left side, and plus when the steering wheel 12 is on the right side. It is determined to increase as the value increases.

  The circling direction determination unit 65 determines whether the direction of the circular traveling of the tractor 1 is clockwise or counterclockwise. In the present embodiment, the turning direction determination unit 65 determines whether the direction in which the tractor 1 has turned is clockwise or counterclockwise as a whole based on the transition (time-dependent change) of the steering angle read from the steering angle storage unit 64. Determine. There are various methods for determining the direction of the circular traveling. For example, whether the detected value of the steering angle stored in the steering angle storage unit 64 is accumulated over the entire process of the circular traveling, and is the accumulated value positive? It is conceivable to make a determination based on whether the value is negative.

  The outer peripheral side end path calculation unit 66 creates an outline of the work area C in the vehicle width direction of the tractor 1 as the tractor 1 rotates on the basis of the circulating antenna path read from the circulating antenna path storage unit 63. A path (hereinafter, also referred to as “outer end side end path”) through which the near end (in this embodiment, the end on the traveling outer periphery side) passes is obtained by calculation (correction). The calculation of the outer peripheral side end path is performed by reading the circular antenna path read from the circular antenna path storage unit 63, the determination result of the circular direction by the circular direction determination unit 65, and the end position information storage unit 61. The offset correction value (in this embodiment, the distance L or the distance R in FIG. 4) is used.

  Specifically, the outer peripheral side end path calculation unit 66, when the result determined by the circulation direction determination unit 65 is clockwise, is from the positioning antenna 6 to the left end of the tractor 1 in the vehicle width direction of the tractor 1. The shape of the outer peripheral end path as the second work area shape is calculated by offsetting the position information of the circulating antenna path to the left with respect to the traveling direction of the tractor 1 by the distance L corresponding to To do. The traveling direction of the tractor 1 can be easily obtained from the transition of position information stored in the orbiting antenna path storage unit 63.

  On the other hand, when the result determined by the rotation direction determination unit 65 is counterclockwise, the outer peripheral side end path calculation unit 66 corresponds to the position from the positioning antenna 6 to the right end of the tractor 1 in the vehicle width direction of the tractor 1. The shape of the outer peripheral side end path as the second work area shape is calculated by offsetting the position information of the circulating antenna path to the right with respect to the traveling direction of the tractor 1 by the distance R to be performed.

  FIG. 5 shows an example in which the tractor 1 is run counterclockwise from the START point to the END point (the END point is the same as the START point). In this case, the rotation direction determination unit 65 determines that the direction of the circular travel of the tractor 1 is counterclockwise. Therefore, the outer peripheral end path calculation unit 66 performs calculation (correction) to offset the circular antenna path to the right side by the distance R with respect to the traveling direction of the tractor 1 as shown in FIG. 2. Obtain the shape of the outer edge side path as the work area shape.

  The offset adjustment unit 67 serving as the offset correction value adjustment unit illustrated in FIG. 3 adjusts the outer peripheral side end path obtained by the outer peripheral side end path calculation unit 66 by appropriately offset inward or outward. The direction and distance of the offset can be instructed (set) by the user operating the remote operation device 46 in consideration of the situation when the tractor 1 is traveling around. For example, in the work area C shown in FIG. 5, when a saddle or the like (not shown) is positioned just outside the contour of the work area C, the operator may use the saddle or the like when traveling around the tractor 1. In order to prevent the work machine 3 from coming into contact with the work machine 3, the tractor 1 is moved along the outline while maintaining a state in which, for example, a gap of about 15 cm is formed between the contour of the work area C and the end of the work machine 3. Let it run. In this case, the operator sets the outer peripheral side end path so as to be offset by 15 cm to the outside in consideration of the gap. FIG. 7 shows a state in which the offset adjustment unit 67 offsets the outer peripheral side end path outward by a distance t (= 15 cm). By this adjustment, the outer peripheral side end path can be flexibly brought close to the actual shape of the work area C according to various situations.

  In consideration of the fact that the turning portion correction unit 68 shown in FIG. 3 has a limit on the small turn due to the minimum turning radius when turning inside the corner of the contour of the work area C during the round traveling of the tractor 1, The shape of the outer peripheral side end path corresponding to the turning portion is corrected in a direction in which the corner becomes sharper. The shape of the outer peripheral side end path is corrected by the turning portion correcting unit 68 so that the outer peripheral side end path is brought closer to the actual shape of the work area C, particularly in the corner portion of the work area C. Can do. The detailed configuration of the turning part correcting unit 68 will be described later. The area shape acquisition unit 62 acquires the shape of the outer peripheral side end path after being corrected by the turning portion correction unit 68 as the shape of the work area C.

  As shown in FIG. 8, the turning portion correction unit 68 includes a straight line portion extraction unit 71, an intersection acquisition unit 72, and a shape correction unit 73.

  As shown in FIG. 9, the straight line portion extraction unit 71 shows a straight portion (straight line portion S) of the shape of the outer peripheral side end path input from the offset adjustment unit 67 to the turning portion correction unit 68. Extract. The detection of the straight portion (straight path) can be performed by a known geometric method. Specifically, for example, when a turn is finished, two parallel straight lines spaced apart in the vehicle width direction are used as determination lines in parallel with a line connecting two arbitrary points along the traveling direction. It is possible to determine that it is a “straight line portion” (straight road) when the distance that the travel locus is within this determination line is greater than or equal to a predetermined distance.

