JP2018108034A - Route generation system of working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide technique that distributes a non-working area between multiple working vehicles and regenerates each route, and thereby can effectively utilize vehicle resources and improve work efficiency, when the working vehicle is added in a field by the working vehicle coming for support from the other field on the way where the working vehicle works along a predetermined route in the field.SOLUTION: A route generation system includes a route generation unit for generating a route of a working vehicle. When the other working vehicle is added in the field on the way where one working vehicle works along a previously generated route by the route generation unit in the field, a non-working area where the work by the one working vehicle is not performed is distributed between the one working vehicle and the other working vehicle, and thereby the route is regenerated to each working vehicle.SELECTED DRAWING: Figure 7

Description

  The present invention is a system for regenerating a route for each work vehicle when the work vehicle is added to the field while the work vehicle is working along a route generated in advance in the field. About.

  2. Description of the Related Art Conventionally, a technique for performing an operation in cooperation with one unmanned work vehicle and a manned work vehicle in one agricultural field is known. For example, in the technology described in Patent Document 1, an unmanned work vehicle is preceded by a manned work vehicle at a central work place that is a simple work route, and an unmanned work vehicle is led by a manned work vehicle at a headland that is a complicated travel route. Thus, a cooperative control system that effectively links the manned work vehicle and the unmanned work vehicle is realized.

JP 2016-31649 A

  From the viewpoint of improving work efficiency, another work vehicle that has finished work in another field may assist in work in the field while one work vehicle is working in the field. Conventionally, there has been no consideration of the situation in which the number of work vehicles increases during work in the field, and it has been difficult to respond flexibly.

  The present invention provides a plurality of work vehicles when a work vehicle is added to the field by supporting the work vehicle from another field while the work vehicle is working along a predetermined route in the field. It is an object of the present invention to provide a technique capable of effectively utilizing vehicle resources and improving work efficiency by distributing unworked areas with the work vehicles and regenerating respective routes.

  A route generation system including a route generation unit that generates a route of a work vehicle, wherein one work vehicle is working along a route generated in advance by the route generation unit in the field. When other work vehicles are added to the work vehicle, an unworked area in which work by the one work vehicle is not performed is distributed to the one work vehicle and the other work vehicles, and each work vehicle is distributed. Regenerate the route.

  The one work vehicle and the other work vehicle are configured to be able to communicate with each other by short-range communication.

  According to the present invention, the remaining unworked areas are distributed among a plurality of work vehicles of a work vehicle working along a predetermined route in a farm field and a work vehicle coming to support from another farm field, By regenerating and performing distributed work, the utilization rate of work vehicles can be increased and work efficiency can be improved.

Side view of a combine that works in advance in the field Combine control block diagram Side view of a combine added to the field Combine control block diagram Block diagram of route generation system The figure which shows the route of the combine which performs work in advance in the field The figure which shows the route regenerated for each combine when adding the combine to the field The figure which shows the route regenerated with respect to the remaining combine when one of the combine leaves from the field

  With reference to FIGS. 1 to 4, an embodiment in which a combine is taken as an example of a work vehicle will be described. FIG. 1 is a side view showing the overall configuration of a combine 1 as a work vehicle that performs work in advance in a field. FIG. 2 is a block diagram showing a control configuration of the combine 1. FIG. 3 is a side view showing the overall configuration of the combine 100 as a work vehicle added to the field. FIG. 4 is a block diagram showing a control configuration of the combine 100. In the following description, the combine 1/100 is treated as a combine that can travel and work autonomously (autonomous combine).

  Combine 1 is a self-decomposing combine. The combine 1 includes a traveling unit 2, a mowing unit 3, a threshing unit 4, a sorting unit 5, a storage unit 6, a waste disposal processing unit 7, a power unit 8, and a control unit 9.

