JP2017167838A - Path generation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To generate a path in which, when a work path is generated, no unplowed land is left even when there is a work area whose width is less than a work width of a work machine of an autonomous travel work vehicle.SOLUTION: A path generation device comprises: a storage part 114 capable of storing information of a farm field H which is a travel area where a vehicle body part is made to travel, information of a width of the vehicle body part, and/or information of a travel work width W1 which is a width of a rotary cultivator 24 attached to the vehicle body part; and a control part 130 on an operation side capable of generating a work path Ra by the work machine in the farm field H. The farm field H contains a work area HA which is a first area including the work path Ra, a headland HB which is a second area which is set around the first area, and a side margin part HC. The control part 130 on the operation side can generate a work path Ra having a travel work width W1 extending to the second area on a narrow work path Rc, when there is the narrow work path Rc whose width is narrower than the travel work width W1 when the work path Ra is generated on the first area.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a route generation in a work system in which work is performed by an unmanned traveling work vehicle when a work region less than the work width exists in a work route on which the unmanned traveling work vehicle performs work.

  2. Description of the Related Art Conventionally, a work vehicle coordination system that performs ground work using a parent work vehicle and an unmanned maneuvering child work vehicle that follows the parent work vehicle is known (for example, see Patent Document 1). In the work vehicle coordination system, a parent work vehicle has a parent turning travel route in a turning area at both ends of a field and a parent work running route that travels in a straight line while performing ground work between the turning areas at both ends. The travel route of the child work vehicle is composed of a child work travel route that follows the parent work vehicle while performing ground work between the turning areas at both ends, and a child turn travel route in the turning area. Had to drive.

JP 2014-178759 A

  In the above technique, when the work area in the field is collaboratively operated by the parent work vehicle and the child work vehicle, and the unmanned traveling vehicle that becomes the small work vehicle is positioned on the final work route, the work width of the route is small. When the work width of the work machine included in the vehicle is shorter, the unmanned travel work vehicle protrudes from the work area, and thus the automatic travel is stopped and the work may be terminated. In this case, unworked land remains. In addition, when the final route passes through an oblique work area, if there is no clear setting from which position to start or end work, there is a risk that unworked land will occur. It was.

  The present invention has been made in view of the situation as described above, and when generating a work route, when a work area less than the work width of the work machine of the autonomous running work vehicle (unmanned running work vehicle) occurs, An object of the present invention is to provide a path generation device capable of setting how to process a work area less than the work width.

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
That is, according to the first aspect of the present invention, it is possible to store information on a traveling area in which the vehicle body portion travels, a width of the vehicle body portion, and / or a traveling work width that is a width of a work machine attached to the vehicle body portion. A storage unit;
A control unit capable of generating a work route by the work implement in the traveling region,
The travel area includes a first area including the work route, and a second area set around the first area,
When a narrow work path narrower than a predetermined width occurs when the work path is generated in the first area, the control unit can generate a work path having a traveling work width that straddles the narrow work path and the second area. To do.

In claim 2, the storage unit stores information on a traveling work length that is a length from a front end to a rear end in a state in which a work machine is mounted on the vehicle body unit,
The control unit does not generate a work route in the narrow work route when the route length of the narrow work route is less than a length obtained by multiplying the traveling work length by a predetermined value.

In claim 3, the control unit can generate the work route based on a work start position, a work direction, and a work end position set for the travel area,
When a work route is not generated on the narrow work route, the work end position set for the travel area and a position different from the work finish position by the work implement on the work route can be set. .

  By using the means as described above, even when a narrow work route occurs in the first area, the work route is set according to a predetermined principle by the autonomous traveling work vehicle, Route generation settings that do not remain are performed.

