JP2018041359A - Autonomous travelling system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a working vehicle appropriately autonomous travel in any route when the working vehicle travels a working route, and travels a revolving route.SOLUTION: An autonomous travelling system, which makes a working vehicle implement autonomous travelling along a travelling route including a plurality of working routes where a work is implemented by the working vehicle, and a revolving route connecting each working route and revolving the working vehicle, comprises: a position information acquisition unit 23a that acquires position information on the working vehicle; a travelling accuracy identification unit 23b that identifies reduction in traveling accuracy of the working vehicle; and a burden alleviation processing execution unit 23d that, when the reduction in travelling accuracy of the working vehicle is detected by the travelling accuracy identification unit 23b, executes burden alleviation processing even when a current position of the working vehicle is present even on the working route or the revolving route.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an autonomous traveling system that generates a traveling route for autonomously traveling a work vehicle and autonomously travels the working vehicle along the traveling route.

  In the autonomous traveling system as described above, a route including a plurality of linear work routes on which work is performed by the work vehicle and a turning route for connecting the work routes and turning the work vehicle is used as the travel route. An operation is performed by causing the vehicle to autonomously travel along the travel route (see, for example, Patent Document 1).

  When the work vehicle travels on the work route, the wheel drive speed is controlled so that the drive travel speed obtained from the wheel drive speed of the work vehicle becomes the set travel speed. At this time, for example, the actual travel speed and the drive travel speed may deviate due to slip or the like. In this case, even if the drive travel speed is controlled to be the set travel speed, the actual travel speed is It will deviate from the set travel speed.

  Therefore, in the system described in Patent Document 1, the actual traveling speed is obtained using the current position information of the work vehicle obtained based on the satellite positioning information, the actual traveling speed is compared with the driving traveling speed, and the driving is performed. The driving speed of the wheel is controlled so that the traveling speed becomes the actual traveling speed. That is, when the actual travel speed is faster than the drive travel speed, the wheel drive speed is decelerated. Conversely, when the actual travel speed is slower than the drive travel speed, the wheel drive speed is increased.

JP-A-9-120314

  When the actual traveling speed and the driving traveling speed are different from each other, it is not possible to perform appropriate autonomous traveling only by controlling the wheel driving speed so that the driving traveling speed becomes the set traveling speed. The running accuracy is reduced.

  However, in the system described in Patent Document 1, the driving speed of the wheels is increased in a situation where the traveling accuracy of the work vehicle is reduced such that the actual traveling speed is slower than the driving traveling speed. Undesirable from the viewpoint of safety.

  In the system described in Patent Document 1, the driving speed of the wheels is controlled so that the driving traveling speed becomes an actual traveling speed when the working vehicle travels on the work route. A phenomenon such as slip that causes a decrease in accuracy occurs not only in the work route but also in the turning route. Therefore, if the traveling accuracy of the work vehicle is lowered while the work vehicle is traveling on the turning route, the work vehicle may not be able to turn appropriately.

  In view of this situation, the main problem of the present invention is to provide an autonomous traveling system that can appropriately autonomously travel on either route when the work vehicle travels on a work route or on a turning route. In the point.

According to a first characteristic configuration of the present invention, the work vehicle is arranged along a travel route including a plurality of work routes on which work is performed by the work vehicle and a turning route that connects the work routes and turns the work vehicle. An autonomous traveling system for autonomous traveling,
A position information acquisition unit for acquiring position information of the work vehicle;
A traveling accuracy identifying unit that identifies a decrease in traveling accuracy of the work vehicle;
A burden for executing a burden reduction process when the traveling accuracy specifying unit detects a decrease in traveling accuracy of the work vehicle regardless of whether the current position of the work vehicle is on the work route or on the turning route And a mitigation processing execution unit.

  According to this configuration, when a decrease in the traveling accuracy of the work vehicle is detected by the traveling accuracy specifying unit, the load reduction processing execution unit determines that the current position of the work vehicle acquired by the position information acquisition unit is on the work route. Even if it is on the turning route, the burden reducing process is executed. Here, the burden reduction process can be a process for suppressing a decrease in traveling accuracy, for example, by reducing the vehicle speed of the work vehicle. As a result, when the work vehicle travels along the work route or travels along the turning route, for example, if the travel accuracy of the work vehicle decreases due to a slip or the like, the load reduction processing is executed to reduce the travel accuracy. Can be suppressed. Therefore, even when the work vehicle travels on the work route or travels on the turning route, the vehicle can appropriately travel autonomously on either route.