  The combine 1 is crushed by the threshing unit 4 while crushed by the reaping unit 3 while traveling by the traveling unit 2, and the cereals are sorted by the sorting unit 5 and stored in the Glen tank 11 of the storage unit 6. The grain stored in the Glen tank 11 is discharged by the discharge auger 12. Further, the waste after threshing is processed by the waste processing unit 7. Power is supplied from the engine 13 of the power unit 8 to the travel unit 2, the mowing unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, and the waste disposal unit 7. The control unit 9 includes a cabin 16 that houses driving operation tools such as a driver's seat 14 and a steering handle 15.

  The combine 1 includes a positioning unit 20 that receives a signal from a positioning satellite and performs positioning. The positioning unit 20 includes a mobile communication device 21 serving as a mobile station, a mobile GPS antenna 22, and a data receiving antenna 23. The mobile GPS antenna 22 and the data receiving antenna 23 are disposed in the cabin 16. On the other hand, a fixed communication device 31, which is a reference station, a fixed GPS antenna 32, and a data transmission antenna 33 are arranged at predetermined positions. That is, the combine 1 acquires position information using the RTK-GPS positioning method.

  The control device 40 of the combine 1 includes a processing unit 41 including a microcomputer such as a CPU, and a storage unit 42 such as a ROM, RAM, hard disk drive, and flash memory. The processing unit 41 can execute a program stored in the ROM after reading the program on the RAM. The storage unit 42 stores various pieces of information of the combine 1 such as the capacity of the Glen tank 11 and the width of the cutting unit 3.

  The control device 40 controls the operation of various components by the processing unit 41 executing the control program. Specifically, transmission / reception of information at the time of communication, various input / output controls, control of arithmetic processing, and the like are performed. Further, the control device 40 includes a communication unit 43 for data communication with the outside. The control device 40 can communicate with an external configuration such as another work vehicle (a combine 100, a truck that transports a harvested item, etc.), a portable terminal, or the like through the communication unit 43.

  The combine 1 includes a positioning unit 20, an engine speed sensor 51 that detects the speed of the engine 13, a travel speed sensor 52 that detects the travel speed of the combine 1, and the body of the combine 1 as a configuration on the input side of the control device 40. Gyro sensor 53 that detects acceleration in three directions as displacement information, azimuth sensor 54 that detects the traveling direction of combine 1, steering sensor 55 that detects the rotation angle of steering handle 15, and the amount of grains stored in Glen tank 11 A grain sensor 56 for detecting the amount is provided.

  The configuration of the output side of the control device 40 is the traveling unit 2, the reaping unit 3, the threshing unit 4, the sorting unit 5, the storage unit 6, the waste disposal processing unit 7, the power unit 8, and the control unit 9, and the input positioning. These are appropriately controlled based on the position information from the unit 20 and the driving conditions detected by the various sensors (for example, the operating state of the engine 13, the attitude orientation of the fuselage, the remaining capacity of the Glen tank 11, etc.). In this way, the combine 1 is controlled so as to autonomously run and work along a predetermined route.

  The combine 100 is an ordinary combine. The combine 100 includes a traveling unit 102, a mowing unit 103, a threshing unit 104, a sorting unit 105, a storage unit 106, a waste disposal processing unit 107, a power unit 108, and a control unit 109.

  The combine 100 is crushed by the threshing unit 104 while crushed by the reaping unit 103 while traveling by the traveling unit 102, and the cereals are sorted by the sorting unit 105 and stored in the Glen tank 111 of the storage unit 106. The grain stored in the Glen tank 111 is discharged by the discharge auger 112. Further, the waste after threshing is processed by the waste processing unit 107. Power is supplied from the engine 113 of the power unit 108 to the traveling unit 102, the mowing unit 103, the threshing unit 104, the sorting unit 105, the storage unit 106, and the waste disposal processing unit 107. The control unit 109 includes a cabin 116 that houses driving operation tools such as a driver's seat 114 and a steering handle 115.

