JP2018201346A - Work vehicle cooperation system - Google Patents

Abstract

To reduce a workload on a work vehicle not only when the work vehicle travels while working in a farm field, but also in preparatory work required prior to the execution of automatic travel control.SOLUTION: A work vehicle cooperation system is configured so that ground work is carried out in a farm field by a master work vehicle and a slave work vehicle that travels side by side with the master work vehicle. The master work vehicle includes a target route setting part 18 for setting a target travel route in the farm field for its own and the slave work vehicle respectively, a travel control part 17 for controlling a travel state so as to travel along the target travel route, and a master side communication part 21 wirelessly connected so as to identify a communication partner and to transmit/receive information for work travel between itself and the slave work vehicle. The slave work vehicle includes a slave side communication part 31 wirelessly connected so as to identify a communication partner and to transmit/receive information for work travel between itself and the master side communication part 21, and a travel control part 17 for controlling a travel state so as to travel along the target travel route transmitted from the master side communication part 21.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a work vehicle coordination system configured to perform ground work in a farm field by a parent work vehicle and a child work vehicle that runs in parallel with the parent work vehicle.

  In this type of work vehicle coordination system, conventionally, a pilot operation is performed so that a preceding parent work vehicle travels along a set route by a driver's manual operation. There is one in which automatic traveling control is performed so as to travel along a target setting route set based on the travel route traveled (see, for example, Patent Document 1). In this configuration, the driver only needs to drive the parent work vehicle, and the child work vehicle automatically travels while following the parent work vehicle, so that one person can work on multiple vehicles at the same time. Will improve.

Japanese Patent Laying-Open No. 2015-188351

  However, in the above-described conventional configuration, there is a disadvantage that the driver needs to manually perform all the steering operations for the parent work vehicle, and the work load is increased accordingly.

  In order to reduce the work burden on the driver, a configuration in which not only the child work vehicle but also the parent work vehicle is controlled to automatically travel along a preset route is conceivable. In this case, each of the parent work vehicle and the sub work vehicle is provided with a target route setting unit for setting a travel route, and it is necessary to set a travel route to be a travel target separately. Then, in each of the main work vehicle and the sub work vehicle, the vehicle travels along the target travel route while measuring the position of the own vehicle using position measurement means such as GPS (Global Positioning System). It is the structure which controls to do.

  With such a configuration, it is possible to reduce the work burden on the driver when working on the field, but as a preparatory work for automatic traveling control, the targets provided in the parent work vehicle and the child work vehicle In each of the route setting units, it is necessary to separately set a travel route, and there is a disadvantage that it takes time and effort for the preparation work that is necessary prior to executing the automatic travel control.

  Therefore, in a structure in which work is performed in the field by a parent work vehicle and a child work vehicle that runs in parallel therewith, it is necessary not only when working on the field but also before performing automatic travel control. Even in the preparation work, it has been desired to reduce the work load.

The characteristic configuration of the work vehicle coordination system according to the present invention is:
It is configured to perform ground work in a farm field by a parent work vehicle and a child work vehicle that runs in parallel with the parent work vehicle,
The parent work vehicle is
A target route setting unit for setting a target travel route in the field of each of the own vehicle and the sub work vehicle;
A travel control unit that controls the travel state so as to travel along the target travel route;
A parent-side communication unit that is wirelessly connected so as to be able to identify the opponent with the child work vehicle and to be able to transmit and receive work travel information;
The child work vehicle is
A child-side communication unit that is wirelessly connected to the parent-side communication unit so that the other party can be identified and information for work travel can be transmitted and received;
And a travel control unit that controls a travel state so as to travel along the target travel route transmitted from the parent side communication unit.

  According to the present invention, each of the parent work vehicle and the child work vehicle that runs in parallel therewith includes a travel control unit, and the travel state is controlled so as to travel along a preset target travel route in the field. . As a result, not only the sub work vehicle but also the main work vehicle can be automatically driven, and it becomes possible to reduce the driver's handling burden during work in the field.