Schematic side view of autonomous traveling work vehicle and traveling work vehicle Control block diagram Figure showing the initial screen Diagram showing field settings A diagram showing the field area The figure which shows a farm field when the work path of the last strip in a work area turns into a narrow work path The figure which shows the farm field when work area becomes trapezoid The figure which shows the farm field when work area becomes stepped The figure which shows the field when the first work path length is short

  An autonomous traveling work vehicle (hereinafter sometimes referred to as an unmanned vehicle) 1 that can be autonomously traveled unmanned, and a manned traveling work vehicle that is operated by a worker (user) in cooperation with the autonomous traveling work vehicle 1 An embodiment will be described in which 100 is a tractor (hereinafter may be referred to as a manned vehicle), and the autonomous tilling work vehicle 1 and the traveling work vehicle 100 are each equipped with a rotary tiller as a work implement. However, the work vehicle is not limited to a tractor, and may be a combine, etc., and the work machine is not limited to a rotary tiller, but is a vertical stand, a mower, a rake, a seeder, a fertilizer, or the like. May be.

In the present specification, “autonomous traveling” means that a tractor travels along a predetermined route by controlling a configuration related to traveling provided by a control unit (ECU) provided in the tractor.
Executing farm work in a single farm with unmanned vehicles and manned vehicles may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. In addition, as cooperative work of farm work, in addition to “performing farm work in a single farm field with unmanned vehicles and manned vehicles”, “farm work in different farm fields such as adjacent farm fields with unmanned vehicles and manned vehicles at the same time” Performing ”may be included.

  FIG. 1 is a side view showing a schematic configuration of an autonomous traveling work vehicle and a traveling work vehicle, and FIG. 2 is a control block diagram showing their control configuration. 1 and 2, an overall configuration of a tractor that becomes an autonomous traveling work vehicle 1 will be described. The vehicle body of the tractor has an engine 3 installed in the hood 2, a dashboard 14 provided in the cabin 11 at the rear of the hood 2, and a steering handle 4 serving as a steering operation means provided on the dashboard 14. It has been. The steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device. A steering actuator 40 that operates the steering device is connected to a steering controller 301 that constitutes the control unit 30. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is disposed at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as the steering direction is recognized, and the rotation of the steering handle 4 may be detected or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

  The control unit 30 includes a steering controller 301, an engine controller 302, a shift control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, an autonomous traveling control controller 307, and the like, each of which is a CPU (central processing unit). And a storage device such as a RAM and a ROM, an interface, and the like. The storage device stores programs, data, and the like for operation, and communication is possible so that information, data, and the like can be transmitted and received through CAN communication.

  A driver seat 5 is disposed behind the steering handle 4, and a mission case 6 is disposed below the driver seat 5. Rear axle cases 8 and 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles. The power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the mission case 6 so that the rear wheels 10 and 10 can be driven. The transmission is constituted by, for example, a hydraulic continuously variable transmission, and the movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the transmission can be changed. The transmission means 44 is connected to the transmission control controller 303 of the control unit 30. The rotation speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the shift control controller 303 as the traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

  The transmission case 6 houses a PTO clutch and a PTO transmission, and the PTO clutch is turned on and off by the PTO on / off means 45. The PTO on / off means 45 is connected to the autonomous traveling control controller 307 of the control unit 30 via the display means 49. It is connected, and the connection / disconnection of power to the PTO shaft can be controlled. In addition, when a sowing machine, a cocoon coater, or the like is mounted as a work machine, a work machine controller 308 is provided so that the work machine can perform its own control, and the work machine controller 308 is connected via information communication wiring (so-called ISOBUS). To the work control controller 305.

  A front axle case 7 is supported on a front frame 13 that supports the engine 3, front wheels 9 and 9 are supported on both sides of the front axle case 7, and power from the transmission case 6 can be transmitted to the front wheels 9 and 9. It is configured. The front wheels 9 and 9 are steered wheels, which can be turned by turning the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 comprising a power steering cylinder as a driving means of the steering device. It can be turned. The steering actuator 40 is connected to and controlled by the steering controller 301 of the control unit 30.

  An engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to an engine controller 302 serving as an engine rotation control means so that the state of the engine can be detected. The engine controller 302 detects the load from the set rotational speed and the actual rotational speed and controls it so as not to be overloaded, and transmits the state of the engine 3 to the remote operation device 112 described later so that it can be displayed on the display device 113. ing.

