JP2019133701A - Travel area shape registration system - Google Patents

Abstract

To provide a travel area shape registration system capable of more accurately and simply correcting and setting a shape of a travel area where a work vehicle travels into an appropriate shape.SOLUTION: A travel area shape registration system which registers a shape of a travel area where a work vehicle travels includes: position information acquisition means for acquiring position information of the work vehicle by a satellite positioning system; travel track information acquisition means for acquiring travel track information indicating a travel track of the work vehicle which is a track specified based on the position information of the work vehicle acquired by the satellite positioning system and which is provided for registering the shape of the travel area; display means for displaying, in a superposed manner on a map image displayed on a display screen, the travel track information acquired by the travel track information acquisition means; and correction means for correcting part of the travel track information through operation performed on the display screen of the display means by an operator.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a travel area shape registration system that registers the shape of a travel area in which a work vehicle travels.

  Patent Document 1 describes a technique in which a position and a traveling direction of a work vehicle are detected by a position detection unit and a direction detection unit, and the work vehicle is unmanned based on the detected values. In addition, a technique is described in which a work route is set based on information on a field section and a reference traveling direction obtained from learned traveling data obtained by manually driving (teaching traveling) around the field.

Japanese Patent Laid-Open No. 10-66405

  The edges of the actual field, that is, the boundary between the field and the shore, and the road are not necessarily straight lines depending on the characteristics of the land and the like, and it is difficult to travel along the boundary faithfully in teaching traveling. In addition, the positioning data obtained by teaching traveling does not include information on obstacles such as utility poles, intake valves, walls, etc. that have locally jumped out to the inside of the field, so autonomous heading and side margin finishing operations are performed. The work vehicle could not be made autonomous.

  In view of the above, the present invention makes it possible to easily correct traveling locus information, which is a locus for registering the shape of the traveling area of the work vehicle, to accurate traveling locus information by an operation on the display screen. It is an object of the present invention to provide a travel region shape registration system that can correct and set the shape of a travel region to travel to a more appropriate shape.

  The present invention is a travel area shape registration system for registering the shape of a travel area in which a work vehicle travels, the position information acquisition means for acquiring position information of the work vehicle by a satellite positioning system, and the satellite positioning system. A travel trajectory information acquisition means for acquiring travel trajectory information indicating the travel trajectory of the work vehicle, which is a trajectory for registering the shape of the travel area, specified based on the position information of the work vehicle, and a display screen A display means for superimposing and displaying the travel locus information acquired by the travel locus information acquisition means on a map image displayed on a part of the travel locus information by an operation on a display screen of the display means by an operator And a correcting means for correcting.

  According to the present invention, the shape of the traveling region where the work vehicle travels is more accurately and easily corrected to an appropriate shape by correcting a part of the traveling locus information by an operation on the display screen of the display means by the operator. Can be set.

The schematic side view of an autonomous traveling working vehicle and a traveling working vehicle. Control block diagram. The figure which shows an initial screen. The figure which shows agricultural field setting. The figure which shows the area | region of an agricultural field. The figure which shows the shape of an agricultural field. The figure which shows a mode that the shape of an agricultural field edge is recognized. The figure which shows correction | amendment of an agricultural field shape. The figure which shows the position and direction of the environment recognition means which acquires surrounding information. The figure which shows a mode that a boundary feature point is selected on a display apparatus. The figure which shows a mode that the field end is recognized with the distance sensor which acquires surrounding information.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  The remote control device 112 sets a route R, which will be described later, of the autonomous traveling work vehicle 1, remotely operates the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the work implement. , And stores work data, and includes a control device (CPU and memory), a communication device 111, a display device 113, and the like.

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

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

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. The communication device 111 is configured integrally with the remote operation device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi. The remote operation device 112 is provided with a display device 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and a communication device 111, a CPU, a storage device, a battery, and the like are housed in the housing.

