JP2017204061A - Autonomous travel route generation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travel route generation system capable of generating highly efficient travel route while avoiding obstructions being present in a travel area.SOLUTION: A route generation section provided in the autonomous travel route generation system can generate a travel route including a plurality of travel paths provided in a working area, along a set travel direction (a working direction). An obstruction outer periphery setup section sets up an obstruction outer peripheral area to an obstruction in the travel area. A route generation section can generate a travel route so as to include a first travel path P1, a detour Q, and a second travel path P2. The first travel path P1 is disposed along the working direction. The detour Q defines a terminal point of the first travel path P1 as a starting point, while passing the obstruction outer peripheral area, moves to the other side of the obstruction, and reaches a position on a virtual extension line formed by extending the first travel path P1 in such a manner as to penetrate through the obstruction. The second travel path P2 is disposed on the virtual extension line, with the terminal point of the detour Q defined as the starting point.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an autonomous travel route generation system that generates a travel route for autonomously traveling a work vehicle.

  2. Description of the Related Art Conventionally, an autonomous traveling route generation system that generates a traveling route for autonomously traveling a work vehicle is known. Patent Document 1 discloses an unmanned agricultural work apparatus including this type of system. The unmanned farm work apparatus of Patent Document 1 is configured to include position moving means, farm work means, GPS receiving means, and automatic control means.

  In the unmanned farm work apparatus disclosed in Patent Document 1, the position moving means includes a drive system and a steering system. The farm work means is composed of a tillage device or the like. The GPS receiving means calculates the position of the own device from the transmission radio wave of the GPS satellite. The automatic control means controls the position moving means so as to correct the position by comparing the traveling route automatically calculated from the farm work area inputted in advance with the own position obtained from the GPS receiving means. The farm working means is controlled to work on the farm work area inputted in advance.

  The unmanned agricultural work device of Patent Document 1 further includes an obstacle sensor that detects an obstacle in the traveling direction, and if there is an obstacle in the traveling direction, the automatic control means avoids or stops the obstacle. Controls the position moving means and the farm working means. That is, the automatic control means is configured to calculate a travel route that avoids the obstacle from the size and distance of the obstacle detected by the obstacle sensor, and to create a new travel scenario.

JP-A-9-94006

  However, in the configuration of Patent Document 1 described above, after the travel route is once determined and the farm work is started, control is performed to avoid the obstacle when the obstacle is detected by the obstacle sensor. This control is effective for avoiding suddenly appearing dynamic obstacles, but the traveling route of the farm work device is likely to be a hit, making it difficult to achieve efficient farm work.

  The present invention has been made in view of the above circumstances, and an object thereof is to autonomously generate an efficient travel route while avoiding the obstacle when there is an obstacle in the travel region. It is to provide a route generation system.

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 autonomous travel route generation system having the following configuration is provided. That is, this autonomous travel route generation system generates a travel route for autonomously traveling the work vehicle in a predetermined travel region. The autonomous travel route generation system includes a travel direction setting unit, a route generation unit, and an obstacle outer periphery setting unit. The travel direction setting unit sets a travel direction of the work vehicle in the travel area. The route generation unit can generate the travel route including a plurality of travel routes provided along the travel direction set by the travel direction setting unit in the travel region. The obstacle outer periphery setting unit sets an obstacle outer periphery region for the obstacle in the traveling region. The route generation unit can generate the travel route so as to include a first travel route, a detour, and a second travel route. The first travel path is disposed along the travel direction. The detour extends from the end point of the first traveling path to the opposite side of the obstacle while passing through the obstacle outer peripheral region and extends the first traveling path so as to penetrate the obstacle. It reaches the position on the virtual extension line. The second traveling path is arranged on the virtual extension line starting from the end point of the detour.

  As a result, a travel route including the first travel route, the detour, and the second travel route is generated. Therefore, by making the work vehicle autonomously travel along this travel route, the work vehicle can travel so as to bypass the obstacle. Moreover, since the detour is arranged so as to pass through the obstacle outer peripheral area set in advance, the detour is systematically generated in consideration of the relationship with the entire travel route, etc. Can be made smooth. Further, in a portion other than the detour, the traveling route can be a route along the traveling direction, and the algorithm for generating the autonomous traveling route can be simplified.

  The autonomous traveling route generation system preferably has the following configuration. That is, the route generation unit may generate the travel route so as to include the first travel route, the detour route, and the second travel route when the route length of the bypass route is less than a predetermined distance. Is possible. On the other hand, the route generation unit can generate the travel route so as to include the first travel route, the return route, and the third travel route when the length of the bypass route is equal to or longer than a predetermined distance. is there. The return path starts from the end point of the first travel path, and returns before the obstacle while passing through the obstacle outer peripheral area. The third travel path is arranged in parallel with the first travel path, starting from the end point of the turnback path.

  As a result, when the route length of the detour is equal to or longer than the predetermined distance, a route that turns back before the obstacle can be generated as the travel route instead of the route that detours the obstacle. Therefore, it is possible to prevent the portion of the travel route that does not contribute to work from becoming excessively long.

  The autonomous traveling route generation system preferably has the following configuration. That is, the route generation unit is configured such that when the work vehicle has an avoidance distance that is a distance that must move in a direction perpendicular to the traveling direction in order to avoid the obstacle, the first generation is less than a predetermined distance. It is possible to generate the travel route so as to include a travel route, the bypass route, and the second travel route. On the other hand, when the avoidance distance is a predetermined distance or more, the route generation unit can generate a travel route so as to include the first travel route, the turnback route, and the third travel route. The return path starts from the end point of the first travel path, and returns before the obstacle while passing through the obstacle outer peripheral area. The third travel path is arranged in parallel with the first travel path, starting from the end point of the turnback path.

  As a result, when the avoidance distance that must move in the direction perpendicular to the traveling direction to detour the obstacle is greater than or equal to a predetermined distance, the route is turned before the obstacle instead of the route that detours the obstacle. A route can be generated as a travel route. Therefore, it is possible to prevent the portion of the travel route that does not contribute to work from becoming excessively long.

  The autonomous traveling route generation system preferably has the following configuration. That is, the route generation unit generates the travel route so as to include the first travel route, the detour route, and the second travel route when the number of turns or the turn angle in the bypass route is less than a predetermined value. It is possible. On the other hand, the route generation unit generates the travel route so as to include the first travel route, the turnback route, and the third travel route when the number of turns or the turn angle in the detour is greater than or equal to a predetermined value. It is possible. The return path starts from the end point of the first travel path, and returns before the obstacle while passing through the obstacle outer peripheral area. The third travel path is arranged in parallel with the first travel path, starting from the end point of the turnback path.

  As a result, when the number of turns or the turning angle required for detouring the obstacle is greater than or equal to a predetermined value, a route that turns back before the obstacle is generated as a travel route instead of the route that detours the obstacle. be able to. Therefore, it is possible to prevent a travel route having a large number of turns or a large turn angle from being generated, so that work can be performed smoothly.

  In the autonomous travel route generation system, the route generation unit, when the obstacle is arranged in an island shape in the travel region, the travel route from the detour to the first travel route. It is preferable to generate so as to turn from the side far from the side to the opposite side of the obstacle.