  The fuel tank 15 disposed below the step is provided with a level sensor 29 for detecting the fuel level and is connected to the display means 49. The display means 49 is provided on the dashboard of the autonomous traveling work vehicle 1, The remaining amount of is displayed. Then, the remaining amount of fuel is calculated by the autonomous travel controller 307, the workable time is calculated, information is transmitted to the remote operation device 112 via the communication device 110, and the remaining fuel amount and work are displayed on the display device 113 of the remote operation device 112. Possible time can be displayed. The display means for displaying the tachometer, fuel gauge, hydraulic pressure, and abnormality and the display means capable of displaying the current position and the like may be configured separately.

  On the dashboard 14, display means 49 for displaying an engine tachometer, a fuel gauge, a hydraulic pressure, etc., an abnormal monitor, a set value, and the like are arranged. The display means 49 is a touch panel type like the remote operation device 112, and data input, selection, switch operation, button operation, etc. are also possible.

  In addition, a rotary tiller 24 is mounted on the rear part of the vehicle body of the tractor as a work implement via a work implement mounting device 23 so as to be movable up and down. An elevating cylinder 26 is provided on the transmission case 6, and the elevating arm 26 constituting the work implement mounting device 23 is rotated by moving the elevating cylinder 26 to extend and lower the rotary tiller 24. The lift cylinder 26 is expanded and contracted by the operation of the lift actuator 25, and the lift actuator 25 is connected to the horizontal control controller 304 of the control unit 30. In addition, an inclination cylinder is provided on the left and right lift links of the work implement mounting device 23, and an inclination actuator 47 that operates the inclination cylinder is connected to a horizontal control controller 304.

  The positioning control unit 306 serving as a position detector is connected to a mobile GPS antenna (positioning antenna) 34 and a data receiving antenna 38 for enabling detection of position information. The mobile GPS antenna 34 and the data receiving antenna 38 are connected to the cabin 11. Provided on top. The positioning control unit 306 is provided with a position calculating means for calculating the latitude and longitude so that the current position can be displayed on the display means 49 or the display device 113 of the remote operation device 112. In addition to GPS (United States), high-precision positioning can be performed by using a satellite positioning system (GNSS) such as a quasi-zenith satellite (Japan) or a Glonus satellite (Russia). In this embodiment, GPS is used. explain.

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

  The azimuth angle detection unit 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the azimuth angle detection unit 32 includes a magnetic azimuth sensor. The azimuth angle detection unit 32 inputs information to the autonomous traveling control controller 307 via the CAN communication means.

  In this way, the autonomous traveling control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth angle detecting unit 32 by the attitude / azimuth calculating means, and calculates the attitude (direction, vehicle body front-rear direction and vehicle body left-right direction) of the autonomous traveling work vehicle 1. Direction inclination, turning direction).

Next, the position information of the autonomous traveling work vehicle 1 is acquired using a GPS (Global Positioning System) which is one of satellite positioning systems.
As a positioning method using GPS, there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematics-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

  RTK-GPS positioning performs GPS observation simultaneously with a reference station whose position is known and a mobile station whose position is to be obtained, and transmits data observed by the reference station to the mobile station in real time using a method such as wireless communication. This is a method for obtaining the position of the mobile station in real time based on the position result of the mobile station.

  In the present embodiment, a positioning control unit 306, a mobile GPS antenna 34, and a data receiving antenna 38 that are mobile stations are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35, a fixed GPS antenna 36, and a data transmitting antenna that are reference stations. 39 is disposed at a predetermined position. In the RTK-GPS positioning of the present embodiment, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39 to the data reception antenna 38. .

  The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37. This signal is transmitted to the positioning control unit 306 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by the fixed GPS antenna 36 serving as a reference station, measured by the fixed communication device 35 and transmitted to the positioning control unit 306, and the observed data is analyzed and moved. Determine the station location.