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

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

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

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

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

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

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

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

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

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

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

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

  Hereinafter, the field setting for registering the field shape will be described in more detail. FIG. 6 shows a field having a locally complicated shape change due to the presence of an obstacle at the boundary portion of the field edge, and in the present embodiment, the field DA protrudes on the side DA of the field H. An example in which a utility pole exists is shown. FIG. 7 shows a state of recognizing the shape of the field edge as peripheral information, and here shows a state of recognizing a utility pole. FIG. 8 shows a field shape that is registered after the travel locus is corrected based on the peripheral information. Here, a field outer peripheral shape that takes into account the electric pole protruding inside the field H is shown.

  When touching the field setting button 202 on the display device 113 of the remote operation device 112 to newly set a field or editing an existing field and performing field setting again, after touching the “measurement start” button The autonomous traveling work vehicle 1 is caused to travel. In the present embodiment, the autonomous traveling work vehicle 1 is positioned at one of the four corners A of the field H, and the “measurement start” button is touched to cause the autonomous traveling work vehicle 1 to travel along the outer periphery of the field H. The case will be described. At this time, the positioning control unit 306 receives radio waves transmitted from the GPS satellites 37, 37... And acquires the position information of the vehicle body, and at the same time, the gyro sensor 31 and the azimuth angle detection unit 32 The displacement information and orientation information of the part are acquired. The travel locus information based on the position information, the displacement information, and the direction information of the vehicle body part acquired in this way is acquired.

  When the autonomous traveling work vehicle 1 travels along the outer periphery of the field H, the autonomous traveling work is performed by the obstacle sensor 41 and / or the cameras 42F and 42R arranged to recognize the surrounding environment of the autonomous traveling work vehicle 1. The surrounding information (environment information) of the vehicle 1 is also acquired. The “peripheral information” is, for example, an image of the front and side of the vehicle body obtained by the obstacle sensor 41 configured as an imaging unit such as a camera, an image obtained by the camera 42F, or a laser sensor or a super This is information related to the boundary between the field edge and the outside of the field such as a shore by the obstacle sensor 41 configured as a distance sensor such as a sound wave sensor. In the present embodiment, an image obtained by the front camera 42F is acquired as peripheral information and displayed on the display device 113.

  The travel locus information is corrected based on the peripheral information thus obtained. Specifically, the actual outer peripheral edge of the field H is grasped based on the image obtained as the peripheral information, and the traveling locus information is corrected by correcting the traveling locus to the outside or the inside so as to match it. Register the outer shape of. And the driving | running route of the outer periphery of the agricultural field H is set based on the outer periphery shape. In other words, when traveling on the outer periphery of the field H, the vehicle travels so as to avoid obstacles as appropriate, but depending on the nature of the obstacles, it is necessary to register the field outer periphery inside or outside the route avoided at that time As in this embodiment, using the shape of the obstacle, the size protruding in the air, etc. from the image acquired as peripheral information, set an appropriate avoidance amount according to the obstacle, and travel in the route generation setting It can also be used to set a route.

  In the present embodiment, the travel locus information is corrected based on the travel locus information and the surrounding information (environment information). However, the travel locus information may not be corrected, or the correction locus information is corrected. Whether or not to do so may be selectable. Examples of cases where the correction trajectory information is not corrected include, for example, external factors that affect the travel trajectory information in the peripheral information (for example, when an obstacle exists near the field edge or when the field edge has a curved shape). There may be cases where it does not exist. In this case, the presence / absence of an external factor is determined based on the peripheral information. If there is an external factor, the travel locus information is corrected, and if there is no external factor, the travel locus information is not corrected.

  Further, when it is possible to select whether or not to correct the travel locus information, for example, when the travel locus information is acquired, an image for selecting whether or not to correct based on the surrounding information is displayed, and the user can When execution of correction is selected, correction is executed, and when non-execution of correction is selected, correction is not executed. Alternatively, in the setting menu (not shown) or the like, it is possible to select and set whether or not to correct based on the peripheral information. When the correction is “necessary”, the travel locus information is automatically corrected and the correction is “unnecessary”. In some cases, the travel locus information may not be corrected.