  As a result, even when the work vehicle travels along the travel route, it does not step into the region where the work vehicle has traveled before reaching the first travel route when detouring the obstacle. Therefore, the work vehicle can be run while avoiding obstacles so that the work performed on the work vehicle is not affected.

1 is a side view showing an overall configuration of a robot tractor that travels along a travel route generated by an autonomous travel route generation system according to a first embodiment of the present invention. The top view of a robot tractor. The figure which shows the radio | wireless communication terminal with which an autonomous running route generation system is provided. The block diagram which shows the main structures of the control system of a robot tractor and a radio | wireless communication terminal. The figure which shows an example of the screen for inputting the information regarding the agricultural field which a robot tractor runs displayed on a wireless communication terminal. The flowchart which shows the process performed in a route production | generation part when producing | generating a driving | running route. 7 is a flowchart showing the continuation of the process of FIG. The figure which shows the example which produced | generated the temporary travel route which arranged the some temporary travel route. The figure which shows a mode that the 1st travel path is produced | generated regarding one temporary travel path. The figure which shows a mode that the detour and the 2nd traveling path are produced | generated regarding one provisional traveling path. The figure which shows the example which produced | generated the driving | running route which avoids an obstruction by detouring an obstruction. The figure which shows a mode that the return | turnback path and the 3rd traveling path are produced | generated regarding one 1st traveling path. The figure which shows the example which produced | generated the driving | running route which avoids an obstruction by folding in front of an obstruction. The flowchart which shows the process performed in a route production | generation part when producing | generating a driving | running route in 2nd Embodiment. The flowchart which shows the process performed in a route production | generation part when producing | generating a driving | running route in 3rd Embodiment. The figure which shows the example of a warning screen displayed on the display of a radio | wireless communication terminal when there exists a possibility that an unmanned tractor may approach a manned tractor by avoiding an obstruction. The figure which shows the example arrange | positioned so that an obstruction may protrude toward the center from the edge part of a farm field. The figure which shows the example in which the concave part is formed in the outline of a farm field. The figure which shows a mode that the detour is produced | generated regarding one provisional driving | running | working road of a broken line shape. The flowchart which shows simply the process performed in a route production | generation part when producing | generating a driving | running route in another embodiment.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following, the same reference numerals are given to the same parts in the drawings, and redundant description may be omitted. In addition, names of members and the like corresponding to the same reference may be simply rephrased, or may be rephrased with a superordinate concept or a subordinate concept name.

  The present invention provides a travel route for autonomously traveling a work vehicle when one or a plurality of work vehicles are traveled in a predetermined field and all or part of the farm work is performed in the field. The present invention relates to an autonomous travel route generation system to be generated. In this embodiment, a tractor will be described as an example of a work vehicle. In addition to a tractor, a walk-type work machine in addition to a riding work machine such as a rice transplanter, a combiner, a civil engineering / architecture work device, a snowplow, etc. Is also included. In this specification, autonomous traveling means that the configuration related to traveling provided by the tractor is controlled by a control unit (ECU) provided in the tractor, and the tractor travels along a predetermined route. This means that the control unit included in the tractor controls the configuration related to the work included in the tractor, and the tractor performs the work along a predetermined route. On the other hand, manual running / manual work means that each component provided in the tractor is operated by the user to run / work.

  In the following description, a tractor that autonomously travels and works autonomously may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels manually and is manually operated is referred to as a “manned tractor”. Sometimes. When a part of the farm work is performed by the unmanned tractor in the field, the remaining farm work is performed by the manned tractor. Executing farm work in a single farm with unmanned tractors and manned tractors may be referred to as cooperative work of farm work, follow-up work, accompanying work, and the like. In this specification, the difference between an unmanned tractor and a manned tractor is the presence or absence of an operation by a user, and each configuration is common. That is, even if it is an unmanned tractor, the user can board (ride) and operate (that is, it can be used as a manned tractor), or even if it is a manned tractor, the user can get off and run autonomously. It is possible to work autonomously (that is, it can be used as an unmanned tractor). 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.

<First 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 that travels along a travel route generated by the autonomous travel route generation system 99 according to the first embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a diagram illustrating the wireless communication terminal 46 provided with the autonomous travel route generation system 99. FIG. 4 is a block diagram showing the main configuration of the control system of the robot tractor 1 and the wireless communication terminal 46.

  An autonomous travel route generation system 99 according to the first embodiment is provided in the wireless communication terminal 46 shown in FIG. The wireless communication terminal 46 wirelessly communicates with the control unit 4 (see FIG. 4) that controls the traveling and work of the robot tractor 1 to output predetermined signals relating to autonomous traveling and autonomous work to the robot tractor 1. can do. Examples of signals output from the wireless communication terminal 46 to the control unit 4 include signals related to autonomous traveling / autonomous work routes, autonomous traveling / autonomous work start signals, stop signals, and end signals, but are not limited thereto.

  First, a robot tractor (hereinafter sometimes simply referred to as “tractor”) 1 will be described mainly with reference to FIGS. 1 and 2.

  The tractor 1 includes a traveling machine body 2 as a vehicle body that autonomously travels in a field area. A work machine 3 shown 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 tiller (management 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. And can be attached to the traveling machine body 2. 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 of the tractor 1 is supported at its front part by a pair of left and right front wheels 7 and 7 and at its rear part by a pair of left and right rear wheels 8 and 8.

  A bonnet 9 is disposed at the front of the traveling machine body 2. The bonnet 9 houses an engine 10 that is a driving source of the tractor 1, a fuel tank (not shown), and the like. Although this engine 10 can be comprised, for example with a diesel engine, it is not restricted to this, For example, you may comprise with a gasoline engine. Further, an electric motor may be employed in addition to or instead of the engine 10 as a drive source.

  A cabin 11 for a user to board is disposed behind the hood 9. Inside the cabin 11, there are mainly provided a steering handle 12 for a user to steer, a seat 13 on which a user can be seated, and various operation devices for performing various operations. However, the work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  As the above operation device, the monitor device 14 shown in FIG. 2, the throttle lever 15, the main transmission lever 27, the plurality of hydraulic operation levers 16, the PTO switch 17, the PTO transmission lever 18, the auxiliary transmission lever 19, and the work equipment lift switch 28 etc. can be mentioned as an example. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device 14 is configured to display various information of the tractor 1. The throttle lever 15 is an operating tool for setting the output rotational speed of the engine 10. The main transmission lever 27 is an operating tool for changing the traveling speed of the tractor 1 in a stepless manner. The hydraulic operation lever 16 is an operation tool for switching and operating a hydraulic external take-off valve (not shown). The PTO switch 17 is an operating tool 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 an operating tool for changing speed of the rotational speed of the PTO shaft. The auxiliary transmission lever 19 is an operating tool for switching the gear ratio of the traveling auxiliary transmission gear mechanism in the transmission 22. The work implement raising / lowering switch 28 is an operating tool for raising and lowering the height of the work implement 3 attached to the traveling machine body 2 within a predetermined range.