  The intersecting point acquisition unit 72 shown in FIG. 8 is for a plurality of straight line portions S (straight roads) extracted by the straight line portion extraction unit 71 for any two straight line portions S adjacent to each other on the outer peripheral side end path. As shown in FIG. 9, a point (intersection E) where the straight portions S are extended and intersected is obtained by calculation. That is, a portion where two adjacent straight portions S (straight path) extracted by the straight portion extraction unit 71 are connected is regarded as a turning portion (turning circuit), and the position information of the turning portion is used as an actual work. In order to approximate the outer shape (outline) of the region C, the intersection point E is obtained. This intersection E corresponds to a vertex when the shape of the work area C is regarded as a polygon.

  The shape correcting unit 73 illustrated in FIG. 8 corrects the shape of the outer peripheral end path input to the turning portion correcting unit 68 so as to pass the intersection point E.

  As described above, the shape corresponding to the portion where the tractor 1 is swung in the shape of the outer peripheral side end path can be corrected to be square, and can be brought close to the shape of the actual work area C as shown in FIG. . In addition, the shape of the outer peripheral side end portion route after the turning portion correction shown in FIG. 9 corresponds to the “third work area shape” in the present embodiment.

  The display data creation unit 60 shown in FIG. 3 displays the shape of the work area C acquired by the area shape acquisition unit 62 on the display of the remote operation device 46 together with information such as the work start point and work end point. Create display data. The display data created by the display data creation unit 60 is received by the remote operation device 46 via the transmission / reception processing unit 91 and displayed as an image on the display of the remote operation device 46.

  Next, the control performed by the control device 4 to acquire the shape of the work area C will be described with reference to the flowchart of FIG. FIG. 10 is a flowchart showing a process performed by the control device 4 when the shape of the work area C is acquired.

  The operator starts the process shown in FIG. 10 by instructing work area shape registration from an appropriate menu screen of the remote control device 46, and thereafter the operator operates (after instructing work area shape registration) as shown in FIG. The tractor 1 is caused to travel around the outer shape of the region C (for example, along the contour). The rotating direction of the tractor 1 at this time is arbitrary, and may be counterclockwise or clockwise. In step S101 of FIG. 10, the orbiting antenna path storage unit 63 sequentially stores the position information of the positioning antenna 6 at the time of the orbiting, and the steering angle storage unit 64 is detected by the steering angle sensor 93 at the orbital traveling. The results (steering angle detection values) are stored sequentially. Thereby, the orbiting antenna path storage unit 63 substantially stores the orbiting antenna path that is the path through which the positioning antenna 6 has passed along with the orbiting of the tractor 1. The steering angle storage unit 64 may store the detection result of the steering angle sensor 93 in association with each position coordinate (position coordinate of each positioning antenna 6) in the loop antenna path.

  Subsequently, the turning direction determination unit 65 reads out the steering angle stored in the steering angle storage unit 64 in step S101 during the above-described rotation traveling from the steering angle storage unit 64, and based on the transition of the steering angle, the tractor 1 It is determined whether or not the direction of the circular travel is counterclockwise (step S102).

  In the case of the example shown in FIG. 5, in the course of the tractor 1 traveling around, a turn of approximately 90 ° to the right side (side where the detected value of the steering angle becomes positive) is performed twice, and the left side (detection of the steering angle). A turn of approximately 90 ° to the negative side) is performed six times. Therefore, if the detected value of the steering angle is accumulated over the course of the round travel of the tractor 1, it becomes negative. Therefore, in step S102 of FIG. 10, the round direction determination unit 65 determines that the direction of the round run of the tractor 1 is counterclockwise. To do.

  If it is determined in step S <b> 102 that the direction of the circular travel of the tractor 1 is counterclockwise, the outer peripheral side end path calculation unit 66 determines the distance from the positioning antenna 6 to the right end of the tractor 1 in the vehicle width direction of the tractor 1. R is read from the work information storage unit 52, the above-mentioned orbiting antenna path is read from the orbiting antenna path storage unit 63, and the distance R to the right side with respect to the traveling direction of the tractor 1 as shown in FIG. By offsetting the tractor 1 only, the path along which the right end of the tractor 1 in the vehicle width direction (the right end in the form including the work implement 3) passes is calculated as the outer peripheral end path (see FIG. 10). Step S103).

  If it is determined in step S102 that the direction of the circulatory travel of the tractor 1 is clockwise (when it is determined that the direction of the circulatory travel of the tractor 1 is not counterclockwise), the outer peripheral side end path calculation unit 66 The distance L from the positioning antenna 6 in the vehicle width direction of the tractor 1 to the left end of the tractor 1 is read from the work information storage unit 52, the above-mentioned circular antenna path is read from the circular antenna path storage unit 63, and the circular antenna path is A path through which the left end of the tractor 1 in the vehicle width direction (the left end in the form including the work implement 3) passes when the tractor 1 travels around the circumference by offsetting the distance L to the left with respect to the traveling direction of the tractor 1. Is calculated as the outer peripheral end path (step S104).