  The target route setting unit provided in the parent work vehicle sets not only the target travel route of the own vehicle but also the target travel route of the sub work vehicle. Information on the set target travel route is transmitted from the parent communication unit to the child communication unit. The travel control unit of the parent work vehicle controls the travel state of the parent work vehicle so as to travel along the target travel route set by the target route setting unit provided in the host vehicle. The travel control unit of the sub work vehicle controls the travel state of the sub work vehicle so as to travel along the target travel route transmitted from the parent work vehicle.

  There is no need to set the target travel route on the sub work vehicle, and there is no need to set the target travel route for each of the parent work vehicle and the sub work vehicle, and preparation work for automatic travel control. The work load can be reduced.

  Therefore, it is possible to reduce the work load not only when working on the field but also in the preparation work required prior to executing the automatic running control.

In the present invention, the target route setting unit is configured to set the target travel route of each of the own vehicle and the sub work vehicle based on the map data of the field and the work parameters,
The parent side communication unit preferably transmits the field map data and the target travel route to the child side communication unit as the work travel information.

  According to this configuration, the target route setting unit uses the map data of the farm field and the work parameters such as the work width and turning performance of each of the parent work vehicle and the sub work vehicle, so that the target route setting unit It is possible to set a target travel route for each work vehicle so that the work can be performed efficiently.

  The map data of the farm field and the target travel route are transmitted to the slave communication unit, and the master work vehicle and the slave work vehicle can share the information with each other. As a result, when the main work vehicle and the sub work vehicle are traveling in the field, the traveling state can be managed in association with the map data of the field, and the possibility of greatly deviating from the target travel route can be reduced. There are advantages such as becoming.

In the present invention, a display unit capable of displaying various information on each of the parent work vehicle and the sub work vehicle is provided,
Each of the display units preferably displays the field and the target travel route on a map.

  According to this configuration, in each of the parent work vehicle and the sub work vehicle, the field and the target travel route to be traveled in the field are displayed on the map. The work manager can easily confirm that the traveling control is performed with the content suitable for the target farm field by viewing the display content displayed on the display unit.

  In the present invention, it is preferable that one of the parent work vehicle and the sub work vehicle is manned maneuvering and the other is unmanned maneuvering.

  According to this configuration, in the preparatory work stage for setting the target travel route, it is necessary to perform a setting operation on the parent work vehicle side, but when working on the farm field, either the parent work vehicle or the sub work vehicle is selected. On the other hand, a work manager will board and function as a manned maneuver. For example, the work manager can manually operate the vehicle so as to travel along the set target travel route, or monitor the travel state while performing automatic travel control, and manually perform a corrective operation. Can take.

  In the present invention, it is preferable that the parent work vehicle includes a slave unit setting unit that sets any one of a plurality of work vehicles as the sub work vehicle by wireless connection.

  According to this structure, the subunit | mobile_unit setting part with which a parent work vehicle is equipped sets any one as a sub work vehicle from several work vehicles. For example, identification information that can be identified in a wirelessly connected state is given in advance to a plurality of work vehicles, and the slave unit setting unit designates one of them by wireless connection and sets it as a slave work vehicle be able to.

  Therefore, even when there are a plurality of work vehicles in the field, the work vehicle cooperation system can be configured in combination with any of them.

It is a side view of a work vehicle. It is a top view of the agricultural field which shows a driving | running route. It is a top view of the work vehicle which carries out cooperative traveling. It is a control block diagram. It is a flowchart of control operation. It is a flowchart of control operation. It is the image display contents of a plurality of fields. It is the image display content which shows the selected field and the position of a reference station.

  Hereinafter, based on the drawings, the embodiment of the position measuring device for a work vehicle according to the present invention is applied to a work vehicle (tractor) having a tilling device that is a ground work device at the rear of a traveling vehicle body as a work vehicle. explain. Specifically, in this embodiment, a case will be described in which the present invention is applied to a work vehicle coordination system in which ground work can be efficiently performed in an agricultural field by running two work vehicles side by side.