  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. 4, the tractor 1 includes a control unit 4 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.). . The control unit 4 includes a CPU, a ROM, a RAM, an I / O, and the like (not shown), and the CPU can read various programs from the ROM and execute them. The controller 4 is electrically connected to a controller for controlling each component (for example, the engine 10 and the like) included in the tractor 1 and a wireless communication unit 40 that can wirelessly communicate with other wireless communication devices. ing.

  As the controller, the tractor 1 includes at least an engine controller 61, a vehicle speed controller 62, a steering controller 63, and a lift controller 64. Each controller can control each component of the tractor 1 in accordance with an electrical signal from the control unit 4.

  The engine controller 61 controls the rotational speed of the engine 10. Specifically, the engine 10 is provided with a governor device 41 including an unillustrated actuator that changes the rotational speed of the engine 10. The engine controller 61 can control the rotational speed of the engine 10 by controlling the governor device 41.

  The vehicle speed controller 62 controls the vehicle speed of the tractor 1. Specifically, the transmission 22 is provided with a transmission 42 which is, for example, a movable swash plate type hydraulic continuously variable transmission. The vehicle speed controller 62 can change the gear ratio of the transmission 22 and realize a desired vehicle speed by changing the angle of the swash plate of the transmission 42 by an actuator (not shown).

  The steering controller 63 controls the turning angle of the steering handle 12. Specifically, a steering actuator 43 is provided in the middle of the rotating shaft (steering shaft) of the steering handle 12. In this configuration, when the tractor 1 travels on a predetermined route as an unmanned vehicle, the control unit 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route, A control signal is output to the steering controller 63 so that the obtained rotation angle is obtained. The steering controller 63 drives the steering actuator 43 based on the control signal input from the control unit 4 and controls the rotation angle of the steering handle 12.

  The lift controller 64 controls the lift of the work machine 3. Specifically, the tractor 1 includes an elevating actuator 44 composed of a hydraulic cylinder or the like in the vicinity of a three-point link mechanism that connects the work machine 3 to the traveling machine body 2. With this configuration, the elevating controller 64 drives the elevating actuator 44 based on the control signal input from the control unit 4 to appropriately elevate the work implement 3 so that the work implement 3 can perform farm work at a desired height. It can be performed. By this control, the work machine 3 can be supported at a desired height such as a retreat height (a height at which farm work is not performed) and a work height (a height at which farm work is performed).

  The plurality of controllers such as the engine controller 61 described above control each part such as the engine 10 based on a signal input from the control part 4, so that the control part 4 substantially controls each part. Can be grasped.

  The tractor 1 including the control unit 4 as described above controls various parts of the tractor 1 (the traveling machine body 2, the work implement 3, etc.) by the control unit 4 when the user gets into the cabin 11 and performs various operations. Thus, the farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can autonomously travel and work based on a predetermined control signal output from the wireless communication terminal 46 without the user getting on the tractor 1. .

  Specifically, as shown in FIG. 4 and the like, the tractor 1 has various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 has a configuration such as a positioning antenna 6 necessary for acquiring position information of itself (the traveling machine body 2) 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 on the field.

  Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in detail. Specifically, as shown in FIG. 4 and the like, the tractor 1 of the present embodiment includes a positioning antenna 6, a wireless communication antenna 48, a storage unit 55, and the like. In addition to these, the tractor 1 may be provided with an inertial measurement unit (IMU) that can specify the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

  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 a position information calculation unit 49 as a position detection unit shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as latitude / longitude information, for example. The position information detected by the position information calculation unit 49 is input to the control unit 4 and used for autonomous traveling.

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

  The wireless communication antenna 48 receives a signal from the wireless communication terminal 46 operated by the user or transmits a signal to the wireless communication terminal 46. As shown in FIG. 1, the radio communication antenna 48 is disposed on the upper surface of a roof 92 provided in the cabin 11 of the tractor 1. A signal from the wireless communication terminal 46 received by the wireless communication antenna 48 is subjected to signal processing by the wireless communication unit 40 shown in FIG. 4 and then input to the control unit 4. A signal transmitted from the control unit 4 or the like to the wireless communication terminal 46 is subjected to signal processing by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the wireless communication terminal 46.

  The storage unit 55 stores a travel route (path) that is a route for causing the tractor 1 to autonomously travel, and stores a transition (travel locus) of the position of the traveling tractor 1 (strictly speaking, the positioning antenna 6). Memory. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work.

  As shown in FIG. 3, the wireless communication terminal 46 is configured as a tablet personal computer. The user can confirm by referring to the information displayed on the display 37 of the wireless communication terminal 46. Further, the user operates the hardware key 38 disposed in the vicinity of the display 37 and a touch panel (not shown) disposed so as to cover the display 37 to control the tractor 1 with the control unit 4 of the tractor 1. A control signal (for example, an emergency stop signal) can be transmitted. Note that the wireless communication terminal 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 is caused to travel along with the unmanned tractor 1 in order to perform the above-described cooperative work, the monitor device mounted on the manned tractor can be used as the wireless communication terminal 46.

  The tractor 1 configured as described above can perform farm work by the work implement 3 while traveling autonomously along a route on the field based on an instruction of a user using the wireless communication terminal 46.

  Specifically, the user performs various settings using the wireless communication terminal 46, thereby performing a linear or broken line traveling path for farming and an arcuate turning circuit (tractor) connecting the ends of the traveling path. It is possible to generate a travel route (autonomous travel route, path) as a series of routes in which 1 is a turning circuit that alternately turns). The information on the travel route thus generated is input (transferred) to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 and a predetermined operation is performed by the control unit 4. By controlling the tractor 1, it is possible to farm the tractor 1 with the work machine 3 while traveling autonomously along the travel route.

  Below, mainly with reference to FIG. 4, the structure of the radio | wireless communication terminal 46 provided with the autonomous running route production | generation system 99 is demonstrated in detail.

  The wireless communication terminal 46 of this embodiment includes a control unit 71, a display (display unit) 37, and a communication unit 72. Further, the wireless communication terminal 46 includes a display control unit 31, a storage unit 32, a field outer periphery setting unit 33, an obstacle outer periphery setting unit 34, a work area setting unit (traveling area setting unit) 35, a start / end position setting unit 51, a work. A direction setting unit (travel direction setting unit) 36, a route generation unit 47, and the like are provided.

  Specifically, like the control unit 4 of the tractor 1, the control unit 71 of the wireless communication terminal 46 is configured as a computer including a CPU, ROM, RAM, I / O, etc. (not shown). Various programs can be read from the ROM and executed. The ROM stores an appropriate program for causing the tractor 1 to perform autonomous traveling and autonomous work. And by cooperation of above-mentioned software and hardware, the radio | wireless communication terminal 46 is changed into the display control part 31, the memory | storage part 32, the field outer periphery setting part 33, the obstruction outer periphery setting part 34, the work area setting part 35, and the start end position. The setting unit 51, the work direction setting unit 36, the route generation unit 47, and the like can be operated.

  The display control unit 31 creates display data to be displayed on the display 37 and appropriately controls display contents. For example, the display control unit 31 displays the field information input screen 80 shown in FIG. 5 on the display 37 when a predetermined operation is performed by the user. FIG. 5 is a diagram illustrating an example of a screen for inputting information regarding the farm field on which the tractor 1 travels, which is displayed on the wireless communication terminal 46.