  Next, when the operator has set the outer end side path to be offset by tcm, for example, to the outside, the offset adjusting unit 67 shows the outer end side path obtained in step S103 or step S104 as shown in FIG. As shown in FIG. 10, it is offset outward by tcm (step S105 in FIG. 10). Note that the offset adjustment unit 67 can also offset the shape of the outer peripheral side end path not to the outside but to the inside by an operator setting. Thereby, the shape of the work area C acquired by the area shape acquisition unit 62 can be flexibly adjusted according to various situations such as operator preference.

  Subsequently, the straight line portion extraction unit 71 included in the turning portion correction unit 68 extracts the straight line portion S shown in FIG. 9 from the shape of the outer peripheral side end path obtained in step S105 (step S106 in FIG. 10).

  Next, the intersection acquisition unit 72 extends and intersects the two straight line portions S adjacent to each other in the outer edge side path among the straight line portions S extracted by the straight line portion extraction unit 71 in step S106 (FIG. 9). Is obtained by calculation (step S107 in FIG. 10).

  After that, the shape correcting unit 73 corrects the outer peripheral side end path obtained in step S105 so as to pass through the intersection E acquired by the intersection acquiring unit 72 in step S107 (step S108). The state of this correction is shown in FIG. The area shape acquisition unit 62 acquires the corrected outer peripheral side end path obtained in this way as the shape of the work area C. Note that the shape of the outer peripheral side end path after the correction corresponds to the “third work area shape” in the present embodiment.

  Then, the display data creation unit 60 displays the shape of the work area C acquired by the area shape acquisition unit 62 as a result of the processing from step S101 to step S108 in FIG. Business data is created (step S109). This display data is signal-processed by the transmission / reception processing unit 91 and then transmitted from the radio communication antenna 48. In the remote operation device 46 that has received this, the display data is read, and the shape of the work area C is displayed as an image on the display.

  As described above, the control device 4 according to the present embodiment performs the above processing based on the position information of the positioning antenna 6 when the operator actually travels the tractor 1 along the outer shape of the work area C. Thus, the shape of the work area C can be acquired. At this time, even if the direction in which the operator circulates the tractor 1 is clockwise or counterclockwise, it is possible to acquire the shape of the work area C according to the actuality, so that the degree of freedom of shape registration work is increased, Excellent convenience.

  Then, the work area C obtained in this way is stored in the farm field information storage unit 51. Then, when performing farm work in the work area C, the operator operates the remote control device 46 to set the work start point and work end point of the farm work in the work area C, so that the work path creation unit 53 causes the work path of the tractor 1 to work. Create Agricultural work can be automatically performed on the work area C by autonomously running the tractor 1 along the work route.

  As described above, the tractor 1 of the present embodiment includes the traveling machine body 2 as a vehicle body part, the circulating antenna path storage unit 63 as a position information acquisition unit, and the end position information storage unit 61 as a storage unit. And an area shape acquisition unit 62 as a shape specifying unit. The orbiting antenna path storage unit 63 can acquire the position information of the traveling machine body 2 based on the positioning signal from the positioning system received by the positioning antenna 6. The end position information storage unit 61 stores offset correction values (distances) L and R set in advance for the traveling machine body 2. The area shape acquisition unit 62 specifies the shape of the work area C where the farm work is performed. The circular antenna path storage unit 63 of the area shape acquisition unit 62 specifies the circular antenna path as the first work area shape based on the position information of the traveling machine body 2 when the traveling machine body 2 travels around in the work area C. To do. In addition, the outer peripheral side end route calculation unit 66 of the region shape acquisition unit 62 is configured to determine the first work region shape based on the circulation direction of the traveling machine body 2 in the circular traveling, the circular antenna path, and the offset correction values L and R. A second work area shape different from that can be specified. The outer peripheral side end path calculation unit 66 specifies the outer peripheral side end path as the second work area shape as the shape of the work area C.

  As a result, the first work area shape (circular antenna path) itself grasped based on the positioning signal received from the positioning antenna 6 when the traveling machine body 2 travels around is recognized as the shape of the work area C. In addition, the second work area shape (outer peripheral end path) obtained by taking into account the offset correction values L and R set in advance for the traveling machine body 2 can be acquired as the shape of the work area C. Therefore, it is possible to acquire the shape of the work area C that is more realistic. In addition, regardless of whether the operator makes the tractor 1 go around in the clockwise direction or the counterclockwise direction, the first work area shape (circular antenna path) and the offset correction values L and R are taken into consideration. Since the second work area shape (outer end side path) can be calculated based on the above, the labor of registering the shape of the work area C can be reduced.

  Further, the tractor 1 of the present embodiment includes an offset adjustment unit 67 as an offset correction value adjustment unit that can adjust the offset correction values L and R in accordance with an instruction from an operator.

  Accordingly, the offset adjustment unit 67 can further specify and correct an appropriate offset amount (for example, distance t) with respect to the shape of the work area acquired by the outer peripheral side end path calculation unit 66 of the area shape acquisition unit 62. By doing so, it can adjust flexibly according to various situations.