The second characteristic configuration of the present invention includes a deviation detection unit that detects a deviation of the work vehicle with respect to the travel route,
The burden reduction processing execution unit
When the current position of the work vehicle is on the turning route, the burden reducing process can be executed regardless of the deviation,
When the current position of the work vehicle is on the work route, the burden reducing process is not executed unless the deviation exceeds a predetermined deviation.

  When autonomously traveling the work vehicle along the travel route, for example, a travel route such as a deviation of the travel direction of the work vehicle with respect to the travel direction on the travel route and a lateral deviation of the current position of the work vehicle with respect to the travel route. It is conceivable that a deviation of the work vehicle with respect to

  Since the turning route is a route for turning the work vehicle, if any deviation of the work vehicle from the turning route occurs, the work vehicle can be turned appropriately, for example, the turning radius deviates from the original turning radius. There is a possibility of disappearing. On the other hand, since the work route is a route for performing work, if the work vehicle cannot be continued even if there is a slight deviation of the work vehicle with respect to the work route, the work must be interrupted frequently, resulting in work efficiency. Will be reduced. Therefore, when the work vehicle travels along the work route, it is desirable to provide an allowable range that does not cause inconvenience in performing the work by autonomous traveling with respect to the deviation of the work vehicle with respect to the work route.

  Therefore, according to this configuration, when the current position of the work vehicle is on the turning route, the load reduction processing execution unit performs work on the travel route when the travel accuracy specifying unit detects a decrease in the travel accuracy of the work vehicle. The burden reducing process can be executed regardless of the deviation of the vehicle, and the work vehicle cannot be prevented from turning properly.

  On the other hand, when the current position of the work vehicle is on the work route, the burden reduction processing execution unit does not detect the deviation of the work vehicle with respect to the travel route even if the travel accuracy specifying unit detects a decrease in the travel accuracy of the work vehicle. Since the burden reducing process is not executed unless the predetermined deviation (deviation based on the above-described allowable range) is exceeded, the condition that the traveling accuracy of the work vehicle is lowered and the deviation of the working vehicle with respect to the traveling route exceeds the predetermined deviation. Only when the two conditions are satisfied, the burden reducing process is executed. As a result, when the work vehicle travels along the work route, it is inconvenient to perform the work while performing the work efficiently without executing the burden reducing process if the work can be continued without any inconvenience. Even if this occurs, it is possible to perform the work appropriately by executing the burden reducing process to eliminate the inconvenience.

  According to a third characteristic configuration of the present invention, when the burden reduction process execution unit executes the burden reduction process on the work route, the traveling accuracy of the work vehicle is improved in the turning route that travels after the work route. When the decrease is predicted, the burden reducing process is continuously executed also in the turning route.

  According to this configuration, when the burden reduction process execution unit executes the burden reduction process on the work route, for example, when the vehicle speed of the work vehicle is faster than the target vehicle speed on the turning route, the work route It can be predicted that there is a high possibility that the traveling accuracy will decrease in a turning route that travels later. In such a case, the burden reducing process execution unit continues to execute the burden reducing process even on the turning route, so that it is possible to prevent inconvenience due to a decrease in traveling accuracy from the beginning of the turning route that travels after the work route. The work vehicle can be turned appropriately.

  According to a fourth feature configuration of the present invention, when the load reduction process execution unit executes the load reduction process, a state in which a decrease in travel accuracy is not specified by the travel accuracy specifying unit is continued. The load reduction process stop unit stops the execution of the load reduction process by the load reduction process execution unit.

  According to this configuration, the load reduction process stop unit stops the execution of the load reduction process by the load reduction process execution unit when the state in which the decrease in the travel accuracy is not specified by the travel accuracy specification unit is continued. The execution of the burden reducing process can be stopped at an appropriate timing.

Side view of tractor Tractor control block diagram The figure which shows the travel route when making the tractor autonomously travel Flow chart showing the operation when executing the burden reducing process

An embodiment of an autonomous traveling system according to the present invention will be described with reference to the drawings.
This autonomous traveling system is configured to generate a traveling route and to autonomously travel the tractor 1 as a work vehicle along the generated traveling route.

First, the tractor 1 will be described with reference to FIG.
The tractor 1 includes a vehicle body portion 2 on which a work machine 50 can be mounted on the rear side, the front portion of the vehicle body portion 2 is supported by a pair of left and right front wheels 3, and the rear portion of the vehicle body portion 2 is a pair of left and right rear wheels 4. It is supported. A bonnet 5 is disposed in the front part of the vehicle body 2, and an engine 6 as a drive source is accommodated in the bonnet 5. A cabin 7 for a driver to board is provided on the rear side of the bonnet 5, and a steering handle 8 for a driver to steer and a driver's driving seat 9 are provided in the cabin 7. It has been.