  The combine 100 includes a positioning unit 120 that receives a signal from a positioning satellite and performs positioning. The positioning unit 120 includes a mobile communication device 121 serving as a mobile station, a mobile GPS antenna 122, and a data receiving antenna 123. The mobile GPS antenna 122 and the data receiving antenna 123 are arranged in the cabin 116. The positioning unit 120 performs relative positioning among the fixed communication device 31, the fixed GPS antenna 32, and the data transmission antenna 33 that are arranged as a reference station. That is, the combine 100 similarly acquires position information using the RTK-GPS positioning method.

  The control device 140 of the combine 100 includes a processing unit 141 formed of a microcomputer such as a CPU, and a storage unit 142 such as a ROM, RAM, hard disk drive, and flash memory. The processing unit 141 can execute a program stored in the ROM after reading the program on the RAM. The storage unit 142 stores various pieces of information of the combine 100 such as the capacity of the Glen tank 111 and the width of the cutting unit 103.

  The control device 140 controls the operation of various components by causing the processing unit 141 to execute a control program. Specifically, transmission / reception of information at the time of communication, various input / output controls, control of arithmetic processing, and the like are performed. In addition, the control device 140 includes a communication unit 143 for data communication with the outside. The control device 140 can communicate with an external configuration such as another work vehicle (combine 1, a truck that transports a harvested item, etc.), a portable terminal, or the like through the communication unit 143.

  The combine 100 includes a positioning unit 120, an engine speed sensor 151 that detects the speed of the engine 113, a travel speed sensor 152 that detects the travel speed of the combine 100, and the body of the combine 100 as a configuration on the input side of the control device 140. Gyro sensor 153 that detects acceleration in three directions as displacement information, azimuth sensor 154 that detects the traveling direction of combine 100, steering sensor 155 that detects the rotation angle of steering handle 115, and grains stored in Glen tank 111 A grain sensor 156 for detecting the amount is provided.

  The configuration on the output side of the control device 140 is a traveling unit 102, a mowing unit 103, a threshing unit 104, a sorting unit 105, a storage unit 106, a waste disposal processing unit 107, and a power unit 108. These are appropriately controlled based on the position information and the driving conditions detected by the various sensors (for example, the driving state of the engine 113, the attitude orientation of the aircraft, the remaining capacity of the Glen tank 111, etc.). In this way, the combine 100 is controlled to autonomously run and work along a predetermined route.

  Hereinafter, with reference to FIG. 5 to FIG. 7, a route generation system for generating a route for the work vehicle, an initial route P1 generated for the combine 1 that performs work in advance in the field, and a combine in the field The route regeneration will be described by taking as an example the routes P2 and P3 regenerated for the combine 1 and 100 when 100 is added.

  As illustrated in FIG. 5, the route generation system 200 includes a route generation unit 201 and a communication unit 202. In the present embodiment, the route generation system 200 is included in the tablet 205. That is, the tablet 205 communicates with the application software having the function of the route generation unit 201 that generates a route when traveling and working in the field, and the function of the communication unit 202 that communicates with the work vehicle that performs work in the field. And functioning as a route generation system 200.

  The tablet 205 is a portable terminal provided outside the combine 1 and the combine 100 for performing unattended work, and application software for controlling the combine 1/100 is installed. The tablet 205 can acquire and display the positional information and the driving situation of the combine 1 • 100 by communicating with the communication unit 43 of the combine 1 and the communication unit 143 of the combine 100. Further, the tablet 205 can operate the combine 1 • 100 by transmitting a control signal to the control devices 40 • 140. In other words, by operating the tablet 205 by an operator outside the field, various operations such as changing the traveling speed, emergency stop, and grain discharge can be performed on the combine 1 and the combine 100.

  The route generation unit 201 stores information (agricultural field information F) related to the agricultural field serving as a work area. The communication unit 202 is configured to be able to communicate with a communication unit (communication units 43 and 143) mounted on a work vehicle (combine 1 and 100 in the present embodiment). The communication unit 202 acquires vehicle information related to specifications of each work vehicle and information related to driving conditions through the communication unit. The route generation unit 201 generates a route P based on the field information F, the vehicle information related to the specifications of each work vehicle, and the information related to the driving situation.