  Further, in the tractor 1 of the present embodiment, when a straight line portion S as two straight paths is connected via a turning circuit in the outer peripheral side end path as the second work area shape, the area shape is acquired. The turning portion correcting portion 68 of the portion 62 is a third work different from the outer peripheral side end path as the second work area shape based on the intersection E that is the point where the two straight portions S extend and intersect. It is possible to specify the outer peripheral side end portion route after the turning portion correction as the region shape.

  As a result, the corner portion of the path is rounded because the corner portion of the outer shape (contour) of the work area C cannot be sharply turned due to the minimum turning radius during the round traveling of the tractor 1. Thus, the shape of the work area C can be acquired.

  In the tractor 1 according to the present embodiment, the end position information storage unit 61 includes the first offset adjustment value L associated with the clockwise traveling and the second offset adjustment associated with the counterclockwise traveling. Store the value R. The area shape acquisition unit 62 uses the first offset adjustment value L when the traveling direction of the traveling machine body 2 is clockwise, and uses the second offset adjustment value R when the traveling direction of the traveling machine body 2 is counterclockwise. Thus, the outer peripheral side end path as the second work area shape is specified.

  Thus, for example, even when the distance L from the positioning antenna 6 to the left end of the traveling machine body 2 is different from the distance R from the positioning antenna 6 to the right edge of the traveling machine body 2, appropriate offset adjustment is performed. The shape of the work area C can be specified by applying the values L and R.

  In addition, the tractor 1 including the control device 4 of the present embodiment includes a positioning antenna 6 that receives a positioning signal from the positioning system, and can acquire its own position information based on the signal received by the positioning antenna 6. It is configured. And the control apparatus 4 acquires the shape of the work area C where the said tractor 1 performs farm work. The control device 4 includes a circular antenna path storage unit 63, a circular direction determination unit 65, and an outer peripheral side end path calculation unit 66. The orbiting antenna path storage unit 63 performs the orbiting based on the position information of the positioning antenna 6 when the tractor 1 orbits along the outer shape of the work area C (for example, along the inner side of the contour). Along with this, a round antenna path that is a path through which the positioning antenna 6 has passed is stored. The circling direction determination unit 65 determines whether the direction of the circulatory traveling of the tractor 1 is clockwise or counterclockwise. When the result of determination by the rotating direction determination unit 65 is clockwise, the outer peripheral side end path calculation unit 66 includes the left end of the tractor 1 (including the work implement 3) from the positioning antenna 6 in the vehicle width direction of the tractor 1. A path obtained by offsetting the circular antenna path read from the circular antenna path storage unit 63 to the left with respect to the traveling direction of the tractor 1 by the distance L corresponding to Calculate as On the other hand, when the result determined by the rotation direction determination unit 65 is counterclockwise, the outer peripheral side end path calculation unit 66 determines from the positioning antenna 6 to the right end of the tractor 1 (work machine 3) in the vehicle width direction of the tractor 1. The right end of the circulator antenna path is offset to the right with respect to the direction of travel of the tractor 1 by the distance R corresponding to the right end). Calculated as a partial route. And the control apparatus 4 acquires the shape of the work area C based on the said outer peripheral side edge part path | route.

  As a result, the route itself through which the positioning antenna 6 passes when the tractor 1 travels around is not recognized as the shape of the work area C, but from the positioning antenna 6 to the end of the tractor 1 in the vehicle width direction (left end or right end). The shape of the work area C can be acquired based on the outer peripheral side end path calculated in consideration of the distances L and R. Therefore, it is possible to acquire the shape of the work area C that is more realistic. Further, regardless of whether the direction in which the operator makes the tractor 1 circulate clockwise is clockwise or counterclockwise, the circulatory direction determination unit 65 automatically determines the direction of the tractor 1 to circulate and appropriately ends the outer end. Since the route can be calculated, the labor of registering the shape of the work area C can be reduced.

  Further, the tractor 1 of the present embodiment includes a steering angle storage unit 64 that sequentially stores the steering angle of the tractor 1 when the tractor 1 is traveling around. Based on the steering angle transition read from the steering angle storage unit 64, the circling direction determination unit 65 determines whether the circulatory traveling direction of the tractor 1 is clockwise or counterclockwise.

  Thereby, using the information on the transition of the steering angle of the tractor 1, it is possible to appropriately determine the direction of the circular travel.

  In addition, the turning portion correction unit 68 of the control device 4 of the tractor 1 according to the present embodiment includes a straight portion extraction unit 71, an intersection acquisition unit 72, and a shape correction unit 73. The straight line portion extraction unit 71 extracts a straight line portion S (straight path) from the outer peripheral side end path. The intersection acquisition unit 72 acquires an intersection E, which is a point where two straight line portions S adjacent to each other in the outer peripheral side end path of the straight line portions S extracted by the straight line portion extraction unit 71 are extended. The shape correcting unit 73 corrects the shape of the outer peripheral side end path so as to pass through the intersection E acquired by the intersection acquiring unit 72.