  Thus, the autonomous traveling controller 307 is provided as an autonomous traveling means for autonomously traveling the autonomous traveling work vehicle 1. That is, the various information acquisition units connected to the autonomous traveling controller 307 acquire the traveling state of the autonomous traveling work vehicle 1 as various information, and the various control units connected to the autonomous traveling controller 307 allow the autonomous traveling work vehicle 1 to Control autonomous driving. Specifically, it receives radio waves transmitted from the GPS satellites 37, 37,... And obtains position information of the vehicle body at set time intervals in the positioning control unit 306, and the vehicle body from the gyro sensor 31 and the azimuth angle detection unit 32. Displacement information and azimuth information are obtained, and the steering actuator 40, speed change is performed so that the vehicle body travels along a route (travel route and work route) R set in advance based on the position information, displacement information, and azimuth information. The means 44, the lift actuator 25, the PTO on / off means 45, the engine controller 302, etc. are controlled so that they can autonomously run and work automatically.

  In addition, an obstacle sensor 41 is disposed on the autonomous traveling work vehicle 1 and connected to the control unit 30 so as not to collide with the obstacle. For example, the obstacle sensor 41 is configured by a laser sensor, an ultrasonic sensor, or a camera, arranged at the front part, the side part, or the rear part of the vehicle body part and connected to the control unit 30. Whether or not there is an obstacle in the rear or the rear is detected, and control is performed to stop traveling when the obstacle approaches within a set distance.

  In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42F that captures the front, a work implement behind the camera 42R, and a camera 42R that captures the state of the field after work, and is connected to the control unit 30. In this embodiment, the cameras 42F and 42R are arranged on the front part and the rear part of the roof of the cabin 11. However, the arrangement positions are not limited, and one camera is arranged on the front part and the rear part in the cabin 11. The camera 42 may be arranged at the center of the vehicle body and rotated around the vertical axis to photograph the surroundings, or the camera 42 may be arranged at the four corners of the vehicle body to photograph the periphery of the vehicle body. Moreover, when the emblem of the manufacturer of the autonomous traveling work vehicle 1 is attached to the cabin 11 or the bonnet 2, the cameras 42F and 42R may be arranged on the back side of the emblem. In that case, a through-hole or a predetermined gap is set in the emblem, and the lens of the cameras 42F and 42R corresponds to the position of the through-hole or the gap, so that shooting is not hindered. Images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote operation device 112 provided in the traveling work vehicle 100.

  The remote control device 112 sets a route R, which will be described later, of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement. The operation data is stored, and includes an operation-side control unit (CPU or memory) 130, a communication device 111, a display device 113, a storage unit 114, and the like.

  The traveling work vehicle 100, which is a manned traveling vehicle, is driven and operated by an operator, and the traveling work vehicle 100 is equipped with a remote control device 112 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted. Note that the traveling work vehicle 100 (or the remote control device 112) may include a GPS control unit.

  The remote control device 112 can be attached to and detached from a mounting portion (an arm member (not shown), for example, the remote control device 112 that can be mounted and fixed) provided on the dashboard of the traveling work vehicle 100 and the autonomous traveling work vehicle 1, the pillar of the cabin 11, or the like. It is said. The remote control device 112 can be operated while attached to the mounting portion of the traveling work vehicle 100, or can be carried out by being taken out of the traveling work vehicle 100, or can be operated while being attached to the mounting portion of the autonomous traveling work vehicle 1. It is also possible to operate. The remote control device 112 can be configured by a wireless communication terminal such as a notebook or tablet personal computer. In this embodiment, a tablet computer is used.

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. The communication device 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote operation device 112 is provided with a display device 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and includes a communication device 111, a control unit 130, a storage unit 114, a battery, and the like in the housing. The storage unit 114 includes specifications of the autonomous traveling work vehicle 1, the traveling work vehicle 100, and the work implement (various lengths such as the overall length, width, and height of the main body and work implement, engine type, horsepower, transmission ratio, work Capacity, etc.), setting values relating to route setting described later, routes after setting, and the like are stored. In addition, after transferring to the control unit 30 of the autonomous traveling work vehicle 1 after the route generation setting, it is also stored in the storage unit provided in the control unit 30.