  On this farm field information input screen 80, it is possible to input information relating to the farm field on which the tractor 1 travels. Specifically, on the farm field information input screen 80, a plane display unit 81 that displays the shape of the farm field as a graphic (graphically) is arranged. In the field information input screen 80, “record start” and “redo” buttons are respectively arranged in the “field outer periphery position” field and the “obstacle outer periphery position” field. In the field information input screen 80, “designation” and “redo” buttons are arranged in the “work start position / work end position” and “work direction” fields.

  The buttons on the field information input screen 80 are all configured as virtual buttons displayed on the display 37, and can be operated by touching the position of the touch panel corresponding to the display area of the buttons with a finger. it can.

  The storage unit 32 can store information on the farm field and the like input by the user operating the touch panel of the wireless communication terminal 46, and can also store information on the generated travel route.

  The field outer periphery setting part 33 sets the position of the outer periphery of the field used as the object which the tractor 1 performs autonomous traveling. Specifically, when the user operates the “recording start” button of “position of the outer periphery of the field” on the farm field information input screen 80, the wireless communication terminal 46 switches to the field outer periphery recording mode. In this field outer periphery recording mode, when the tractor 1 is rotated once along the outer periphery of the field, the transition of the position information of the positioning antenna 6 at that time is recorded by the field outer periphery setting unit 33, and the field outer periphery setting unit At 33, the shape of the field is set (acquired). Thereby, the position and shape of the field can be set. Further, by operating the “redo” button, the position (setting) of the outer periphery of the field can be recorded again.

  The obstacle outer periphery setting unit 34 is configured to set an outer periphery region of an obstacle disposed in a target field where the tractor 1 performs autonomous traveling. Specifically, when the user operates the “recording start” button of “the position of the outer periphery of the obstacle” on the field information input screen 80, the wireless communication terminal 46 is switched to the obstacle outer periphery recording mode. In this obstacle outer periphery recording mode, when the position information of the positioning antenna 6 is recorded by the obstacle outer periphery setting unit 34 at the corner of the outer periphery region of the obstacle and the obstacle outer periphery setting unit 34 records the obstacle outer periphery setting unit. In 34, a shape in which the obstacle is surrounded by a polygon (for example, a rectangle) is set (acquired). This polygon can be calculated, for example, as a polygon specified by a so-called closed graph so that line segments connecting the corners do not intersect. Thereby, the position and shape of the outer periphery area | region of an obstruction can be set. In addition, the outer periphery area | region of the obstruction set in the obstruction outer periphery setting part 34 is a hollow polygonal area | region surrounding an obstruction, and the distance between the inner edge and an outer edge is the tractor 1 (work machine 3). ) Is the same as or slightly wider than the car width.

  The work area setting unit 35 sets the position of a work area (travel area) where the tractor 1 is disposed in a target farm field for autonomous travel and performs farm work while traveling autonomously. Specifically, in the wireless communication terminal 46 of the present embodiment, the width of the headland and the width of the non-cultivated land can be set on an input screen (not shown) different from the farm field information input screen 80. It is configured. A non-working area composed of a headland and a non-cultivated land is determined based on the above-described setting content and the position and shape of the field set by the field outer periphery setting unit 33, and the non-working area is not operated from the field of the field. An area excluding the area is defined as a work area.

  The start / end position setting unit 51 sets a start point that is a point at which the tractor 1 starts autonomous traveling and an end point that is a point at which autonomous traveling ends. Specifically, when the user operates the “designation” button of “work start position / work end position” on the field information input screen 80, the field data set by the field outer periphery setting unit 33 is displayed on the plane display unit 81. It is displayed superimposed on the data. In this state, when the user selects an arbitrary point near the contour of the field, the position information of the selected point can be set (recorded) by the start / end position setting unit 51 as the start point and the end point. The function of the “Redo” button is the same as described above.

  The work direction setting unit 36 sets the direction in which the tractor 1 travels while performing farm work in the work area (the direction of the travel path). Specifically, when the user operates the “designation” button for “work direction” on the field information input screen 80, the shape of the field set by the field outer periphery setting unit 33 is superimposed on the map data on the plane display unit 81. Is displayed. In this state, for example, when the user selects two points from a plurality of points specified when specifying the field, the work direction is set with the direction of the straight line connecting the two points as the work direction (traveling direction). It can be set (recorded) by the unit 36. Note that the number of points to be selected when specifying the work direction is not limited to two, and may be a plurality of three or more points. Thereby, it is possible to designate a more accurate work direction along the contour of the field or the like. The function of the “Redo” button is the same as described above.

  The route generation unit 47 generates a travel route on which the tractor 1 travels autonomously in the field. As described above, the traveling route includes a straight or broken line traveling path and an arcuate turning circuit alternately. The route generation unit 47 includes the position of the field outer periphery set by the field outer periphery setting unit 33, the position of the work area set by the work region setting unit 35, and the start point and end point set by the start / end position setting unit 51. Information on the position and the work direction set by the work direction setting unit 36 is acquired, and a travel route is automatically generated based on the information. This travel route is basically generated such that a linear or broken line travel route is included in the work area, and a turning circuit is included in an area (non-work area) other than the work area in the field. However, when there is an obstacle in the field, the route generation unit 47 generates a travel route so as to avoid the obstacle. This will be described in detail later. The travel route created by the route generation unit 47 is stored in the storage unit 32.

  The user appropriately operates the wireless communication terminal 46 to input (transfer) the travel route information created by the route generation unit 47 to the storage unit 55 of the tractor 1. Thereafter, the user gets on the tractor 1 and operates to place the tractor 1 at the starting point of the travel route. Subsequently, the user gets off the tractor 1 and operates the wireless communication terminal 46 to instruct the start of autonomous running and autonomous work. Thereby, the control part 4 controls the driving | running | working and agricultural work of the tractor 1 so that the tractor 1 drive | works along the said driving | running route.

  Next, specific processing when the route generation unit 47 generates a travel route will be described with reference to FIGS. 6 and 7. FIG. 6 is a flowchart showing processing performed by the route generation unit 47 when generating a travel route. FIG. 7 is a flowchart showing the continuation of the process of FIG.

  First, the route generation unit 47 includes the position of the field outer periphery set by the field outer periphery setting unit 33, the position of the work area set by the work region setting unit 35, the start point set by the start / end position setting unit 51, and Information on the position of the end point and the work direction set by the work direction setting unit 36 is acquired, and a provisional travel route W0 is generated based on the information (see FIG. 8). Specifically, the route generation unit 47 considers that there are no obstacles in the field, and generates a temporary travel route W0 in which a plurality of provisional travel routes P0 are arranged at intervals in the work area (step). S101). Each temporary travel path P0 is arranged along the working direction.

  An example of the provisional travel route W0 generated by the route generation unit 47 is shown in FIG. FIG. 8 is a diagram illustrating an example in which a provisional travel route W0 in which a plurality of provisional travel routes P0 are arranged is generated. In FIG. 8, the route indicated by the solid line arrow is a travel route on which the unmanned tractor 1 travels. A manned tractor for performing cooperative work is located on a traveling road that is adjacent to the traveling road on which the unmanned tractor 1 travels (arranged between two traveling roads with arrows) and that is not attached with an arrow. A traveling path traveling along with the unmanned tractor 1 is shown. In the example of FIG. 8, the manned tractor is located on the right path behind the unmanned tractor 1 on the forward path (the traveling path in the direction toward the upper side of FIG. 8), and on the return path (the traveling path in the direction toward the lower side of the plane of FIG. 8). In this case, it is assumed that the vehicle will follow the diagonally left behind.