  As shown in FIGS. 2 and 3, the main work vehicle 1 and the sub work vehicle 2 running side by side with the main work vehicle 1 are configured to perform ground work in the field. In the work on the farm field, generally, it is divided into a central work place CL located on the center side of the farm field and a headland HL defined along the ridge around the central work place CL. In the central work place CL, each of the parent work vehicle 1 and the sub work vehicle 2 travels along a preset target travel route, and the ground work is performed by reciprocating travel. Although details will be described later, the parent work vehicle 1 travels in advance, and the work track of the child work vehicle 2 overlaps the work mark of the parent work vehicle 1 on the lateral side by a predetermined amount. The travel control is performed so that the vehicle travels.

〔overall structure〕
The parent work vehicle 1 and the sub work vehicle 2 are partially different in control configuration as described later, but the other configurations are the same. As shown in FIG. 1, a four-wheel traveling vehicle body 4 is configured that includes a pair of left and right front wheels 3 a that can change the direction and a pair of left and right rear wheels 3 b that are fixed in direction and can travel straight and turn. ing. A control portion 5 is formed at the center of the traveling vehicle body 4. The control unit 5 is covered with a cabin 6. A tilling device 9 as a ground working device is connected to the rear portion of the traveling vehicle body 4 via a link mechanism 7 so as to be driven up and down by a lifting hydraulic cylinder (not shown). A steering wheel 11 and various operation levers (not shown) are provided at the front of the control unit 5. A driver's seat 12 on which a driver sits is provided at the rear of the control unit 5.

  An engine 14 is mounted in a hood 13 at the front portion of the traveling vehicle body 4, and the power of the engine 14 is transmitted to the front and rear wheels 3a and 3b via a transmission mechanism (not shown) to drive the vehicle. The power of the engine 14 is transmitted to the tilling device 9 through the transmission mechanism, and the tilling device 9 is driven. Although not shown, the transmission mechanism includes an electronically controlled transmission, a forward / reverse switching device, a brake, and the like, and is configured to be able to change the vehicle speed and change the vehicle body traveling direction. Further, the traveling vehicle body 4 is configured to be able to change the steering angle of the front wheels 3a. Although not shown, the traveling vehicle body 4 includes a working clutch capable of switching power transmission to the transmission system for the tilling device 9, a vehicle speed sensor for detecting the vehicle speed, a steering angle sensor for detecting the steering angle of the front wheels, Various sensors such as an obstacle detection sensor for detecting an obstacle existing nearby are also provided.

[Control structure of parent work vehicle]
As shown in FIG. 4, the master work vehicle 1 is provided with a master controller 15 as a control device that controls the transmission mechanism, the steering state of the front wheel 3 a, the working state of the tilling device 9, and the like. Yes. The master controller 15 determines the position of the vehicle based on the GPS positioning information, and the vehicle body travels along the set route based on the calculation result of the vehicle position calculation unit 16. Various information can be communicated with a travel control unit 17 that controls the travel state of the vehicle body, a target route setting unit 18 that sets a target travel route in the field, and a reference station management unit 20 that manages the position of the reference station 19. A parent-side communication unit 21 (parent-side communication unit). Each of the own vehicle position calculation unit 16, the travel control unit 17, the target route setting unit 18, and the reference station management unit 20 may perform a cooperative operation with hardware, but is substantially realized by a computer program. The communication unit 21 includes a device for transmitting wireless information by radio waves or the like, and is wirelessly connected to the slave work vehicle 2 so that the other party can be identified and work travel information can be transmitted and received.

  The own vehicle position calculation unit 16 uses RTK-GPS (real-time kinematic GPS), which is a well-known technique, to transmit information transmitted from the reference station 19 installed on the ground side, and from a plurality of GPS satellites 22. Based on the reception information of the radio wave, a position calculation process for obtaining the position of the own vehicle is executed. A GPS antenna 23 that receives radio waves from the GPS satellite 22 and a GPS data processing unit 24 that processes information received by the GPS antenna 23 and transmits the information to the control device are provided above the cabin 6 of the parent work vehicle 1. Yes. The GPS data processing unit 24 includes a receiving unit 25 that receives transmission information transmitted from a reference station 19 installed in a fixed position on the ground side.