  This corrects a portion where the corner of the route is rounded because the corner cannot be sharply turned due to the minimum turning radius at the corner of the work area C when the tractor 1 is traveling around, so that the work area is more realistic. The shape of C can be acquired.

  Furthermore, the tractor 1 of the present embodiment includes an offset adjustment unit 67 that adjusts the shape of the outer peripheral end path by offsetting the outer peripheral end path calculated by the outer peripheral end path calculating unit 66 inward or outward. Prepare. And the control apparatus 4 is comprised so that the direction and the amount of offset which the offset adjustment part 67 performs can be changed.

  Thereby, the shape of the work area C acquired by the area shape acquisition unit 62 can be flexibly adjusted according to various situations.

  Next, three modified examples related to the first embodiment will be described. In the description of these modified examples, the same or similar members as those in the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  First, the tractor 1 according to the first modification will be described.

  The end position information storage unit 61 of the tractor 1 according to the first modification includes a distance L corresponding to the positioning antenna 6 to the left end of the tractor 1 and a distance corresponding to the positioning antenna 6 to the right end of the tractor 1. In addition to storing R as an offset correction value to be applied to the straight road (straight line portion S), separate correction values XL and XR are stored as offset correction values to be applied to the turning circuit (turning portion). . The correction values XL and XR can be determined by a function in relation to the turning angle of the traveling machine body 2, for example. As described above, when turning the tractor 1 around the tractor 1 by applying the special offset correction values XL and XR that are different from those on the straight road to the turning circuit in relation to the minimum turning radius of the traveling machine body 2. It is possible to suitably obtain the contour shape even at the corner where the contour cannot travel.

  The offset correction values XL and XR related to the turning circuit differ depending on whether the turning direction is clockwise or counterclockwise. For example, in the case of clockwise rotation, the offset correction value (XL) on the left side, which is the outer periphery side, is almost equal to the offset correction value L of the straight road at the start of turning, but gradually increases as it approaches the intermediate point of turning. If it exceeds, it is determined so that it gradually decreases until the turn is finished and approaches the offset correction value L of the straight road. On the other hand, the offset correction value (XR) on the right side, which is the inner circumference side, is almost equal to the offset correction value R of the straight road at the start of turning, but gradually decreases as it approaches the intermediate point of the turn and exceeds the intermediate point. It is determined so as to gradually increase until the end of the turn and approach the offset correction value R of the straight road. Thereby, in the turning circuit, the orbiting antenna path can be offset so as to approach the shape of the angular work area C.

  Thus, in the tractor 1 according to the first modification, the end position information storage unit 61 includes the first offset correction values L and R associated with the straight road (straight line portion S) and the turning circuit (turning portion). The second offset correction values XL and XR associated with are stored. The area shape acquisition unit 62 uses the first offset correction values L and R for the straight path (straight line portion S) in the circular antenna path as the first work area shape, and for the turning circuit (turning portion). Then, the second offset correction values XL and XR are used to identify the orbiting antenna path after the turning portion correction as the second work area shape.

  As a result, even when the route when the traveling machine body 2 is circulated is a straight road or a turning circuit, appropriate offset correction values L, R, XL, and XR are applied to make it practical. The shape of the work area C can be acquired.

  For example, when the turning direction of the tractor 1 is counterclockwise, if the turning direction is counterclockwise, it is not possible to travel along the corner of the work area, but the turning direction is clockwise. If there is, it is possible to travel along the contour of the work area. Therefore, when the turning direction and the turning direction are common, the special offset correction value (offset correction value XR in this example) is used in the turning circuit, and when the turning direction and the turning direction are different, In the turning circuit, the circular antenna path after the turning portion correction as the second work area shape may be specified using an offset correction value (in this example, offset correction value R) common to the straight road.

  In addition, in the first modification, different offset correction values are provided depending on the straight road and the turning circuit. However, the offset correction value may be common to the straight road and the turning circuit, in which case the operator sets The offset value t ′ in the turning circuit is calculated based on the distance t (see step S105 in FIG. 10). In step S105 in FIG. 10, the straight road is offset based on the distance t, and the distance t ′ in the turning circuit. It is good also as offset based on. Similarly to the offset correction values XL and XR, the distance t ′ may take different values depending on the turning situation (that is, depending on the detection result of the steering angle sensor 93).

  Next, a tractor 1 according to a second modification will be described with reference to FIG. FIG. 11 is a block diagram illustrating a main configuration of the control device 75 provided in the tractor 1 according to the second modification.

  In the tractor 1 of the second modification shown in FIG. 11, the control device 75 includes (i) an inertia measuring device 94 instead of the steering angle sensor 93, and (ii) a yaw instead of the steering angle storage unit 64. The control device 4 of the tractor 1 according to the first embodiment is different from the control device 4 of the first embodiment in that the corner storage unit 74 is provided. Below, it demonstrates centering on a different point from 1st Embodiment.

  The inertia measuring device 94 detects the yaw angle, roll angle, and pitch angle of the tractor 1. The inertial measurement device 94 can continuously detect the yaw angle of the tractor 1. Inertial measuring device 94 is electrically connected to control device 75.