Next, a procedure for setting the route R by the remote operation device 112 will be described. FIG. 3 shows an initial screen displayed on the display device of the remote control device. However, the route R can be set by the control unit 30 included in the autonomous traveling work vehicle 1.
The display device 113 of the remote operation device 112 is of a touch panel type, and an initial screen appears when the remote operation device 112 is activated by turning on the power. On the initial screen, as shown in FIG. 3, a tractor setting button 201, a field setting button 202, a route generation setting button 203, a data transfer button 204, a work start button 205, and an end button 206 are displayed.

First, tractor setting will be described.
When the tractor setting button 201 is touched, when a work is performed using the tractor by the remote operation device 112 in the past, that is, when there is a tractor set in the past, the tractor name (model) is displayed. When a tractor name to be used this time is touched and selected from a plurality of displayed tractor names, it is possible to proceed to the field setting described later or return to the initial screen.
When newly setting a tractor, specify the tractor model. In this case, enter the model name directly. Alternatively, a plurality of tractor models are displayed in a list on the display device 113 so that a desired model can be selected.

When the model of the tractor is set, a setting screen for the size, shape, and position of the work implement that is attached to the tractor appears. For example, the position of the work implement is selected from the front, between the front and rear wheels, the rear, and the offset.
When the setting of the work implement is completed, a setting screen for the vehicle speed during work, the engine speed during work, the vehicle speed during turning, and the engine speed during turning appears. It is also possible for the vehicle speed during work to be different between the forward path and the return path.
When the setting of the vehicle speed and the engine speed is completed, it is possible to proceed to the field setting described later or return to the initial screen.

Next, the field setting will be described. FIG. 4 shows a state of outer periphery travel performed by a user riding on an autonomous traveling work vehicle at the time of field setting. FIG. 5 shows areas to be set in the agricultural field, such as a work area and a headland area.
When the farm field setting button 202 is touched, the name of the farm field that has been set is displayed when the remote operation device 112 has previously performed a work using the tractor, that is, when there is a farm field that has been set in the past. When a field name to be worked on is selected by touching the displayed field names from a plurality of displayed field names, it is possible to proceed to route generation setting described later or return to the initial screen. It is also possible to edit or newly set the set field.

  If there is no registered field, a new field is set. When a new field setting is selected, the tractor (autonomous traveling work vehicle 1) is positioned at one of the four corners A in the field H, as shown in FIG. Thereafter, the tractor is moved along the outer periphery of the field H to register the field shape. Next, the operator registers the angular positions A, B, C, D and inflection points from the registered farm field shapes, and identifies the farm field shape.

When the farm field H is specified, the work start position S, the work start direction F, and the work end position G are set as shown in FIG. When there is an obstacle in the field H, the tractor is moved to the position of the obstacle, the “obstacle setting” button is touched, and the obstacle is set by traveling around the obstacle. In addition, it is possible to display a map image of the farm field on the display device 113, and when the specified farm field shape is superimposed on the map image, the periphery of the obstacle is designated on the display device 113. Thus, it may be possible to set an obstacle.
When the above work is completed or when a previously registered field is selected, a confirmation screen is displayed, and an OK (confirmation) button and an “edit / add” button are displayed. When there is a change in the field registered in the past, the “Edit / Add” button is touched.

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

Next, the width of the work machine of the traveling work vehicle 100 is set. In other words, the width of the work implement is input with numbers.
Next, the number of skips is set. That is, it sets how many routes are to be skipped when the autonomous mobile work vehicle 1 reaches the outer peripheral edge (headland) of the field and moves from the first route to the second route. Specifically, (1) Do not skip. (2) One column skip. (3) Skip two columns. Select one of the following.
Next, overlap is set. That is, the overlapping amount of the work width in the work route adjacent to the work route is set. Specifically, (1) There is no overlap. (2) overlap. Select. If “overlap” is selected, a numerical value input screen is displayed, and it is not possible to proceed to the next unless a numerical value is input.