  As shown in FIG. 1, the reference station 19 wirelessly transmits the position data obtained by the GPS antenna 26, the GPS data processing unit 27, and the GPS data processing unit 27 similar to those of the parent work vehicle 1 to the outside. Part 28. A receiving unit 25 provided in the GPS data processing unit 24 in the parent work vehicle 1 is configured to receive information transmitted from the transmitting unit 28 of the reference station 19.

  The reference station 19 is installed separately for each field when there are a plurality of fields to be worked. This reference station 19 must always be installed at a location where an accurate position is known in advance in order to improve positioning accuracy when measuring the position of the work vehicle in the field by RTK-GPS.

  The reference station 19 is portable and is configured to be installed at an arbitrary location on the ground. By comprising in this way, it is possible to achieve cost reduction by sharing the reference station 19 in a plurality of fields. The reference station 19 can be loaded and moved by a transport vehicle or the like, and can be placed and supported in a stable posture, for example, at a higher position than the agricultural field in order to easily receive radio waves from the GPS satellite 22. It is installed at the place.

  In this way, if the reference station 19 is portable and can be installed at any location on the ground, there is a risk that the operator will erroneously install it at a position different from the previous installation position. Therefore, a reference station management unit 20 that manages the position of the reference station 19 is provided.

  The reference station management unit 20 is configured to associate and manage the map data of the farm field to be worked and the position data of the reference station 19 corresponding to the farm field. As the map data of the farm field, preset map data may be read from an external device and set. Alternatively, in the target farm field, the work vehicle is moved along the peripheral edge and positioned using GPS. The map data may be created by measuring.

  As shown in FIG. 4, the reference station management unit 20 includes a storage device 29 that stores position information of the reference station 19 set in advance corresponding to the farm field. The storage device 29 is a non-volatile memory capable of holding stored contents even when a key switch (not shown) provided in the traveling vehicle body 4 is turned off and the power supply to the master controller 15 is cut off. It is configured.

  A touch panel type liquid crystal display 30 is provided as a display device that displays the field and the position of the reference station 19 on a map. The liquid crystal display 30 is provided in the control unit 5 so that a driver seated on the driver's seat 12 can see, and is configured to display various information such as characters and images.

  The reference station management unit 20 is configured to manage the map data of the field and the position data of the reference station separately for each of the plurality of fields, and the liquid crystal display 30 includes the plurality of fields and the selected field among them. The position of the reference station corresponding to is displayed as map information.

  In other words, as shown in FIG. 7, when there are a plurality of fields (A to F) to be worked on, as described above, the reference station 19 is installed separately for each field. Each of the reference stations 19 must always be installed at a location where an accurate position is known in advance. The reference station management unit 20 manages the map data of the farm field and the position data of the reference station 19 separately for each of the plurality of farm fields. For example, when the parent work vehicle 1 and the sub work vehicle 2 are located in one of the plurality of fields (A), as shown in FIG. 8, a plurality of fields (A F) and the selected map field A (the field where the work vehicle is currently located) and the corresponding position of the reference station 19 are displayed as map information so that the relative position can be visually determined. To do.

  Further, the liquid crystal display 30 displays the field, the set position of the reference station 19 and the current position of the reference station 19 on the map. As shown in FIG. 8, when the position of the reference station 19 is set and stored in the storage device 29 in the previous work, the preset position (a) stored in advance and the current position are newly set. The current position (b) of the reference station 19 installed in is displayed as map information on the same screen. At this time, since the position information of the reference station 19 is a position measurement result by single GPS positioning, the positioning accuracy is not so high, but the stored position (a) and the current position of the newly installed reference station 19 It can be determined whether or not the position (b) is greatly separated.

  Therefore, the reference station management unit 20 and the liquid crystal display 30 constitute a position information management unit 100 that manages the map data of the field to be worked and the position data of the reference station 19 corresponding to the field in association with each other. .

  The target route setting unit 18 is configured to set a target travel route for each of the host vehicle and the sub work vehicle 2 based on the map data of the field and the work parameters. As the work parameters, for example, various data such as the work width of the tilling device 9, the minimum turning radius of the traveling vehicle body 4, the set value of the overlapping work width of the parent work vehicle 1 and the sub work vehicle 2 are used.