  The yaw angle storage unit 74 stores a temporal change (transition) of the yaw angle of the tractor 1 when the tractor 1 travels around along the outer shape of the work area C (for example, along the contour). The yaw angle storage unit 74 sequentially stores the yaw angle (detection result) of the tractor 1 detected by the inertial measurement device 94. The yaw angle storage unit 74 constitutes a part of the region shape acquisition unit 62.

  In the present modification, the turning direction determination unit 65 determines whether the direction of the circular running of the tractor 1 is clockwise or counterclockwise based on the transition (time-dependent change) of the yaw angle read from the yaw angle storage unit 74. Determine if there was. Specifically, when the accumulated value of the change in the yaw angle read from the yaw angle storage unit 74 is clockwise, it is determined in step S101 that the direction in which the tractor 1 is turned is clockwise. On the other hand, when the accumulated value of the change in the yaw angle is counterclockwise, it is determined that the direction in which the tractor 1 is rotated is counterclockwise.

  As described above, the tractor 1 according to the second modification further includes the yaw angle storage unit 74 that sequentially stores the yaw angle of the tractor 1 when the tractor 1 is traveling around. Based on the transition of the yaw angle read from the yaw angle storage unit 74, the circling direction determination unit 65 determines whether the direction of the circling travel of the tractor 1 is clockwise or counterclockwise.

  Thereby, by using the information on the transition of the yaw angle of the tractor 1, even if the work area C has a complicated shape, it is possible to appropriately determine the direction of the circular traveling.

  Next, a tractor 1 according to a third modification will be described with reference to FIG. FIG. 12 is a block diagram showing a main configuration of the control device 76 provided in the tractor 1 according to the third modification.

  In the tractor 1 according to the third modified example, the control device 76 includes the steering angle sensor 93, the inertia measurement device 94, the steering angle storage unit 64, and the yaw angle storage unit 74. It differs from the control apparatuses 4 and 75 which concern on a 1st modification and a 2nd modification. Below, it demonstrates centering on a different point from 1st Embodiment, a 1st modification, and a 2nd modification.

  In the control device 76 provided in the tractor 1 of the third modification shown in FIG. 12, the circulation direction determination unit 65 is based on the transition of the position information of the positioning antenna 6 stored in the circulation antenna path storage unit 63. It is determined whether the direction of the lap driving is clockwise or counterclockwise. More specifically, whether the traveling direction of the tractor 1 has changed to the right side or the left side can be determined based on the change in the antenna position information. Based on this, the turning direction determination unit 65 accumulates the change in the traveling direction of the tractor 1 in the course of the turning traveling, and when the change to the right side is large, the turning direction is determined to be clockwise, and the change to the left side is large. In the case, it is determined to be counterclockwise.

  As described above, in the tractor 1 including the control device 76 according to the third modification, the circulation direction determination unit 65 is based on the transition of the position information of the positioning antenna 6 stored in the circulation antenna path storage unit 63. It is determined whether the direction in which 1 is circulated is clockwise or counterclockwise.

  This makes it possible to determine the direction of circular travel of the tractor 1 without providing a special sensor or the like (for example, the steering angle sensor in FIG. 3 or the inertial measurement device 94 in FIG. 11), thus simplifying the configuration. be able to.

  Next, the tractor 1 according to the second embodiment will be described. FIG. 13 is a block diagram illustrating a main configuration of the control device 77 provided in the tractor 1 according to the second embodiment. In the description of the present embodiment, the same or similar members as those of the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  In the control device 77 provided in the tractor 1 of the second embodiment shown in FIG. 13, the region shape acquisition unit 62 includes an outer peripheral side edge route candidate calculation unit 79 and a candidate selection unit 80.

  The outer peripheral side end path candidate calculation unit 79 offsets the orbiting antenna path stored in the orbiting antenna path storage unit 63 to the right side and the left side with respect to the traveling direction of the tractor 1 to obtain two outer peripheral side end path candidates. To create.

  More specifically, the outer peripheral side end route candidate calculation unit 79 receives from the end position information storage unit 61 from the positioning antenna 6 in the width direction of the tractor 1 to the left end of the tractor 1 (including the work implement 3). And a distance R corresponding to the right end of the tractor 1 (the right end including the work implement 3) from the positioning antenna 6 in the width direction of the tractor 1. Then, as shown in FIG. 14, the outer peripheral end path candidate calculation unit 79 offsets the circular antenna path read from the circular antenna path storage unit 63 to the right by the distance R with respect to the traveling direction of the tractor 1. Thus, the first outer peripheral end path candidate is calculated, and the second outer peripheral end path candidate is calculated by offsetting the orbiting antenna path to the left by the distance L with respect to the traveling direction of the tractor 1.