  The engine 6 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, an electric motor may be employed as a drive source in addition to the engine 6 or instead of the engine 6.

  In the present embodiment, the tractor 1 will be described as an example of a work vehicle. As the work vehicle, in addition to a tractor, a rice-type machine, a combiner, a civil engineering / architecture work device, a snowplow, and the like, a walk-type work vehicle is used. Vehicles are also included.

  On the rear side of the vehicle body 2, a three-point link mechanism including a pair of left and right lower links 10 and an upper link 11 is provided, and the working machine 50 can be mounted on the three-point link mechanism. Although not shown, a lifting device having a hydraulic device such as a lifting cylinder is provided on the rear side of the vehicle body 2, and this lifting device lifts and lowers the work implement 50 by lifting and lowering the three-point link mechanism. ing.

  As for the working machine 50, FIG. 1 illustrates a case where a tilling device is mounted. However, the working machine 50 is not limited to the tilling device, and various working machines such as a plow and a fertilizer can be applied.

  As shown in FIG. 2, the tractor 1 includes a governor device 21 that can adjust the rotational speed of the engine 6, a transmission device 22 that shifts the rotational driving force from the engine 6 and transmits it to the drive wheels, the governor device 21, A control unit 23 and the like that can control the device 22 are provided. The transmission 22 is configured by combining, for example, a main transmission composed of a hydraulic continuously variable transmission and an auxiliary transmission composed of a gear type multi-stage transmission.

  The tractor 1 can be controlled not only by the driver riding in the cabin 7 but also by the control unit 23 based on an instruction from the wireless communication terminal 30 even if the driver does not board the cabin 7. Thus, the tractor 1 is configured to be able to travel autonomously.

  As shown in FIG. 2, the tractor 1 includes a steering device 24, a positioning antenna 25, a wireless communication antenna 26, and the like, and autonomously acquires its current position information (position information of the vehicle body 2). It is configured to run.

  The steering device 24 is provided, for example, in the middle of the rotation shaft of the steering handle 8 and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8. When the control unit 23 controls the steering device 24, not only the straight traveling but also the turning angle of the steering handle 8 can be adjusted to a desired turning angle, and the turning turning with the desired turning radius can be performed. The steering device 24 may adjust the steering angle of the front wheel 3 of the tractor 1 instead of adjusting the rotation angle of the steering handle 8, and in this case, the steering handle 8 rotates even if the vehicle turns. do not do.

  As shown in FIG. 1, the positioning antenna 25 is configured to receive a signal from a positioning satellite 63 that constitutes a satellite positioning system (GNSS), for example. The positioning antenna 25 is disposed on the upper surface of the roof 12 of the cabin 7.

  The wireless communication antenna 26 is configured to transmit and receive various signals via a wireless communication network established with the wireless communication terminal 30 and the like. The radio communication antenna 26 is disposed on the upper surface of the roof 12 of the cabin 7. As shown in FIG. 2, the signal received by the wireless communication antenna 26 can be input to the control unit 23, and the signal from the control unit 23 is transmitted to the wireless communication terminal 30 by the wireless communication antenna 26. It can be transmitted to the device 31 and the like.

  Here, as a positioning method using the satellite positioning system, a reference station 60 installed at a predetermined reference point is provided, and satellite positioning information of the tractor 1 (mobile station) is corrected by correction information from the reference station 60. A positioning method for obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, for the positioning method, independent positioning can be used without providing the reference station 60.

  In this embodiment, for example, RTK positioning is applied, and as shown in FIGS. 1 and 2, in addition to providing the positioning antenna 25 on the tractor 1 on the mobile station side, the reference station positioning antenna 62 is provided. A provided reference station 60 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the traveling of the tractor 1, for example, around the farm field. The position information of the reference point that is the installation position of the reference station 60 is preset. The reference station 60 is provided with a reference station wireless communication device 61 capable of wirelessly communicating various signals via a wireless communication network constructed by the wireless communication antenna 26 of the tractor 1 and the wireless communication device 31 of the wireless communication terminal 30. Various kinds of information can be transmitted and received between the reference station 60 and the tractor 1 and between the reference station 60 and the wireless communication terminal 30.

  In RTK positioning, the carrier phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 25 of the tractor 1 on the mobile station side whose position information is to be obtained. doing. The reference station 60 generates correction information including the measured satellite positioning information and reference point position information every time the satellite positioning information is measured from the positioning satellite 63 or every time the set period elapses, and the reference station wireless communication device The correction information is transmitted from 61 to the radio communication antenna 26 of the tractor 1. The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the positioning antenna 25 using the correction information transmitted from the reference station 60. The control unit 23 obtains, for example, latitude information / longitude information as the current position information of the tractor 1.