  As shown in FIG. 2, the parent work vehicle 1 travels ahead, and the work track of the child work vehicle 2 overlaps with the work mark of the parent work vehicle 1 by a predetermined amount on the side of the parent work vehicle 2. A target travel route is set so as to travel. The travel route has a form in which a straight forward travel, a turn (U-turn) travel, and a parallel and straight return travel and a turn (U-turn) travel are repeated at a predetermined interval with respect to the forward travel. Yes. The headland HL is a turning area in the work travel of the central work place CL. In addition, although not shown in figure, in headland HL, ground work is performed by the linear driving | running | working along the longitudinal direction. The main work vehicle 1 travels in advance and the sub work vehicle 2 travels following, but the sub work vehicle 2 travels in advance and the main work vehicle 1 travels. It may be.

  The target route setting unit 18 of the parent machine controller 15 provided in the parent work vehicle 1 sets not only the target travel route Tp of the own vehicle but also the target travel route Tc of the sub work vehicle 2 (other vehicle). As shown in FIG. 3, the target travel route Tc of the sub work vehicle 2 is set in a state shifted laterally with respect to the target travel route Tp of the parent work vehicle 1.

  The parent communication unit 21 uses, as work travel information, the field map data to be worked and the target travel routes Tc and Tp of the host vehicle and the sub work vehicle 2 set by the target route setting unit 18. The data is transmitted to the sub work vehicle 2, specifically, a sub communication unit 31 (sub unit communication unit) described later.

  The traveling vehicle body 4 includes a traveling operation unit 32 for operating the transmission mechanism, and a steering operation unit 33 capable of changing the steering angle of the front wheels 3a. Although not shown, the traveling operation unit 32 includes a transmission, a forward / reverse switching device, and a plurality of actuators that can operate a brake and the like, and is configured to be able to change the vehicle speed, the vehicle body traveling direction, and the like. . The steering operation unit 33 includes an actuator such as an electric motor capable of operating the steering angle of the front wheels 3a, and can change the traveling direction of the traveling vehicle body 4 to straight travel, left turn, and right turn. The steering angle of the front wheel 3a during turning is configured to be arbitrarily changeable. The traveling vehicle body 4 is also provided with a work operation unit (not shown) that drives and operates a work clutch, a lifting cylinder, and the like.

The travel control unit 17 drives and controls the travel operation unit 32 and the steering operation unit 33 so that the travel vehicle body 4 travels along the target travel route Tp set by the target route setting unit 18.
When the start is commanded after the master work vehicle 1 moves to the start point of the target travel route Tp, the travel control unit 17 causes the master work vehicle 1 to move along the set target travel route Tp. In addition, the traveling operation unit 32 and the steering operation unit 33 are controlled. Further, the work operation unit is controlled so that the tilling operation is performed on the straight traveling route and the tilling operation is not performed during the turning traveling.

[Control structure of sub work vehicle]
Similar to the parent work vehicle 1, the sub work vehicle 2 includes a GPS antenna 23, a GPS data processing unit 24, a liquid crystal display 30, a travel operation unit 32, a steering operation unit 33, and the like. A slave unit controller 34 having substantially the same configuration as the master unit controller 15 is provided.

  The slave controller 34 includes a host vehicle position calculation unit 16, a travel control unit 17, a reference station management unit 20, and a slave side communication unit 31, similar to the master unit controller 15, and calculates the host vehicle position. Each of the unit 16, the traveling control unit 17, and the reference station management unit 20 may perform a cooperative operation with hardware, but is substantially realized by a computer program. The child-side communication unit 31 includes a device for transmitting wireless information by radio waves or the like, and is wirelessly connected to the parent-side communication unit 21 so that the other party can be identified and work travel information can be transmitted and received. The The subunit | mobile_unit controller 34 is not provided with the function which sets a target driving | running route. The subunit | mobile_unit controller 34 is comprised so that it may drive | work a driving | running | working state so that it may drive | work along the target driving | running route Tc set in the target route setting part 18 with which the main | base station controller 15 was equipped.