  Subsequently, the route generation unit 47 acquires the obstacle outer periphery region from the obstacle outer periphery setting unit 34, and there is a provisional traveling route that interferes with the obstacle outer periphery region in the provisional traveling route P0 generated in step S101. Whether or not (step S102).

  As a result of the determination in step S102, if there is no provisional traveling path that interferes with the obstacle outer peripheral area (No in step S102), the provisional traveling path W0 that is created assuming that there is no obstacle in the field is used as the traveling path W as it is. Since it can be used, the route generation unit 47 sets the provisional travel route W0 as the travel route W (step S103), and ends the route generation.

  On the other hand, as a result of the determination in step S102, when there is a provisional travel path that interferes with the obstacle outer peripheral area (step S102, Yes), the route generation unit 47 creates a travel route that avoids the obstacle in step S104. Perform the following processing.

  In the process of step S104, the route generation unit 47 starts the point F, which is the starting end of the temporary travel path P0, for each provisional travel path P0 that interferes with the obstacle outer peripheral area, and reaches the obstacle outer peripheral area. A first travel path P1 having a certain point G as an end point is acquired. FIG. 9 shows a state where the first travel path P1 is generated for one provisional travel path P0.

  Subsequently, in the process of step S105, the route generation unit 47 starts from the end point (point G) of the first travel path P1, passes through the obstacle outer peripheral region, travels to the opposite side of the obstacle, and passes the obstacle. A detour Q is generated that is located on the virtual extension line L that extends the first travel path P1 so as to pass through to a position (point H) that exits from the obstacle outer peripheral region. FIG. 10 shows a state in which a detour Q is generated for one provisional travel path P0. As shown in FIG. 10, this detour route Q detours to the unworked region side (in other words, the far side as viewed from the travel route leading to the first travel route P1) with respect to the provisional travel route P0. Is generated.

  Subsequently, in the process of step S106, the route generation unit 47 acquires the second travel route P2 having the end point (point H) of the detour Q as the start point and the end point (point J) of the provisional travel route P0 as the end point. . The second travel path P2 is disposed on the provisional travel path P0. Note that FIG. 10 shows a state where the second travel path P2 is generated for one provisional travel path P0.

  Subsequently, in the process of step S107, the route generation unit 47 includes a predetermined distance in the detours Q1, Q2, Q3,... Generated for each temporary travel route P0 that interferes with the obstacle outer peripheral region. It is determined whether or not there is at least one detour having a path length equal to or longer than L1.

  As a result of the determination in step S107, when there is no detour Q having a length equal to or longer than the predetermined distance L1 (No in step S107), the travel route is extremely long even if the tractor 1 travels along the detour Q. Therefore, this detour Q is adopted as a travel route.

  That is, in step S108, the route generation unit 47 generates the first travel path P1, the detour Q, and the second travel generated based on the provisional travel path P0 for each of the temporary travel paths P0 that interfere with the obstacle outer peripheral area. It replaces with the traveling road which consists of the road P2. Thereby, the travel route W1 detouring the obstacle is generated. FIG. 11 shows an example in which a travel route W1 that avoids an obstacle by detouring the obstacle is generated.

  On the other hand, if it is determined in step S107 that there is one or more detours Q having a length equal to or longer than the predetermined distance L1 (Yes in step S107), the travel route is excessive when the tractor 1 travels along the detour Q. Therefore, this detour Q is not adopted as a travel route.

  That is, when there is a detour Q whose length is equal to or longer than the predetermined distance L1, in step S111 shown in FIG. 7, the path generation unit 47 generates each detour Q1, Q2, Q3,. The second travel path P2 is discarded. Subsequently, in step S112, the route generation unit 47 generates a return route R that starts from the end point (point G) of the first travel route P1 and turns back to the unworked region side while passing through the obstacle outer peripheral region. FIG. 12 shows a state in which a turnback path R is generated for one first travel path P1.

  Subsequently, in step S113, the route generation unit 47 starts from the end point (point K) of the turnback route R, and is arranged in parallel on the unworked side of the temporary travel route P0 that generated the first travel route P1. A third travel path P3 having the end point (point M) of the provisional travel path P0 as an end point is generated. FIG. 12 shows a state where the third travel path P3 as the return path is generated with respect to one first travel path P1.

  Subsequently, in step S114, the route generation unit 47 interferes with the obstacle outer peripheral area, and makes a continuous round trip provisional travel path P0 (if there are a plurality of round trip paths, respectively), the first travel path. It replaces with the travel path which consists of P1, the return path R, and the 3rd travel path P3. Thereby, the traveling route W2 turned back before the obstacle is generated. FIG. 13 shows an example in which a travel route W2 that avoids an obstacle is generated by turning back in front of the obstacle.

  Note that when the travel route that turns back before the obstacle is generated by the process of step S114, the travel route W3 that turns back before the obstacle is appropriately set in the region on the opposite side of the obstacle as shown by the broken line in FIG. Generated. In FIG. 13, the unmanned tractor 1 performs the farm work while traveling on the travel route W2, reaches the end point, moves to the start point of the travel route W3 through the non-work area, and performs the farm work while traveling on the travel route W3. An example to do is shown. However, the above is an example, and for example, a travel route may be generated so as to work on the opposite side immediately after working on a region on one side separated by an obstacle.

  As described above, the autonomous traveling route generation system 99 of the present embodiment generates a traveling route for causing the tractor 1 to autonomously travel in a predetermined work area. The autonomous traveling route generation system 99 includes a work direction setting unit 36, a route generation unit 47, and an obstacle outer periphery setting unit 34. The work direction setting unit 36 sets the traveling direction (work direction) of the tractor 1 within the work area. The route generation unit 47 can generate a travel route including a plurality of travel routes provided along the work direction set by the work direction setting unit 36 in the work area. The obstacle outer circumference setting unit 34 sets an obstacle outer circumference area for the obstacle in the work area. The route generation unit 47 can generate a travel route so as to include the first travel route P1, the detour route Q, and the second travel route P2 (see FIGS. 8 to 11). The first travel path P1 is arranged along the work direction. The detour Q starts from the end point (point G) of the first travel path P1 and travels to the opposite side of the obstacle while passing through the obstacle outer peripheral area, and passes through the first travel path P1 so as to penetrate the obstacle. It reaches a position on the extended virtual extension line L. The second travel path P2 is arranged on the virtual extension line L, starting from the end point (point H) of the detour Q.

  Thereby, a travel route including the first travel route P1, the detour route Q, and the second travel route P2 is generated. Therefore, by making the tractor 1 autonomously travel along this travel route, the tractor 1 can travel so as to bypass the obstacle. Moreover, since the detour Q is disposed so as to pass through the obstacle outer peripheral region set in advance, the unmanned tractor 1 can be generated by systematically generating the detour taking into account the relationship with the entire travel route and the like. The work by can be made smooth. Further, in a portion other than the detour Q, the travel route can be a route along the work direction, and the algorithm for generating the autonomous travel route can be simplified. In this way, by making the travel path basically a linear or broken line path along the work direction, it becomes easy to handle a plurality of travel paths as one set, and farm work is performed for each set. Any method can be easily realized.