  In the autonomous traveling system, in addition to the tractor 1 and the reference station 60, a wireless communication terminal 30 capable of instructing the controller 23 of the tractor 1 to autonomously travel the tractor 1 is provided. The wireless communication terminal 30 is composed of, for example, a tablet personal computer having a touch panel, and can display various information on the touch panel. Various information can also be input by operating the touch panel.

  As shown in FIG. 2, the wireless communication terminal 30 includes a wireless communication device 31 capable of wireless communication between the wireless communication antenna 26 of the tractor 1 and the reference station wireless communication device 61 of the reference station 60, and the tractor 1 autonomously travels. And a route generation unit 32 that generates a travel route K1 (see FIG. 3).

  Incidentally, FIG. 3 shows an example of a travel route K1 generated by the route generation unit 32 in the case of a single operation in which one tractor 1 independently performs autonomous travel. FIG. 3 is merely an example, and what route the route generation unit 32 generates as a travel route can be changed as appropriate.

  As shown in FIG. 3, the travel route K1 includes a work route Ka that performs operations such as tillage while the tractor 1 travels autonomously, and a turning route Kb that turns the tractor 1 from the work route Ka to the next work route Ka. It is configured as a route. The work path Ka is generated for the work area R1, and the turning path Kb is generated for the non-work area R2 (for example, a headland). The work path Ka is a linear path that autonomously travels from one end side to the other end side in the work area R1 in the field H, and the straight path extends across the entire work area R1. It is generated so that a plurality are arranged adjacent to each other in the direction. The turning route Kb is generated as a route for turning the tractor 1 by connecting the ends of the two work routes Ka arranged in the width direction of the field H.

  The wireless communication terminal 30 includes a work mode setting unit 33 that sets a work mode when the tractor 1 performs autonomous travel so that the route generation unit 32 generates the travel route K1.

  The work mode setting unit 33 is configured to be able to set tractor information (work vehicle information), field information, and work information as a work mode. The tractor information includes, for example, information indicating the model of the tractor 1, the size of the tractor 1 (full length and width), the type and size of the work implement 50 (width), the target vehicle speed and the target engine rotation speed when autonomously traveling, etc. It is. The field information includes, for example, the shape of the field, the work start position (position indicated by S1 in FIG. 3), the work end position (position indicated by G1 in FIG. 3), and the work direction (direction indicated by an arrow in FIG. 3). Information indicating the presence or absence of an obstacle and the position of the obstacle. The work information includes the presence / absence of a cooperative work indicating whether the work is performed independently by one tractor 1 or the cooperative work performed by a plurality of tractors 1, a work area (in FIG. 3). This is information indicating the width of an outer peripheral region (for example, a headland, a region indicated by R2 in FIG. 3) set around the region indicated by R1.

  When setting the tractor information, for example, items that can be set as tractor information such as the model and size of the tractor 1 are displayed on the display unit of the wireless communication terminal 30. This item can be displayed one by one for each item or a plurality of items can be displayed simultaneously. By displaying the items in this way, an operator or the like can operate the touch panel to input various information for each of the plurality of items. Similarly, when setting the farm field information and the work information, the settable items are displayed on the display unit of the wireless communication terminal 30, and the operator or the like operates the touch panel, so that various items can be set for each of the plurality of items. It is possible to input information.

  Here, as shown in FIG. 2, the wireless communication terminal 30 includes a storage unit 38 that stores various types of information, and the storage unit 38 stores the tractor information set by the work mode setting unit 33. And field information is stored. The storage unit 38 stores, for example, individual tractor information that associates the tractor 1 with the tractor information set for the tractor 1, and associates the field with the field information set for the field. I remember information. Thereby, when setting the tractor information and the farm field information, the tractor individual information and the farm field individual information stored in the storage unit 38 are read out and displayed on the display unit of the wireless communication terminal 30 so that the operator or the like Information and individual field information can be selected.

  As shown in FIG. 3, the route generation unit 32 is configured to generate a travel route K <b> 1 on which the tractor 1 autonomously travels based on the work mode set by the work mode setting unit 33.

  The wireless communication terminal 30 transmits various information for causing the tractor 1 to autonomously travel, such as the travel route K1 generated by the route generation unit 32 and the start command for autonomous travel, via the wireless communication network. 23 can be transmitted. The control unit 23 of the tractor 1 is configured to start the autonomous traveling of the tractor 1 when it receives information such as the traveling route K1 from the wireless communication terminal 30 and receives an autonomous traveling start command. Then, the control unit 23 of the tractor 1 acquires the current position information of the tractor 1 acquired from the received signal of the positioning antenna 25 so that the tractor 1 autonomously travels along the travel route K1 generated by the route generation unit 32. Is configured to control the governor device 21, the transmission 22, the steering device 24, and the like.