  Next, the outer periphery setting is performed. That is, as shown in FIG. 5, an area outside the work area HA in which work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or by the autonomous traveling work vehicle 1 is set. In other words, the headland HB that turns in a non-working state at the end of the field and the side margin HC that is a non-working area that is in contact with the outer periphery of the left and right fields between the headland HB and the headland HB are set. . Therefore, farm field H = work area HA + headland HB + headland HB + side margin HC + side margin HC. Usually, the width Wb of the headland HB and the width Wc of the side margin HC are not more than twice the width of the working machine attached to the traveling working vehicle 100, and the autonomous traveling working vehicle 1 and the traveling working vehicle 100 are After the accompanying work is completed, the operator gets into the traveling work vehicle 100 and finishes by making two rounds of the outer periphery by manual operation. However, if the shape of the outer periphery of the field is not complicated, it is possible to work on the outer periphery with the autonomous traveling work vehicle 1. In the outer periphery setting, the width Wb of the headland HB and the width Wc of the side margin HC are automatically calculated to a predetermined width according to the width of the work implement, but the calculated width of the headland HB Wb and the width Wc of the side margin HC can be changed to arbitrary widths, and the user can change the width Wb and the width Wc after the change to the desired width, respectively, and the width and side of the headland HB. It can be set as the width of the part margin HC. However, when the width can be changed to an arbitrary width, it cannot be set to be equal to or smaller than the minimum setting width calculated in consideration of traveling, work and safety in the field. For example, when the autonomous traveling work vehicle 1 travels or turns in the headland HB or the side margin HC, the width that guarantees that the work implement does not jump out of the field is calculated as the minimum set width.

  When the input of the above various settings is completed, a confirmation screen appears. When touching confirmation, a route R is automatically generated. The route R includes a work route Ra and a travel route Rb, and the work route Ra is a route generated in the work area HA and travels while performing work, and is a straight route. However, when the work area HA is not rectangular, the work area HA may protrude beyond the work area HA (headland HB and side margin HC). The travel route Rb is a route generated in an area outside the work area HA and travels without performing work, and is a path that combines a straight line and a curve. Mainly, it turns on the headland HB.

As the route R, a route R between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is generated.
When it is desired to view the work route after the work route is generated, a simulation image is displayed by touching the route generation setting button 203 and can be confirmed. Note that the route R is generated without touching the route generation setting button 203. When each item of the route generation setting is set, the route generation setting is displayed, and a “route setting button”, “transfer data”, and “return to home” are selectably displayed below the route generation setting.

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

  Next, in the route generation setting, a process when a strip narrower than a predetermined width or a narrow portion exists on the work route Ra of the autonomous traveling work vehicle 1 will be described. The width of the work area on the work route Ra is defined as a work area width Wr, and the predetermined width is a work width (hereinafter referred to as travel work) of a work machine (rotary tillage device 24) mounted on the autonomous traveling work vehicle 1 or the traveling work vehicle 100. Width W1), or when the work implement is narrower than the width of the main body (tractor), the width of the main body is used. In the present embodiment, the width of the work machine is longer than the width of the main body, and it is assumed that the same work machine is mounted on the autonomous traveling work vehicle 1 and the traveling work vehicle 100, and the overlap is 0. Further, a path of a strip having a portion (work area) that does not satisfy the predetermined width is referred to as a narrow work path Rc.

  In the route generation setting, if the work route Ra includes a narrow work route Rc having a narrower or narrower portion than a predetermined width (traveling work width W1 in the following embodiment), the route R is displayed and the work is performed. You can choose to do or not. That is, unless the autonomous traveling work vehicle 1 works or does not work on the narrow work route Rc, the work is performed when the autonomous traveling work vehicle 1 reaches the narrow work route Rc. This is because the route Ra is less than the traveling work width W1, so it is determined that the work is impossible, and the work may be interrupted by stopping before entering the narrow work route Rc. Moreover, when it complete | finishes without performing the operation | work of the narrow work path | route Rc, an uncultivated land will remain. Therefore, in the route generation setting, when there is a narrow work route Rc, it is possible to select in advance whether or not to perform the work. In addition, when the narrow work route Rc exists in the work route Ra of the manned traveling work vehicle 100, the worker decides and the selection screen is not displayed. However, it may be made selectable.