[Control contents]
Next, the control operation in this embodiment will be described using the flowcharts of FIGS.

  In order to operate the RTK-GPS, the reference station 19 located near the field to be worked is set (steps # 1, # 101). The setting of the reference station 19 is performed separately for each of the parent work vehicle 1 and the sub work vehicle 2.

  The setting of the reference station 19 is performed as shown in FIG. When the setting of the reference station 19 is started, when there are a plurality of fields to be worked, a plurality of fields are displayed as map information on the liquid crystal display 30 as shown in FIG. 7 (step # 11). The touch panel type liquid crystal display 30 is operated to select a field to be subjected to the current work among a plurality of fields (step # 12). When the field is selected, as shown in FIG. 8, the map data of the selected field and the corresponding position of the reference station 19 are displayed as map information so that the relative position can be visually determined. At this time, when the position of the reference station 19 is set in advance for the field, the map data of the field, the set position (a) of the reference station 19, and the position (b) of the newly installed reference station 19 ) Are displayed on the screen (steps # 13, 14).

  When the preset position of the reference station 19 and the current position of the newly installed reference station 19 are more than the set distance, the operator is warned by a warning display, although not shown. (Steps # 15, 16). The operator may re-install the reference station 19 so as to match the preset position, or may update and set the reference station 19 to the newly installed position this time. Although the set position and the current position are more than the set distance, the update position is set to a new installation position and the like, although not shown, by operating the operation unit of the touch panel type liquid crystal display 30 Can be commanded (step # 17). If the position of the reference station 19 is not set in advance for the field, it can be set similarly (step # 18). Even if the set position and the current position are more than the set distance, if the update setting is not performed, the process returns to step 11.

  In the master work vehicle 1, when the setting of the reference station 19 is completed, a target travel route setting process is then performed (step # 2). As described above, at this time, not only the target travel route Tp of the own vehicle (parent work vehicle 1) but also the target travel route Tc of the sub work vehicle 2 is set. Specifically, as shown in FIG. 2, the target travel route Tc of the sub work vehicle 2 is set so as to be shifted laterally by a set amount with respect to the target travel route Tp of the parent work vehicle 1. The target travel routes Tp and Tc may be any route as long as the ground work is performed in the agricultural field by the parent work vehicle 1 and the child work vehicle 2 running along with the parent work vehicle 1, and is limited to the route shown in FIG. Is not to be done.

  When the target travel routes Tp and Tc are set, the data of the target travel routes Tp and Tc set for each of the parent work vehicle 1 and the sub work vehicle 2 are wirelessly communicated from the communication unit 21 to the communication unit 31 on the child side. (Step # 3). The child communication unit 31 receives data transmitted from the parent communication unit 21 (step # 102).

  After the target travel routes Tp and Tc are set, the main work vehicle 1 and the sub work vehicle 2 shift to travel control, and follow the target travel routes Tp and Tc set for the parent work vehicle 1. The running state is controlled so as to run (steps # 4, 103). That is, the operation of the traveling operation unit 32 is controlled so that the traveling vehicle body 4 travels along the target traveling routes Tp and Tc. When traveling straight at the central work site CL, the tilling work by the tilling device 9 is executed, and when turning and turning at the headland HL, the tilling operation is stopped and the tilling device 9 is raised. Control the operation of the working clutch and lifting cylinder.

  If the reference station 19 is not set in step # 1, the process cannot proceed to step 2, and therefore the process does not shift to the travel control of step 4. Therefore, in the present embodiment, if the position information of the reference station 19 is not set in the position information management unit 100, the own vehicle position calculation unit 16 does not execute the position calculation process.

  Although not shown, the master unit controller 15 of the parent work vehicle 1 has an automatic mode in which the traveling control unit 17 controls the traveling operation unit 32 so as to automatically travel along the target traveling route Tp, and such an automatic operation. It is configured to be able to switch to a manual mode in which the vehicle body can be driven by manual steering without executing control.