  The candidate selection unit 80 illustrated in FIG. 13 selects any one of the two outer peripheral end path candidates calculated by the outer peripheral end path candidate calculation unit 79 as the outer peripheral end path. Specifically, since the orbiting antenna path is formed in a loop shape, offsetting the orbiting antenna path to the right side and the left side means offsetting to the inner circumference side or the outer circumference side. And when offset to the outer peripheral side, the area of the region surrounded by the path after offset becomes larger than when offset to the inner peripheral side. Accordingly, when the operator causes the tractor 1 to travel around the contour of the work area C along the contour, the offset direction (the offset direction toward the outer periphery with respect to the tractor circumferential direction) increases the area of the region. ) Is the offset direction that brings the orbiting antenna path closer to the shape of the work area C. On the other hand, when the operator makes the tractor 1 circulate along the contour outside the contour of the work area C, an offset direction in which the area of the region becomes small (an offset toward the inner periphery with respect to the tractor circulation direction). Direction) is an offset direction that brings the orbiting antenna path closer to the shape of the work area C. Using this fact, the candidate selection unit 80 obtains in advance whether the inside or outside of the outline of the work area C when traveling around the tractor 1 based on the operation of the operator or the like. By comparing the areas of the regions surrounded by the two outer peripheral end path candidates, the outer peripheral end path candidate having the larger or smaller area is appropriately selected, and this is set as the outer peripheral end path. Alternatively, after calculating the area of the region surrounded by the first and second outer peripheral side end path candidates, whether the tractor 1 travels inside or outside the outline of the work region C is based on the operation of the operator or the like. The outer peripheral side end path candidate having the larger or smaller area is appropriately selected according to the identification result, and this is set as the outer peripheral side end path.

  Next, the control performed by the control device 77 to acquire the shape of the work area C will be described with reference to the flowchart of FIG. FIG. 15 is a flowchart illustrating processing performed by the control device 77 when the shape of the work area C is acquired.

  First, the operator registers the shape of the work area C in the same manner as in the first embodiment, as shown in FIG. 5, along the outer shape of the work area C (for example, just inside the contour). ) The tractor 1 travels around in any direction. In step S201 in FIG. 15, the orbiting antenna path storage unit 63 stores the position information (orbiting antenna path) of the positioning antenna 6 during the above-described orbiting.

  Subsequently, the outer peripheral side end route candidate calculation unit 79 of the control device 77 reads the circular antenna path stored in the circular antenna path storage unit 63 in step S201, and sets the distance R to the right with respect to the traveling direction of the tractor 1. The position information offset by the amount is calculated as the first outer peripheral side end path candidate shown in FIG. 14 (step S202 in FIG. 15). Further, the outer peripheral end path candidate calculation unit 79 uses the second outer peripheral end section shown in FIG. 14 as the position information obtained by offsetting the above-mentioned circular antenna path by the distance L to the left with respect to the traveling direction of the tractor 1. It is calculated as a route candidate (step S203 in FIG. 15). The values of the distances R and L are read from the end position information storage unit 61.

  Next, the candidate selection unit 80 calculates the area of the inner region of the two outer peripheral end path candidates obtained in steps S202 and S203, and selects the larger or smaller candidate as the outer peripheral end path. (Step S204). In the case of the present embodiment shown in FIG. 14 and the like, the trajectory when the tractor 1 travels around is inside the outline of the work area C, so the candidate with the larger area becomes the outer peripheral end path. On the other hand, when the trajectory when the tractor 1 travels around is outside the contour of the work area C, the candidate having the smaller area is the outer peripheral end path. As a result, regardless of the direction in which the operator makes the tractor 1 circulate, it is possible to appropriately obtain the outer peripheral side end path by simple calculation, and to obtain the shape of the work area C that matches the actual condition.

  The subsequent processing (step S205 to step S209) is exactly the same as the processing of step S105 to step S109 of the processing of the first embodiment shown in FIG.

  As described above, the control device 77 included in the tractor 1 according to the second embodiment includes the orbiting antenna path storage unit 63, the outer peripheral side end path candidate calculation unit 79, and the candidate selection unit 80. The orbiting antenna path storage unit 63 performs positioning along with the orbiting based on the positional information of the positioning antenna 6 when the tractor 1 orbits along the outline of the work area C (for example, along the contour). The round antenna path that is the path through which the antenna 6 has passed is stored. The outer peripheral end path candidate calculation unit 79 is a first outer peripheral end path candidate obtained by offsetting the circular antenna path read from the circular antenna path storage unit 63 to the right with respect to the traveling direction of the tractor 1. The second outer peripheral end path candidate obtained by offsetting the circular antenna path to the left with respect to the traveling direction of the tractor 1 is calculated. The candidate selection unit 80 compares the area of the region surrounded by the first outer peripheral side end route candidate with the area of the region surrounded by the second outer peripheral end route candidate, and causes the traveling machine body 2 to travel around. If the travel trajectory is inside the contour of the work area C, the candidate having the larger area is selected. If the travel trajectory that travels around the traveling body 2 is outside the contour of the work area C, the area is small. Is selected as the outer edge path. And the control apparatus 77 acquires the shape of the work area C based on an outer peripheral side edge part path | route.