  When it is set to work on the narrow work route Rc, the work is carried out by protruding to the side margin HC (second region). When the narrow work route Rc is set not to be worked, the work area HA of the narrow work route Rc is performed when the headland HB and the side margin HC are worked after the work of the work area HA is completed. . Alternatively, the width of the left and right side margins HC can be adjusted so that the narrow work route Rc is widened so that the narrow work route Rc becomes the traveling work width W1, so that the narrow work route Rc is eliminated. When the width of the left and right side margins HC is narrowed to increase the width so that the narrow work route Rc becomes the travel work width W1, the width of the side margin HC after the change (after narrowing) is the travel work. It is made not to become below the restriction width specified based on width W1 and run work length L1. In other words, if the narrow work route Rc does not become the travel work width W1 unless the width of the side margin HC is equal to or less than the limit width, the width of the left and right side margins HC is not adjusted.

  Specifically, processing according to the shape of the field H will be described. First, when the route R is generated in a rectangular field, a reciprocating work route Ra having a traveling work width W1 is generated in the work area HA. As shown in FIG. 6, in the final work path Ra (final line), the work area width Wr is shorter than the travel work width W1 (predetermined width), and a narrow work path Rc is generated. In other words, since the width of the work area HA is hardly an integral multiple of the travel work width W1, a narrow work route Rc is formed in the final strip.

  At the time of this route generation setting, the control unit 130 on the operation side displays a selection screen for performing or not performing the work on the narrow work route Rc. When the operator selects “do work”, the narrow work route Rc is generated as the work route Ra so that the control unit 130 on the operation side protrudes from the side margin HC and performs the work. In addition, when it is set not to work on the narrow work route Rc, unlike the work end position G (FIGS. 5 and 6) set for the field H, it becomes the end of the line before one process. A work end position Ga is set on the work route Ra.

  Further, when the shape of the farm field H is a trapezoid or the like, and the side of the end of the farm field is an oblique shape, a triangular work area that is less than the traveling work width W1 is formed as shown in FIG. Also in this case, at the time of route generation setting, the control unit 130 on the operation side determines that the final strip is less than the travel work width W1 (predetermined width), and defines the narrow work route Rc. Is selected, a screen for selecting whether or not to work on the narrow work route Rc is displayed. When the operator selects “do work”, the control unit 130 on the operation side generates the narrow work route Rc as the work route Ra so as to perform the work by protruding from the side margin HC.

  Further, when the shape of the work area HA is a stepped shape as shown in FIG. 8, a narrow work route Rc that is less than the travel work width W1 is formed in the protruding convex area. Also in this case, at the time of route generation setting, the control unit 130 on the operation side determines that the work area width Wr is less than the travel work width W1 (predetermined width) and sets it as the narrow work route Rc, and autonomously travels this narrow work route Rc. When the work vehicle 1 is to work, a selection screen for selecting whether or not to work on the narrow work route Rc is displayed. When the operator selects “do work”, the narrow work route Rc is generated as the work route Ra so that the control unit 130 on the operation side protrudes from the side margin HC and performs the work.

  In addition, when the shape of the farm field H is trapezoidal or the like, and the side of the farm field edge on the start side is an oblique shape, as shown in FIG. 9, a triangular work area having a portion less than the traveling work width W1 can be formed and the narrow work is performed. It becomes route Rc. When the route length (traveling direction length) Lc of the narrow work route Rc is less than a length obtained by multiplying the traveling work length L1 by a predetermined value, the work route Ra is not generated in the narrow work route Rc. That is, the traveling work length L1 is the length from the front end to the rear end in a state where the work machine is mounted on the vehicle body, and is stored in the storage unit 114 of the remote operation device 112. The control unit 130 on the operation side When the route generation is set, the route length Lc of the narrow work route Rc is calculated to be a multiple of the travel work length L1, and when the route length Lc is less than a predetermined length, the work route Ra is set to the narrow work route Rc. It is not generated. The predetermined multiple is, for example, twice. This is because, in such a short work route, it is possible to work efficiently if the worker drives the work vehicle 100 to perform work processing, returns to the work start position, and performs the collaborative work. However, the case where the narrow work route Rc is formed on the extension of the work route Ra as shown in FIGS. 7 and 8 is excluded.