  In a state where the master controller 15 is switched to the manual mode, an operator can get on the control unit 5 and perform a manual operation. Thus, even if the parent work vehicle 1 is configured to be manned, the child work vehicle 2 is unmanned and follows the target setting route so as to follow the parent work vehicle 1 and travel. The driving control is performed automatically. In addition, it is also possible for an operator to get on and monitor the traveling state with the master controller 15 switched to the automatic mode, or to perform a correction operation manually.

[Another embodiment]
(1) In the above embodiment, the slave controller 34 does not have the function of setting the target travel route. However, the slave controller 34 is configured to share the same configuration as the master controller, and the target The function for setting the travel route may not be used. Thereby, the main work vehicle and the sub work vehicle have the same configuration, and the work of the same configuration can be shared.

(2) In the above embodiment, the parent communication unit transmits the field map data and the target travel route to the child communication unit, but only the target travel route may be transmitted.

(3) In the above embodiment, the liquid crystal display 30 is provided as the display unit. However, other types of displays such as an organic EL display device and a fluorescent display tube may be used.

(4) In the embodiment described above, the display unit (liquid crystal display 30) is provided in each of the parent work vehicle and the sub work vehicle. However, only the parent work vehicle includes the display unit, and is displayed on the sub work vehicle. It is good also as a structure which is not provided with a part.

(5) In the above-described embodiment, the parent work vehicle and the child work vehicle are set in a predetermined combination. Instead of this configuration, the parent work vehicle is connected to a plurality of work vehicles by wireless connection. It is good also as a structure provided with the subunit | mobile_unit setting part (not shown) which sets any one working vehicle as a sub-work vehicle. For example, the plurality of work vehicles are provided with identification information that can be identified in a wireless connection state in advance, and the slave unit setting unit of the master work vehicle identifies one of the work vehicles through the wireless connection and selects the sub work vehicle. It is the structure set as.

(6) Although the case where the number of sub work vehicles is one has been described in the above embodiment, the number of sub work vehicles may be two or more. However, in this case, it is necessary that the parent work vehicle is configured to be able to identify different sub work vehicles by wireless connection.

(7) In the above embodiment, an example in which the display unit (the liquid crystal display 30) is a vehicle-mounted display device fixed to the control unit 5 of the work vehicle has been described. However, a display device provided in a portable terminal that is portable may be used.

  The present invention can be applied to a work vehicle working on a farm field such as a tractor, a rice transplanter, or a combine.

DESCRIPTION OF SYMBOLS 1 Parent work vehicle 2 Sub work vehicle 17 Travel control part 18 Target route setting part 21 Parent side communication part 31 Child side communication part Tc, Tp Target travel path

Claims (5)

It is configured to perform ground work in a farm field by a parent work vehicle and a child work vehicle that runs in parallel with the parent work vehicle,
The parent work vehicle is
A target route setting unit for setting a target travel route in the field of each of the own vehicle and the sub work vehicle;
A travel control unit that controls the travel state so as to travel along the target travel route;
A parent-side communication unit that is wirelessly connected so as to be able to identify the opponent with the child work vehicle and to be able to transmit and receive work travel information;
The child work vehicle is
A child-side communication unit that is wirelessly connected to the parent-side communication unit so that the other party can be identified and information for work travel can be transmitted and received;
A work vehicle coordination system comprising: a travel control unit that controls a travel state so as to travel along the target travel route transmitted from the parent communication unit. The target route setting unit is configured to set the target travel route of each of the own vehicle and the sub work vehicle based on the map data of the field and the work parameters,
The work vehicle cooperation system according to claim 1, wherein the parent-side communication unit transmits map data of the field and the target travel route to the child-side communication unit as the work travel information. A display unit capable of displaying various information on each of the parent work vehicle and the child work vehicle is provided,
The work vehicle cooperation system according to claim 2, wherein each of the display units displays the field and the target travel route on a map.   4. The work vehicle coordination system according to claim 1, wherein one of the parent work vehicle and the sub work vehicle is manned maneuvering and the other is unmanned maneuvering. 5.   The said main work vehicle is provided with the subunit | mobile_unit setting part which sets any one work vehicle of several work vehicles as said sub work vehicle by wireless connection. The work vehicle coordination system described.

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