  As a result, the route itself through which the positioning antenna 6 passes when the tractor 1 travels around is not recognized as the shape of the work area C, but from the positioning antenna 6 to the end of the tractor 1 in the vehicle width direction (left end or right end). The shape of the work area C can be acquired based on the outer peripheral side end path calculated in consideration of the distances L and R. Therefore, it is possible to acquire the shape of the work area C that is more realistic. Moreover, even if the direction in which the operator travels around the tractor 1 is clockwise or counterclockwise, the first outer peripheral end path candidate obtained by offsetting the antenna passing path to the right in the traveling direction is offset to the left. By comparing the area with the second outer peripheral end path candidate obtained in this way, it is possible to appropriately calculate the outer peripheral end path, thereby reducing the labor of registering the shape of the work area C. be able to.

  The preferred embodiments and modifications of the present invention have been described above, but the above configuration can be modified as follows, for example.

  In the first embodiment and the second embodiment, the adjustment of the outer peripheral side end path by the offset adjusting unit 67 can be performed after the correction of the outer peripheral side end part path by the turning portion correcting unit 68. In addition, at least one of the offset adjustment unit 67 and the turning portion correction unit 68 can be omitted.

  In the above example, the tractor 1 travels around the contour of the work area C with the work implement 3 attached to the rear part. However, it is also possible to perform a round run for registering the shape of the work area C with the work implement 3 removed. In this case, the distance L stored in the end position information storage unit 61 is a distance from the positioning antenna 6 to the left end of the traveling machine body 2 of the tractor 1 in the vehicle width direction of the tractor 1. The distance R is a distance from the positioning antenna 6 to the right end of the traveling machine body 2 of the tractor 1 in the vehicle width direction of the tractor 1. The distance L and the distance R may be the same or different.

  In the above-described embodiment, display data for displaying the shape of the work area C on the display of the remote operation device 46 is created by the display data creation unit 60 provided in the control device. However, the display data is not necessarily created by the control device. For example, the display data may be created by the control device provided in the remote operation device 46 instead.

  In the above-described embodiment, the control devices 4, 75, 76, and 77 are configured to comprehensively control the respective units constituting the traveling machine body 2 and the work machine 3. However, instead of this, the control devices 4, 75, 76, and 77 may be a collection of control devices that individually control each part of the traveling machine body 2 and the work machine 3. As a result, for example, a new control device that mainly controls the configuration used for autonomous traveling is added to the existing tractor provided with a control device that mainly controls the configuration not used for autonomous traveling. It can be used as an industrial tractor (robot tractor).

  In the above embodiment, the position and shape of the farm field area are acquired by image processing or the like, and the position and shape of the work area C are acquired by the area shape acquisition unit 62 by running around the tractor 1. The position and shape of the farm field region may be acquired by the region shape acquisition unit 62 by traveling around the tractor 1. The process in the case of acquiring the position and shape of the field area by the area shape acquisition unit 62 is the same as the process in the case of acquiring the position and shape of the work area C described above, and a description thereof will be omitted.

  In the above embodiment, the present invention is applied to the robot tractor 1 that autonomously travels. However, the present invention is not necessarily limited to this, and the present invention can also be applied to a general tractor on which an operator gets on and steers.

  The present invention is not limited to being applied to a tractor as in the above embodiment, and may be applied to, for example, a rice transplanter. In that case, a planting part (planting apparatus) will correspond to a working machine. Furthermore, the present invention can also be applied to various other agricultural work vehicles.

1 Robot tractor (agricultural work vehicle)
4 Control device 6 Antenna for positioning (antenna)
63 Circumference antenna path storage unit 65 Circumference direction determination unit 66 Outer peripheral side end path calculation unit

Claims (5)

The body part,
A position information acquisition unit capable of acquiring position information of the vehicle body based on a positioning signal from a positioning system received by an antenna;
A storage unit for storing an offset correction value set in advance for the vehicle body unit;
A shape identifying unit that identifies the shape of the work area where the farm work is performed;
With
The shape specifying part specifies a first work area shape based on position information of the vehicle body part when the vehicle body part is circulated around the work area, and a turning direction of the vehicle body part during the lap driving And a second work area shape different from the first work area shape based on the first work area shape and the offset correction value,
The agricultural work vehicle, wherein the shape specifying unit specifies the second work area shape as the shape of the work area. The agricultural work vehicle according to claim 1,
The storage unit stores a first offset correction value associated with a straight road and a second offset correction value associated with a turning circuit,
The shape specifying unit uses the first offset correction value for a straight road in the first work area shape, and uses the second offset correction value for a turning circuit to determine the second work area shape. An agricultural work vehicle characterized by specifying. The agricultural work vehicle according to claim 1,
An agricultural work vehicle comprising an offset correction value adjustment unit capable of adjusting the offset correction value according to a user instruction. The agricultural work vehicle according to claim 1,
When two straight roads are connected via a turning circuit in the second work area shape, the shape specifying part is based on an intersection that is an intersection of the two straight roads. An agricultural work vehicle characterized in that a third work area shape different from the second work area shape can be specified. The agricultural work vehicle according to claim 1,
The storage unit stores a first offset adjustment value associated with clockwise traveling and a second offset adjustment value associated with counterclockwise traveling,
The shape specifying unit uses the first offset adjustment value when the turning direction of the vehicle body portion is clockwise, and uses the second offset adjustment value when the turning direction of the vehicle body portion is counterclockwise. An agricultural work vehicle characterized by identifying the second work area shape.

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