  In the autonomous travel route generation system 99 of the present embodiment, the route generation unit 47 determines that the first travel route P1, the detour route Q, and the second travel when the route length of the detour route Q is less than the predetermined distance L1. It is possible to generate a travel route so as to include the road P2 (see FIG. 11). On the other hand, the route generation unit 47 may generate the travel route so as to include the first travel route P1, the turnback route R, and the third travel route P3 when the detour route is equal to or longer than the predetermined distance L1. It is possible (see FIG. 13). The turnback path R starts from the end point (point G) of the first travel path P1 and turns back before the obstacle while passing through the obstacle outer peripheral area (see FIG. 12). The third travel path P3 is arranged in parallel with the first travel path P1, starting from the end point (point K) of the turnback path R.

  As a result, when the route length of the detour Q is equal to or longer than the predetermined distance L1, a route that turns back before the obstacle can be generated as the travel route instead of the route that detours the obstacle. Therefore, it is possible to prevent the portion of the travel route that does not contribute to work from becoming excessively long.

  Further, in the autonomous travel route generation system 99 of the present embodiment, the route generation unit 47 allows the detour Q to reach the first travel route P1 when obstacles are arranged in an island shape in the work area. It is generated so as to turn to the opposite side of the obstacle from the far side (unworked area side) as seen from the travel route.

  As a result, even when the tractor 1 travels along the travel route W1 generated by the route generation unit 47, the region where the tractor 1 has traveled up to the first travel path P1 when the obstacle is detoured (farm work) The area that has been subjected to is not stepped on again. Therefore, it is possible to run the tractor 1 while avoiding obstacles without affecting the work performed by the tractor 1. In addition, when the manned tractor 1 is traveling along with the unmanned tractor 1, it is possible to prevent the unmanned tractor 1 from approaching the manned tractor when detouring an obstacle, and a collision or the like does not occur.

Second Embodiment
Next, an autonomous travel route generation system 99 according to the second embodiment of the present invention will be described with reference to FIGS. Below, the same code | symbol is attached | subjected to the member and step of the structure similar to 1st Embodiment, and description may be abbreviate | omitted suitably.

  In the autonomous travel route generation system 99 according to the second embodiment, the processing performed by the route generation unit 47 when generating a travel route is generally the same as that of the first embodiment, but instead of step S107, a step is performed. The difference is that the process of S207 is performed.

  In the process of step S207, the route generation unit 47 determines that the tractor 1 is an obstacle in the detours Q1, Q2, Q3,... Generated for each temporary travel path P0 that interferes with the obstacle outer peripheral area. Whether or not there is one or more detours in which an avoidance distance L10 (see FIG. 10) that is a distance that must move in a direction perpendicular to the work direction to avoid (detour) is equal to or greater than a predetermined distance L2. to decide.

  As a result of the determination in step S207, if there is no detour Q with the avoidance distance L10 equal to or greater than the predetermined distance L2 (No in step S207), the tractor 1 will not be in the work area even if the tractor 1 travels along the detour Q. Since the route length of the travel route does not become extremely long as compared with the case where there is no obstacle, this bypass Q is used to avoid the obstacle. That is, the process of step S108 is performed and the travel route W1 including the detour Q is generated.

  On the other hand, as a result of the determination in step S207, if there is one or more detours Q where the avoidance distance L10 is equal to or greater than the predetermined distance L2 (step S207, Yes), the tractor 1 travels along the detour Q. Since the route length becomes extremely long and the work becomes inefficient, this detour Q is not adopted. That is, the route generation unit 47 generates a return route R that can be used instead of the detour by the processing from step S111 to step S114 shown in FIG.

  The processing of this embodiment can also prevent the detour from becoming excessively long. Further, in the present embodiment, determination is made using the avoidance distance L10 instead of the route length of the detour Q, so that the route generator 47 can easily determine whether the detour Q is too long.

  As described above, in the route generation unit 47 of the present embodiment, the avoidance distance L10, which is the distance that the tractor 1 must move in the direction perpendicular to the work direction in order to avoid the obstacle, is less than the predetermined distance L2. In this case, the travel route can be generated so as to include the first travel route P1, the detour route Q, and the second travel route P2. On the other hand, when the avoidance distance L10 is equal to or greater than the predetermined distance L2, the route generation unit 47 can generate a travel route so as to include the first travel route P1, the turnback route R, and the third travel route P3. . The turnback path R starts from the end point (point G) of the first travel path P1 and turns back before the obstacle while passing through the obstacle outer peripheral area. The third travel path P3 is arranged in parallel with the first travel path P1 with the end point (point K) of the return path as the start point (see FIG. 12).

  As a result, when the avoidance distance L10 that must move in the direction perpendicular to the work direction in order to bypass the obstacle is equal to or greater than the predetermined distance L2, instead of the path that bypasses the obstacle, the obstacle is in front. The route W2 that turns back can be generated as a travel route. Therefore, it is possible to prevent the portion of the travel route W2 that does not contribute to work from becoming excessively long.

<Third Embodiment>
Next, an autonomous travel route generation system 99 according to a third embodiment of the present invention will be described with reference to FIG. Below, the same code | symbol is attached | subjected to the member and step of the structure similar to 1st Embodiment, and description may be abbreviate | omitted suitably.

  In the autonomous travel route generation system 99 according to the third embodiment, the processing performed by the route generation unit 47 when generating a travel route is almost the same as in the first embodiment, but instead of step S107, a step is performed. The difference is that the processing of S307 is performed.

  In the processing of step S307, the route generation unit 47 determines that the tractor 1 is an obstacle in the detours Q1, Q2, Q3,... Generated for each temporary travel path P0 that interferes with the obstacle outer peripheral area. It is determined whether or not there is one or more detours in which the number of turns or the turn angle required for avoiding (bypassing) is greater than or equal to a predetermined number (for example, five times or more, or 120 ° or more).

  As a result of the determination in step S307, if there is no detour Q having a predetermined number of turns or a predetermined turn angle (No in step S307), even if the tractor 1 travels along the detour Q, the route is so complicated. Therefore, the detour Q is used to avoid an obstacle. That is, the process of step S108 is performed and a travel route including the detour Q is generated.

  On the other hand, as a result of the determination in step S307, when there is one or more detours Q having a turn count or turn angle greater than or equal to a predetermined value (step S307, Yes), when the tractor 1 travels along the detour Q, the travel route is This detour Q is not adopted because it may become complicated and work may become inefficient or the user may be confused. That is, the route generation unit 47 generates a return route R that can be used instead of the detour by the processing from step S111 to step S114 shown in FIG.