  The farm field information F is configured in a map. As the farm field information F, position information (map information) of the outer periphery of the farm field as a work range is set in advance. For example, the outer periphery of the field is set by registering the field edge on a map that has been converted into data by the operator confirming the field by visual inspection in advance or using aerial photographs such as satellite photographs or drones. . Further, the farm field information F includes position information and tilt angle information of the slopes SLa, SLb, and SLc that serve as entrances and exits to the farm field, and information about the slope in the farm field. That is, the field information F is configured by three-dimensional map information.

  As shown in FIG. 6, the route generation unit 201 first generates a route P <b> 1 for performing the entire field work on the combine 1. The route P1 corresponds to the map information as the field information F. The route P1 enters the field from the starting point S1 through the slope SLa, travels straight, travels the entire field to the end point E1 while turning left toward the center of the field, and enters the slope SLc. This is the exit route.

  As described above, the path P1 generated by the path generation unit 201 is transmitted from the communication unit 202 to the communication unit 43 of the combine 1. The combine 1 is controlled by the control device 40 so as to autonomously run and work along the route P1.

  Next, when the combine 1 travels and works along the route P1 and reaches the point R1, when the combine 100 is added to the field, the route generation unit 201, as shown in FIG. An unworked area in the field is determined from the rest, and a new path P2 for the combine 1 and a path P3 for the combine 100 are generated for the unworked area. That is, distributed work is performed by distributing the unworked area by the combine 1 and the combine 100 and regenerating the route.

  At this time, the route generation unit 201 acquires the vehicle information and the driving status information of the combine 1 • 100 and the position information of the combine 1 • 100 through the communication unit 202, and based on these information, stores the information in the unworked area. On the other hand, routes P2 and P3 are generated so as to be optimal when work is performed with two combiners.

  For example, the route P2 is a route from the point R1 on the route P1 to the end point E2 while turning left toward the center of the field by skipping one line on the center side of the point R1 on the route P1. . In addition, the route P3 starts from the corner of the unworked area closest to the start point S1 of the route P1, and starts toward the end point E3 while turning the left side toward the center of the field to the left with respect to the traveling direction of the route P2. It is a route.

  The route P2 thus generated is transmitted to the combine 1, and the route P3 is transmitted to the combine 100. As a result, the combine 1 is controlled by the control device 40 to travel and work along the route P2, and the combine 100 is controlled by the control device 140 to travel and work along the route P3.

  When the combine 1 travels along the route P2 and the combine 100 travels along the route P3, a situation may occur in which the two perform work at a close distance due to a difference in travel speed, time required for turning, and the like. In the present embodiment, the combine 1 and the combine 100 perform short-range (PtoP) communication through the communication units 43 and 143, and share time information required to approach each other according to the position information and the traveling speed. As a specific example using short-range communication, steering control such as temporary stop or acceleration / deceleration of the aircraft on a set route may be performed. For example, a near miss can be avoided by reducing the traveling speed of the longer arrival time and proceeding the other one first.

  In addition, it is also possible to share each other's specification information and driving conditions by short-range communication and perform steering control based on the information. For example, when the remaining capacity of the Glen Tank capacity of one aircraft is reduced and the grain is discharged, the other aircraft may be temporarily stopped and passed, or the other aircraft may be accelerated and passed first. it can. That is, by using short-range communication, it is possible to realize a traveling mode that is optimal each time between aircrafts on a preset route.

  Hereinafter, with reference to FIG. 8, the regeneration of the route when any one of the combines 1 and 100 leaves the field will be described. For example, it may be considered that the operation of the operation is interrupted and the grain needs to be discharged because the Glen tank 111 of the combine 100 is full. In such a case, the combine 100 may decide to interrupt the work by itself and discharge the grain, or display the fact on the tablet 205 to notify the operator, and the combine 100 may be notified by the operator. You may give instructions.