  When the tractor 1 is autonomously traveling, tractor information is included as various types of information for autonomously traveling the tractor 1 transmitted from the wireless communication terminal 30 to the control unit 23 of the tractor 1. In the tractor information, Information indicating the target vehicle speed of the tractor 1 is included. Therefore, the control unit 23 of the tractor 1 executes vehicle speed processing for controlling the governor device 21 and the transmission 22 so that the vehicle speed of the tractor 1 becomes the target vehicle speed. Incidentally, the vehicle speed of the tractor 1 can be detected by, for example, a vehicle speed sensor provided in the vehicle body 2. Instead of detection by the vehicle speed sensor, the vehicle speed of the tractor 1 can be obtained from the driving speed of the wheels 3 and 4. Furthermore, the vehicle speed of the tractor 1 can be acquired from a sensor or the like in the satellite positioning system, or the vehicle speed of the tractor 1 can be obtained from the position displacement of the current position of the tractor 1 acquired by the satellite positioning system.

  As the target vehicle speed, a target vehicle speed for the work route when traveling on the work route Ka and a target vehicle speed for the turn route when traveling on the turning route Kb are set. As a result, when the tractor 1 travels on the work route Ka, the control unit 23 executes vehicle speed processing for controlling the governor device 21 and the transmission 22 so that the vehicle speed of the tractor 1 becomes the target vehicle speed for the work route. doing. When the tractor 1 travels on the turning route Kb, the control unit 23 executes vehicle speed processing for controlling the governor device 21, the transmission device 22 and the like so that the vehicle speed of the tractor 1 becomes the target vehicle speed for the turning route. .

  As described above, the control unit 23 makes the tractor 1 autonomously travel along the travel route K1 while setting the vehicle speed of the tractor 1 as the target vehicle speed. When the position deviates (when the deviation of the current position of the tractor 1 in the lateral direction perpendicular to the traveling direction in the traveling route K1 is equal to or greater than the threshold value for stopping autonomous traveling), the tractor 1 is controlled to stop. It is possible.

  During the autonomous traveling of the tractor 1, for example, the wheels 3 and 4 slip and the actual vehicle speed of the tractor 1 may deviate from the target vehicle speed, and autonomous traveling may not be performed appropriately. Therefore, when the actual vehicle speed of the tractor 1 deviates from the target vehicle speed, appropriate processing is performed in accordance with this to suppress the occurrence of inconvenience. Hereinafter, this point will be described.

  As shown in FIG. 2, the control unit 23 of the tractor 1 includes a position information acquisition unit 23 a that acquires position information of the tractor 1, a travel accuracy specification unit 23 b that specifies a decrease in travel accuracy of the tractor 1, and a travel route A deviation detecting unit 23c for detecting the deviation of the tractor 1 with respect to K1, a load reducing process executing unit 23d for executing a load reducing process when a predetermined execution condition is satisfied, and for stopping during execution of the load reducing process And a burden reducing process stop unit 23e that stops the burden reducing process when the predetermined condition is satisfied.

  As described above, the position information acquisition unit 23a corrects the satellite positioning information measured by the positioning antenna 25 using the correction information transmitted from the reference station 60, and acquires the current position information of the tractor 1. . Then, the position information acquisition unit 23a determines whether the acquired current position of the tractor 1 is located on the work route Ka or whether the acquired current position of the tractor 1 is located on the turning route Kb in the travel route K1. I have identified.

  The traveling accuracy specifying unit 23b acquires the actual vehicle speed of the tractor 1, compares the actual vehicle speed with the target vehicle speed, and the deviation between the actual vehicle speed and the target vehicle speed exceeds the threshold value, the traveling of the tractor 1 Identifying loss of accuracy. As described above, the travel accuracy specifying unit 23b acquires the actual vehicle speed of the tractor 1 from a sensor or the like in the satellite positioning system, or the tractor 1 from the position displacement of the current position of the tractor 1 acquired by the position information acquisition unit 23a. The actual vehicle speed can be obtained.

  The deviation detector 23c compares the actual traveling direction of the tractor 1 with the traveling direction in the traveling route K1, and indicates how much the actual traveling direction is deviated from the traveling direction in the traveling route K1. Deviation is detected. Further, the deviation detection unit 23c compares the current position of the tractor 1 with the travel route K1, and the deviation of the current position of the tractor 1 with respect to the travel route K1 in the lateral direction perpendicular to the travel direction on the travel route K1. A horizontal deviation indicating whether or not The deviation detector 23c acquires the actual traveling direction of the tractor 1 and the current position of the tractor 1 from a sensor or the like provided in the satellite positioning system, or the current information of the tractor 1 acquired by the position information acquisition unit 23a. It is acquired using the position.