  In the present embodiment, it is possible to select whether or not to perform the work on the narrow work route Rc. However, as described above, the width of the work area HA is hardly a constant multiple of the travel work width W1. In principle, the work may be performed on the narrow work route Rc without causing the operator to select, and the work may not be performed on the narrow work route Rc under a predetermined condition. Examples of the predetermined condition include a case where the length of the narrow work route Rc described above is less than a constant multiple of the travel work length L1.

  As described above, using the satellite positioning system, the farm field H, which is a traveling region in which the vehicle body portion of the autonomous traveling work vehicle 1 that can travel on the set route R, and the width of the vehicle body portion, and / or , A storage unit 114 capable of storing information of a traveling work width W1 which is a width of a work machine (rotary tilling device 24) mounted on the vehicle body part, and a work path Ra by the work machine in the field H can be generated. A control section 130 on the operation side, and the field H includes a work area HA that is a first area including the work route Ra, and a headland HB that is a second area set around the first area. When the work route Ra is generated in the first region, the control unit 130 on the operation side includes a narrow work route Rc narrower than the traveling work width W1. The second route is included in the work route Rc. Since the work route Ra having the travel work width W1 that spans the region can be generated, even when the narrow work route Rc occurs in the first region, the setting of the work route Ra by the autonomous traveling work vehicle 1 follows the predetermined principle. The route generation setting is performed so that no uncultivated land remains.

  In addition, the storage unit 114 stores information on a traveling work length L1 that is a length from a front end to a rear end in a state where a work machine is mounted on the vehicle body, and the operation-side control unit 130 stores the narrow work When the route length Lc of the route Rc is less than a length obtained by multiplying the traveling work length L1 by a predetermined value, a work route is not generated on the narrow work route Rc, so that a particularly short work route does not repeat a U-turn or a turnover. Work efficiency can be improved by performing work in another form.

  Further, the control unit 130 on the operation side can generate the work route Ra based on the work start position S, the work direction F, and the work end position G set for the travel region (the field H). When the work route Ra is not generated on the narrow work route Rc, the work end position G set for the travel area and the work end at a position different from the work end position by the work implement on the work route Since the position Ga can be set, it is not necessary to move to the work end position G without performing the work on the narrow work path Rc after the work is finished at the work end position Ga, and the work is finished quickly and wasted. Travel can be prevented. In addition, it is good also as traveling through the headland HB and the side margin HC from the work end position Ga to the work end position G. As a result, the autonomous traveling work vehicle 1 moves to the work end position G set in the field setting by the work vehicle, and when the field exit is in the vicinity of the work end position G, the operator operates the autonomous traveling work by himself / herself. It is not necessary to move the vehicle 1 to the work end position G, and the labor of the worker can be saved.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work vehicle 30 Control part 110 * 111 Communication apparatus 112 Remote operation apparatus 114 Storage part 130 Control part of operation side G / Ga Work end position H Field L1 Traveling work length R path Ra Work path Rb Traveling path Rc Narrow work path HA Work area W1 Traveling work width

Claims (3)

A storage unit capable of storing information on a traveling area in which the vehicle body portion travels, a width of the vehicle body portion, and / or a traveling work width that is a width of a work machine attached to the vehicle body portion;
A control unit capable of generating a work route by the work implement in the traveling region,
The travel area includes a first area including the work route, and a second area set around the first area,
When a narrow work path narrower than a predetermined width occurs when the work path is generated in the first area, the control unit can generate a work path having a traveling work width that straddles the narrow work path and the second area. A route generation device characterized by: The storage unit stores information on a traveling work length that is a length from a front end to a rear end in a state in which a work machine is mounted on the vehicle body,
2. The control unit according to claim 1, wherein when the path length of the narrow work path is less than a length obtained by multiplying the traveling work length by a predetermined value, the control unit does not generate a work path in the narrow work path. Route generator. The control unit can generate the work route based on a work start position, a work direction, and a work end position set for the travel area,
When a work route is not generated on the narrow work route, the work end position set for the travel area and a position different from the work end position by the work implement on the work route can be set. The route generation device according to claim 1.

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