  Upon receipt of the combine 100, the route generation unit 201 regenerates a new route P4 for the combine 1. The route P4 is set for the remaining unworked areas of the routes P1, P2, and P3. For example, in the route P4, the position of the combine 1 when the combine 100 leaves is set as the start point S4. The route P4 temporarily goes to the end point E2 of the route P2. The route is E4. Moreover, when the combine 100 which discharged | emitted the grain before reaching | attaining the end point E4 of the path | route P4 returns to a work, it reproduces | regenerates the path | route for two sets of combine 1 * 100 similarly to a non-work area | region, Distributed work may be executed.

  In addition, it is near the truck which carries a grain by detecting that the capacity | capacitance of the grain stored in the grain tank 11 of the combine 1 or the grain tank 111 of the combine 100 is approaching full with the grain sensor 56 * 156. It is also possible to stop at. At this time, the remaining capacity of the Glen tank 11 (111) and the amount of grain to be harvested by the next round (for example, the yield per unit distance is calculated by dividing the amount of harvested grain by the travel distance, Can be determined from the map information, etc., and the expected amount of grain to be harvested in the next round can be obtained), so that the grain can be discharged efficiently and the workability can be improved. .

  As described above, the route generation system 200 according to the present embodiment applies the combine 100 from outside the field to the combine 1 that performs autonomous work in advance along the route P1 as a work vehicle that works in the field. In addition, a plurality of units are provided, and the unworked area is distributed to the plurality of combiners 1 and 100 to generate paths P2 and P3. Thereby, the utilization rate of a work vehicle can be improved by utilizing a vehicle resource to the maximum, and work efficiency can be improved.

  In the above embodiment, the tablet 205 has the function of the route generation system 200, but the control device 40 of the combine 1 may have the function of the route generation system 200.

  In the above embodiment, the combine 1 and the combine 100 are unmanned autonomous combine harvesters. However, in response to the increase / decrease in the number of work vehicles working in a specific field, the optimal route is regenerated each time. If it is based on the technical idea, it is good also considering one or both as a manned combine. In particular, when a manually operated work vehicle is introduced, emergency operation capability can be expected, and a driver's load can be reduced by using a regenerated route.

  In the above embodiment, the combine 1 is a self-removing combine and the combine 100 is a normal combine, but is not limited thereto. In the embodiment, one combine 100 is added and combined with the combine 1. However, the number of work vehicles added in the field is not limited to this.

  In the above embodiment, the case where the work is performed on one field is illustrated, but the conditions of the field to be worked, such as the number, scale, and shape of the field, are not limited thereto. For example, when applied to a plurality of small-scale farm fields separated by straw or the like, it is also possible to regenerate a route including a traveling route between the fields.

  In the above embodiment, the RTK-GPS positioning method is adopted as the positioning system of the work vehicle (combine 1/100). However, the present invention is not limited to this, and other positioning methods such as GPS positioning and GNSS positioning may be adopted.

  In the above embodiments, a combine that performs a cutting operation as a work vehicle has been described as an example. The same idea can be applied to other work vehicles that perform work along the road.

  1: Combine (one work vehicle), 40: control device, 43: communication unit, 100: combine (other work vehicle), 140: control device, 143: communication unit, 200: route generation system, 201: route generation Part, 202: communication part, 205: tablet, P1, P2, P3, P4: route

Claims (2)

A route generation system including a route generation unit that generates a route of a work vehicle,
While one work vehicle is working along a route previously generated by the route generation unit in the field, when another work vehicle is added to the field, the work by the one work vehicle is performed. A work vehicle route generation system, wherein an unworked area that has not been performed is distributed to the one work vehicle and another work vehicle, and a route is regenerated for each work vehicle.   The route generation system according to claim 1, wherein the one work vehicle and the other work vehicle are configured to be able to communicate with each other by short-range communication.

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