  When the predetermined conditions for execution are satisfied, the burden reduction process execution unit 23d changes the target vehicle speed in the target vehicle speed change process in which the target vehicle speed is changed to a vehicle speed reduced by a set value, and the vehicle speed of the tractor 1 is changed in the target vehicle speed change process. It is configured to perform a burden reduction process for performing a deceleration process for controlling the governor device 21 and the transmission 22 so as to achieve the target vehicle speed.

  The predetermined conditions for execution are set differently when the current position of the tractor 1 is on the work route Ka in the travel route K1 and when the current position of the tractor 1 is on the turning route Kb in the travel route K1. ing.

  When the current position of the tractor 1 is on the work route Ka in the travel route K1, in addition to the specific condition for execution specifying the decrease in travel accuracy by the travel accuracy specifying unit 23b, the deviation detecting unit 23c Is set to a condition including that the deviation detected by exceeds the threshold. On the other hand, when the current position of the tractor 1 is on the turning route Kb in the travel route K1, regardless of the deviation detected by the deviation detection unit 23c, the predetermined condition for execution is the travel accuracy specifying unit 23b. Is set to a condition including specifying a decrease in running accuracy.

  Here, the threshold value to be compared with the deviation detected by the deviation detecting unit 23c is set to a value smaller than the above-described threshold value for stopping autonomous traveling. As a result, when the tractor 1 travels on the work route Ka, the travel accuracy identifying unit 23b identifies the decrease in travel accuracy, and the deviation detected by the deviation detection unit 23c exceeds the threshold value, thereby reducing the burden reduction process. The burden reduction process is executed by 23d. And after the burden reduction process execution part 23d performs a burden reduction process, when the deviation which the deviation detection part 23c detects exceeds the threshold value for autonomous running stop, the autonomous running of the tractor 1 is stopped. That is, the burden reduction process execution unit 23d is configured to be able to execute the burden reduction process before the autonomous traveling of the tractor 1 is stopped.

  Hereinafter, based on the flowchart of FIG. 4, an operation when the burden reduction process execution unit 23 d executes the burden reduction process will be described.

  First, the traveling accuracy specifying unit 23b acquires the actual vehicle speed of the tractor 1 (step # 1), compares the actual vehicle speed with the target vehicle speed, and the deviation between the actual vehicle speed and the target vehicle speed exceeds the threshold value. It is determined whether or not the traveling accuracy of the tractor 1 is lowered (step # 2). Here, the target vehicle speed for the work route and the target vehicle speed for the turning route are set as the target vehicle speed. Therefore, in comparing the actual vehicle speed with the target vehicle speed, if the target vehicle speed for the work route and the target vehicle speed for the turning route are different, if the current position of the tractor 1 is on the work route Ka, the actual vehicle speed is compared with the actual vehicle speed. The vehicle speed is compared with the target vehicle speed for the work route, and if the current position of the tractor 1 is on the turning route Kb, the actual vehicle speed and the target vehicle speed for the turning route are compared.

  When the traveling accuracy identification unit 23b identifies a decrease in traveling accuracy of the tractor 1 because the deviation between the actual vehicle speed and the target vehicle speed exceeds the threshold value (in the case of Yes in step # 2), the position information acquisition unit 23a In the travel route K1, it is determined whether the acquired current position of the tractor 1 is located on the work route Ka or whether the acquired current position of the tractor 1 is located on the turning route Kb (step # 3). .

  If the current position of the tractor 1 is not on the work route Ka but on the turning route Kb (in the case of No in step # 3), the load reduction process execution unit 23d performs the target vehicle speed change process and the load reduction process as the load reduction process. Deceleration processing is executed (step # 4, step # 5). In the target vehicle speed change process at this time, the burden reduction process execution unit 23d changes the target vehicle speed for the turning route to a value that decelerates by a set value. Further, in the deceleration process, the load reduction process execution unit 23d, like the vehicle speed process, controls the governor device 21 and the speed change so that the vehicle speed of the tractor 1 becomes the target vehicle speed for the turning route after the change in the target vehicle speed change process. The device 22 and the like are controlled.