  As described above, in the route generation unit 47 of the present embodiment, when the number of turns or the turn angle in the detour Q is less than a predetermined value, the first travel path P1, the detour Q, and the second travel path P2. It is possible to generate a travel route so as to include On the other hand, the route generation unit 47 generates a travel route so as to include the first travel route P1, the turnback route R, and the third travel route P3 when the number of turns or the turn angle in the detour Q is greater than or equal to a predetermined value. Is possible. The turnback path R starts from the end point (point G) of the first travel path P1 and turns back before the obstacle while passing through the obstacle outer peripheral area. The third travel path P3 is arranged in parallel with the first travel path P1, starting from the end point (point K) of the turnback path R.

  As a result, when the number of turns or the turning angle required for detouring the obstacle is greater than or equal to a predetermined value, a route W2 that turns back before the obstacle is generated as a travel route instead of the route that detours the obstacle. can do. Therefore, it is possible to prevent a travel route having a large number of turns or a large turn angle from being generated, so that work can be performed smoothly.

  Thus, in the autonomous traveling route generation system 99 of the present embodiment, the traveling route is made as straight as possible and an obstacle can be avoided. In addition, as a path for avoiding an obstacle, a path that bypasses the obstacle and a path that turns back before the obstacle are properly used. As described above, the travel route is generated in a straight line as much as possible, whereby the algorithm for generating the autonomous travel route can be simplified, and the travel route can be easily understood by the user.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  In the above embodiment, the route generation unit 47 generates a travel route including the first travel route P1, the detour route Q, and the second travel route P2 in the work area. In other words, the traveling path for avoiding the obstacle is generated so as to be within the work area. However, the present invention is not necessarily limited to this. For example, instead of this, the traveling path may be generated so that the detour Q protrudes into the non-cultivated land (non-working area).

  In the above embodiment, the route generation unit 47 generates the detour Q so as to detour to the unworked area side. However, it is not necessarily limited to this. For example, instead of this, a detour QA that makes a detour to the unworked area side and a detour QB that makes a detour to the work area side (the side that has already been farmed) are provisionally provided. It is also possible to generate and compare the path lengths of these detours QA and QB and adopt the detour whose length is shorter.

  For example, when a manned tractor is run along with the unmanned tractor 1 so that the manned tractor is located obliquely behind the unmanned tractor 1 and the cooperative operation is performed, the unmanned tractor 1 travels along the detour Q. If there is a risk of approaching the manned tractor, a warning to that effect may be displayed on the display 37 of the wireless communication terminal 46. Specifically, display data indicating a warning may be generated by the display control unit 31, and a warning screen based on the display data may be displayed on the display 37. A display example of the warning screen as described above is shown in FIG.

  In the above embodiment, the obstacle is in the shape of an island in the work area. However, in practice, a situation where the obstacle is arranged so as to overlap the outline of the work area is naturally conceivable. For example, FIG. 17 shows an example in which an obstacle is arranged so as to protrude from the end of the field toward the center. Even in such a case, the autonomous travel route generation system 99 of the present invention can generate an efficient travel route while avoiding obstacles. In addition, when it is physically impossible to create a detour that bypasses to the unworked area side as shown in FIG. 17, instead of this, a detour is made to the work area side (the side that has already been farmed). It is good also as producing | generating the detour to perform.

  The present invention can also be applied to the case where the contour of the field is complicated. For example, when a concave portion is formed on the contour of the field as shown in FIG. 18, the shape of the outer periphery of the field is set by the field outer periphery setting unit 33. Even in such a case, if it is considered that the obstacle is arranged in a projecting shape inward in a simple rectangular field, it can be considered exactly the same as in the case of FIG. That is, the present invention can also be applied to a case where a part of the contour of the field is substantially concave and thus becomes an “obstacle”.

  In step S107 of FIG. 6, instead of determining whether or not there are one or more detours having a path length of the predetermined distance L1 or more in the plurality of detours, the total of the path lengths of the plurality of detours is calculated. It may be determined whether or not there is a predetermined distance or more. Similarly, in step S207 of FIG. 14, it may be determined whether the total of the avoidance distances is equal to or greater than a predetermined distance.

  When the unmanned tractor 1 starts to detour around an obstacle, a turn indicator such as a blinker may be operated to call attention to the user of the wireless communication terminal 46, the operator of the manned tractor, or the like. Thereby, when there exists a possibility that the unmanned tractor 1 may approach a manned tractor, for example, a user can detect this and a collision etc. can be prevented beforehand.

  In the above-described embodiment, as the detour Q, the first travel is made so that the end point G of the first travel path P1 is the starting point, passes through the obstacle outer peripheral region, turns to the opposite side of the obstacle, and penetrates the obstacle. Although the detour Q reaching the position on the virtual extension line L extending the path P1 is generated, the present invention is not limited to this. In other words, the detour is a path that connects the end point of the first travel path (point reaching the obstacle outer peripheral area) and the start point of the second travel path (point that exits from the outer peripheral area of the obstacle) that is arranged with an obstacle therebetween. The starting point of the second travel path may not be a point on the virtual extension line extending the first travel path. The case where the starting point of the second travel path is not a point on the virtual extension line extending from the first travel path is, for example, as shown in FIG. 19, the provisional travel path P0 ′ is a broken line travel path, The travel path P1 ′ and the second travel path P2 ′ are connected via a refracting part to form a tentative traveling path P0 ′ having a broken line shape, and the refracting part is an obstacle outer peripheral region or an obstacle. The case where it exists in the area | region which exists is illustrated. In FIG. 19, the start point of the first travel path P1 ′ is indicated as F ′, the end point is indicated as G ′, the start point of the second travel path P2 ′ is indicated as H ′, the end point is indicated as J ′, and the detour is indicated as Q ′. .

  In the above embodiment, when obstacles are present in the work area in the form of islands, the obstacles are seen from the far side in the obstacle outer peripheral area when the detour Q is viewed from the travel route up to the first travel route P1. However, the present invention is not limited to this. The detour may be generated on the side near the end point in the obstacle outer peripheral area. In other words, the detour reaches the end point in the obstacle outer peripheral area after reaching the obstacle outer peripheral area. What is necessary is just to produce | generate so that the turning circuit to rotate may be included.

  That is, the number of travel paths in the work area is determined in consideration of the width of the work area and the vehicle width of the tractor 1 (work machine 3), but the work order in each work path should be set as appropriate according to the user's specification. Is possible. As the designation of the user, it is possible to designate the number of work paths (the number of skips) between the currently traveling road P10 and the next traveling road P11, and when the number is zero, When the traveling path P10 and the traveling path P11 are adjacent and the number of the traveling paths is two, the traveling path P10 and the traveling path P11 are arranged with two traveling paths therebetween. As a general rule, the work order in each work path is set sequentially from the start point to the end point, but when the number is other than 0, in part, it is set from the end point to the start point (in other words, After driving on a road near the end point, it may run on an uncultivated road near the start point). And when there is an obstacle on an uncultivated traveling road that travels after moving from the end point to the starting point, the detour route passes the other uncultivated traveling path side, that is, the obstacle outer peripheral region so as to pass the end point side. Generated within.

  When there are obstacles on an uncultivated traveling road that travels from the end point to the starting point, when both adjacent traveling paths are already cultivated traveling paths, the path length of the detour is shorter. A detour or a detour with a smaller number of turns may be generated.