  Also, if the current position of the tractor 1 is on the work route Ka (Yes in step # 3), the deviation in the running direction and the deviation in the lateral direction detected by the deviation detecting unit 23c by the burden reducing process executing unit 23d. Is determined to exceed the threshold (step # 6). When the deviation in the running direction and the deviation in the lateral direction detected by the deviation detector 23c exceed the threshold values (in the case of Yes in step # 6), the burden reduction process execution unit 23d A vehicle speed change process and a deceleration process are executed (step # 8, step # 9). In the target vehicle speed changing process at this time, the burden reducing process executing unit 23d changes the target vehicle speed for the work route to a value that decelerates by a set value. Further, in the deceleration process, the burden reduction process execution unit 23d, like the vehicle speed process, controls the governor device 21 and the gear change so that the vehicle speed of the tractor 1 becomes the target vehicle speed for the work route after the change in the target vehicle speed change process. The device 22 and the like are controlled.

  The load reduction processing execution unit 23d turns from the current position of the tractor 1 even if the deviation in the traveling direction and the deviation in the lateral direction detected by the deviation detection unit 23c do not exceed the threshold values (in the case of No in step # 6). If the distance to the route Kb is equal to or less than the predetermined distance, the target vehicle speed changing process and the deceleration process are executed as the burden reducing process (step # 8, step # 9).

  In the flowchart shown in FIG. 4, even when the burden reduction process (target vehicle speed change process and deceleration process) is executed by the burden reduction process execution unit 23d or when the burden reduction process is not executed, the process returns to the start by return. The above operation is repeated again. Thereby, for example, when the load reduction process (target vehicle speed change process and deceleration process) is executed by the load reduction process execution unit 23d, a decrease in travel accuracy is further specified by the travel accuracy specification unit 23b, etc. When the predetermined condition for execution for executing the burden reducing process is satisfied, the burden reducing process (target vehicle speed changing process and deceleration process) is executed again by the burden reducing process executing unit 23d. At this time, in the target vehicle speed changing process, the changed target vehicle speed is changed to a value further reduced by a set value. Therefore, if the execution predetermined condition for executing the burden reducing process is continuously satisfied, the target vehicle speed is gradually changed to the deceleration side, and the actual vehicle speed of the tractor 1 is also changed in stages. Will be slowed down.

  When the load reduction process execution unit 23d executes the load reduction process, the operation shown in FIG. 4 is basically performed. For example, the load reduction process execution unit 23d executes the load reduction process on the work route Ka. When a decrease in traveling accuracy is predicted on the turning route Kb that travels after the work route Ka, the burden reducing process can be continuously executed on the turning route Kb.

  When the burden reducing process is executed on the work route Ka, for example, when the actual vehicle speed of the tractor 1 is faster than the target vehicle speed for the turn route on the turn route Kb, the turn that travels after the work route Ka is performed. It can be predicted that there is a high possibility that traveling accuracy will decrease on the route Kb. Therefore, in such a case, the burden reducing process execution unit 23d continues to execute the burden reducing process on the turning route Kb.

  Further, when the burden reduction process is executed by the burden reduction process execution unit 23d, it is preferable to stop the execution of the burden reduction process at an appropriate timing. Therefore, as shown in FIG. 2, when the predetermined condition for stopping is satisfied during the execution of the load reduction process, the load reduction process stop unit 23e that stops the execution of the load reduction process by the load reduction process execution unit 23d is provided. It has been.

  When the predetermined condition for stopping is satisfied, the burden reduction process stop unit 23e returns the target vehicle speed changed in the target vehicle speed change process in the burden reduction process to the original target vehicle speed (target speed in the tractor information). The vehicle speed return process and the vehicle speed process for controlling the governor device 21 and the transmission 22 and the like are performed so that the vehicle speed of the tractor 1 becomes the target vehicle speed returned by the target vehicle speed return process.

  The predetermined condition for the stop is, for example, a state in which a decrease in running accuracy is not specified by the running accuracy specifying unit 23b when the load reducing process is executed by the load reducing process executing unit 23d. It is set to the condition including that. That is, when the load reduction process is executed by the load reduction process execution unit 23d, while the tractor 1 autonomously travels over a plurality of work routes Ka (for example, over three work routes Ka), If the state where the deviation between the vehicle speed and the target vehicle speed is below the threshold value continues, the predetermined condition for stopping is satisfied.

[Another embodiment]
(1) In the above-described embodiment, the burden reduction process execution unit 23d has changed the target vehicle speed changing process for changing the target vehicle speed to the deceleration side and the vehicle speed of the tractor 1 as the burden reducing process. Although the deceleration process for controlling the governor device 21 and the transmission device 22 and the like is performed so as to achieve the target vehicle speed, the burden reduction process may be a process for suppressing a decrease in running accuracy. Processing can be applied.

  For example, when the tractor 1 is traveling on the work route Ka, a process of controlling the lifting device so as to raise the height of the work implement 50 by a predetermined height can be performed as the burden reducing process. In this case, when the tractor 1 is traveling on the work route Ka, as a burden reduction process, a process for controlling the lifting device so as to raise the height of the work implement 50 by a predetermined height is performed. When the vehicle is traveling on the turning route Kb, the target vehicle speed changing process and the deceleration process can be performed as the burden reducing process as in the above embodiment.

(2) In the above-described embodiment, the traveling accuracy specifying unit 23b specifies a decrease in traveling accuracy because the deviation between the actual vehicle speed and the target vehicle speed exceeds the threshold. In addition to the deviation from the target vehicle speed, when the deviation in the running direction and the deviation in the lateral direction detected by the deviation detection unit 23c exceed the threshold, the running accuracy specifying unit 23b can also specify a decrease in running accuracy. .

  That is, the deviation to be considered among the deviation between the actual vehicle speed and the target vehicle speed, the deviation in the traveling direction detected by the deviation detector 23c, and the lateral deviation detected by the deviation detector 23c can be appropriately changed. It is possible, and the traveling accuracy specifying unit 23b can specify a decrease in traveling accuracy in consideration of various deviations.

(3) In the above-described embodiment, when the tractor 1 is traveling on the work route Ka, the deviation detection unit 23c detects in addition to the decrease in the travel accuracy specified by the travel accuracy specification unit 23b. Since the deviation in the running direction and the deviation in the lateral direction exceed the threshold value, the burden reduction process execution unit 23d executes the burden reduction process. Instead, the running accuracy specifying unit 23b performs the running accuracy. The load reduction processing execution unit 23d can execute the load reduction processing only by specifying the decrease in the load.

(4) In the above embodiment, for example, when the load reduction process execution unit 23d executes the load reduction process, information indicating that the control unit 23 of the tractor 1 executes the load reduction process is transmitted to the wireless communication network. By transmitting to the wireless communication terminal 30 via the wireless communication terminal 30, it is possible to perform display or notification that suggests that the wireless communication terminal 30 executes the burden reducing process.

  Further, when the load reduction process is executed by the load reduction process execution unit 23d, if the decrease in the travel accuracy is further specified by the travel accuracy specifying unit 23b, the control unit 23 of the tractor 1 further increases the travel accuracy specifying unit. By transmitting information indicating that the running accuracy is reduced at 23b to the wireless communication terminal 30 via the wireless communication network, the wireless communication terminal 30 further reduces the running accuracy at the running accuracy specifying unit 23b. It is possible to perform display or notification that suggests that the user is doing.

  As described above, when the load reduction processing is executed, or when the running accuracy is further reduced even after the load reduction processing is executed, the wireless communication terminal 30 displays a display indicating that effect. By performing the notification, it is possible to easily grasp the situation of the worker or the like.

1 Tractor (work vehicle)
23a Position information acquisition unit 23b Travel accuracy specifying unit 23c Deviation detection unit 23d Burden reduction processing execution unit 23e Burden reduction processing stop unit K1 Travel route Ka Work route Kb Turning route

Claims (4)

An autonomous traveling system that autonomously travels the work vehicle along a travel route that includes a plurality of work routes on which work is performed by the work vehicle and a turning route that connects the work routes and turns the work vehicle. ,
A position information acquisition unit for acquiring position information of the work vehicle;
A traveling accuracy identifying unit that identifies a decrease in traveling accuracy of the work vehicle;
A burden for executing a burden reduction process when the traveling accuracy specifying unit detects a decrease in traveling accuracy of the work vehicle regardless of whether the current position of the work vehicle is on the work route or on the turning route An autonomous traveling system comprising: a mitigation processing execution unit. A deviation detecting unit for detecting a deviation of the work vehicle with respect to the travel route;
The burden reduction processing execution unit
When the current position of the work vehicle is on the turning route, the burden reducing process can be executed regardless of the deviation,
2. The autonomous traveling system according to claim 1, wherein when the current position of the work vehicle is on the work route, the burden reducing process is not executed unless the deviation exceeds a predetermined deviation.   When the burden reducing process execution unit executes the burden reducing process on the work route, when a decrease in traveling accuracy of the work vehicle is predicted on the turning route that travels after the work route, The autonomous traveling system according to claim 1 or 2, wherein the burden reducing process is continuously executed even on a turning route.   When the load reduction process execution unit executes the load reduction process, and the state where the decrease in travel accuracy is not specified in the travel accuracy specification unit is continued, the load reduction process execution unit The autonomous traveling system according to any one of claims 1 to 3, further comprising a burden reducing process stop unit that stops execution of the burden reducing process.

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