  In the above embodiment, it is assumed that there are no obstacles, a provisional traveling path including a plurality of provisional traveling paths is generated, and the provisional traveling paths are corrected as appropriate depending on whether or not each temporary traveling path interferes with the obstacle outer peripheral area. However, the method for generating the travel route is not limited to this. In the above embodiment, the provisional travel route is generated assuming that there are no obstacles. In the processing for generating the travel route, a determination process for determining whether to replace the provisional travel route with a travel route including a detour (for example, This is because step S107 in FIG. 6 is performed after the provisional travel path is generated, but the travel path may be generated without generating the provisional travel path by making the determination in advance.

  Specifically, this can be realized by determining whether or not to generate a detour in the outer peripheral area of the obstacle when the outer peripheral area of the obstacle is set by the obstacle outer peripheral setting unit 34. For example, when there is one or more detours having a length of a predetermined distance or more in the process of step S107 in FIG. 6 described above, in order to avoid the route length of the detour becoming excessively long and the work becoming inefficient. In addition, although the detour is not adopted as the travel route, the route length of the detour when the detour is temporarily generated in the outer periphery region of the obstacle set by the obstacle outer periphery setting unit 34 is calculated in advance. Is possible. For example, when the outer peripheral area of the obstacle is a hollow rectangular area, the maximum path length of the detour is, in principle, the length of the lateral side of the outer edge of the outer peripheral area (side in the direction perpendicular to the working direction), This is the total length (hereinafter referred to as the maximum path length A) of the lengths of the vertical sides (sides in the direction parallel to the working direction). Here, “in principle” means that the path length of the detour is generated so as to be the shortest. For example, other factors (for example, the above-mentioned cultivated traveling road side is not generated, 2) the length of the lateral side of the outer edge of the outer peripheral region (side in the direction perpendicular to the working direction) And the total length of the vertical sides (sides in the direction parallel to the working direction) (hereinafter referred to as the maximum path length B). The route generation unit 47 generates a travel route that does not include a detour in at least the outer peripheral region of the obstacle where the maximum route length A is equal to or greater than a predetermined distance, and the maximum route length A or the maximum route length B is predetermined. In the outer peripheral region of the obstacle that is less than the distance, it is possible to generate a travel route including a detour and generate a travel route including each travel route.

  In steps S401 to S404 in FIG. 20, the process performed by the route generation unit 47 when the travel route is generated by the above-described method is simply shown in the flowchart. Explaining this process, first, the route generation unit 47 calculates the maximum route length in advance for all obstacle outer peripheral regions (step S401). After that, the route generation unit 47 generates a travel path that does not turn back or detour for a portion of the work area that does not interfere with the obstacle outer peripheral area (obstacle) (step S402). Next, the route generation unit 47 generates a traveling path including a turnback path for a portion of the work area that interferes with the obstacle outer peripheral area when the maximum path length of the obstacle outer peripheral area is equal to or greater than a predetermined value. (Step S403) If it is less than the predetermined value, a travel route including a detour is generated (Step S404). In this way, by associating whether or not to generate a travel route including a detour with the outer peripheral area of the obstacle, it is possible to generate a travel route without generating a provisional travel route.

  In the above embodiment, the non-working area is determined by setting the width of the headland and the width of the non-cultivated land on the input screen (not shown), and the working area is determined as the remaining area excluding the non-working area from the field. It has been. However, the method of setting the work area is not limited to the above. For example, the work area and the non-work area can be specified by the user specifying an arbitrary point on the farm field displayed on the plane display unit 81 on the farm field information input screen 80 described above. May be configured to be set.

  The autonomous traveling route generation system of the present invention is not limited to the cooperative work of the unmanned tractor 1 and the manned tractor described above, and can be applied to the case where only the unmanned tractor 1 performs autonomous traveling / autonomous work alone.

  In the above embodiment, the work direction setting unit 36, the route generation unit 47, and the obstacle outer periphery setting unit 34 that constitute the autonomous traveling route generation system 99 are provided on the wireless communication terminal 46 side. However, it is not limited to this. That is, some or all of the work direction setting unit 36, the route generation unit 47, and the obstacle outer periphery setting unit 34 may be provided on the tractor 1 side.

1 Tractor (robot tractor, unmanned tractor)
34 Obstacle perimeter setting part 36 Work direction setting part (travel direction setting part)
47 Route generation unit 99 Autonomous travel route generation system P1 First travel route P2 Second travel route Q Detour

Claims (5)

An autonomous traveling route generation system for generating a traveling route for autonomously traveling a work vehicle in a predetermined traveling region,
A travel direction setting unit for setting a travel direction of the work vehicle in the travel region;
A route generation unit capable of generating the travel route including a plurality of travel paths provided along the travel direction set by the travel direction setting unit in the travel region;
An obstacle outer periphery setting unit for setting an obstacle outer periphery region with respect to the obstacle in the traveling region;
With
The route generation unit
A first travel path arranged along the travel direction;
A position on a virtual extension line starting from the end point of the first travel path, extending to the opposite side of the obstacle while passing through the obstacle outer peripheral region, and extending the first travel path so as to penetrate the obstacle And a detour that leads to
A second traveling path arranged on the virtual extension line, starting from the end point of the detour,
It is possible to generate the travel route so as to include the autonomous travel route generation system. The autonomous travel route generation system according to claim 1,
The route generation unit
When the route length of the detour is less than a predetermined distance, the travel route is generated so as to include the first travel route, the detour route, and the second travel route,
When the route length of the detour is a predetermined distance or more,
The first travel path;
A return path that starts from the end point of the first traveling path and turns back before the obstacle while passing through the obstacle outer peripheral area;
A third traveling path that is arranged in parallel with the first traveling path, with the end point of the turnback path as a starting point;
It is possible to generate the travel route so as to include the autonomous travel route generation system. The autonomous travel route generation system according to claim 1,
The route generation unit
When an avoidance distance, which is a distance that the work vehicle must move in a direction perpendicular to the traveling direction in order to avoid the obstacle, is less than a predetermined distance, the first traveling path, the detour, and the Generating the travel route to include the second travel route;
When the avoidance distance is a predetermined distance or more,
The first travel path;
A return path that starts from the end point of the first traveling path and turns back before the obstacle while passing through the obstacle outer peripheral area;
A third traveling path that is arranged in parallel with the first traveling path, with the end point of the turnback path as a starting point;
It is possible to generate the travel route so as to include the autonomous travel route generation system. The autonomous travel route generation system according to claim 1,
The route generation unit
When the number of turns or the turning angle in the detour is less than a predetermined value, the travel route is generated so as to include the first travel path, the detour, and the second travel path,
When the number of turns or the turning angle in the detour is greater than or equal to a predetermined value,
The first travel path;
A return path that starts from the end point of the first traveling path and turns back before the obstacle while passing through the obstacle outer peripheral area;
A third traveling path that is arranged in parallel with the first traveling path, with the end point of the turnback path as a starting point;
It is possible to generate the travel route so as to include the autonomous travel route generation system. An autonomous travel route generation system according to any one of claims 1 to 4,
When the obstacle is arranged in an island shape in the travel area, the route generation unit is configured to connect the detour from the side far from the travel route to the first travel route. An autonomous travel route generation system, characterized in that it is generated to turn to the opposite side.

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