  As described above, by acquiring the peripheral information and correcting the traveling trajectory information, it is possible to accurately grasp and register the field edge, or when the outer periphery of the field H is curved, or inside the field H Even when the outer peripheral shape of the field H is complicated, such as when an obstacle projects, the more accurate field area can be registered as the field area.

  FIG. 9 shows the position and orientation of the environment recognizing means for acquiring the peripheral information. When correcting the traveling locus information, in order to recognize the field edge more accurately, the obstacle sensor 41 that acquires the peripheral information and the arrangement of the cameras 42F and 42R with respect to the moving GPS antenna 34 (with respect to the position where the traveling locus information is acquired). In consideration of the relative position), the positional relationship between the traveling locus at any position on the traveling locus, the obstacle sensor 41, the cameras 42F and 42R, and the recognized field edge is clarified, and based on these positional information and direction. Correction is performed. Specifically, using the height of the sensor or camera mounting position, position information about the horizontal position, the relative positional relationship between them and the moving GPS antenna 34, and information about the shooting direction of the camera or the detection direction of the sensor, For the detection value detected by the image or sensor acquired by the camera, the distance between the running trajectory and the field edge or obstacle is calculated in consideration of the position and orientation information, and the position of the field edge is accurately determined. To grasp.

  As described above, by providing the peripheral information with a relative positional relationship with the travel locus information, it is possible to more accurately use the information about the field edge recognized by the environment recognition means, and the field edge recognition process. Can be performed automatically.

  As described above, the correction of the travel locus information may be automatically performed, or may be performed in accordance with a user operation. For example, a map image of an agricultural field is displayed on the display device 113, and the line shape indicating the agricultural field specified based on the traveling locus information on the map image or the traveling locus information corrected based on the peripheral information is displayed. When the line shape indicating the specified farm field is displayed in a superimposed manner, the user can specify an accurate farm field end by touching the display device 113, and the traveling locus information is corrected according to the user's operation. Also good. In that case, the environmental information acquisition means (the general term for the environmental sensor 41 and the cameras 42F and 42R described above) may be used for displaying a map image of the farm field on the display device 113. When designating a field edge, for example, a control point may be added to the line shape, and a part of the line shape may be corrected by operating the control point. In addition, the user may designate one or a plurality of boundary feature points in the line shape, and the travel locus information may be automatically corrected based on the boundary feature points. Hereinafter, the boundary feature points will be described.

  FIG. 10 shows a state in which the boundary feature point at the field edge is selected on the display device and the field shape is registered. In this example, the recognition of the outer peripheral edge of the field based on the peripheral information is performed by causing the display device 113 of the remote control device 112 to display an image acquired by the obstacle sensor 41 configured as a camera or the cameras 42F and 42R. The position to be registered as an edge is touched on the display device 113. That is, the feature point (that is, the boundary feature point) of the boundary between the field and the outside in the image displayed on the display device 113 is determined by the operator himself and specified on the display device 113. In this case, the display device 113 of the remote control device 112 functions as a display unit that displays the position information of the vehicle body part, the travel locus information, and the peripheral information, and designates boundary feature points for the peripheral information. It also functions as an operating unit to be operated. The travel locus information is corrected based on the boundary feature points designated by the user, and the changed line shape is registered as the field shape. The travel locus information may be further corrected based on the boundary feature points and the related feature points. The related feature point is a feature point having the same or similar feature as the boundary feature point. For example, on the map image (image data), the specified boundary feature point has the same or similar hue, saturation, and lightness. It is possible to specify a feature point (a difference between elements is within a predetermined threshold) as a related feature point.

  In the above description, the travel locus information is corrected at the time of field registration. For example, it can be performed as a change in the field setting.

  As a method for recognizing the outer peripheral edge of the field based on the peripheral information, in addition to the visual recognition by the operator on the video acquired by the camera as described above, for example, the color difference on the image data acquired by the camera or It is conceivable that a displacement point on the image data such as a difference in brightness is automatically determined as a boundary feature point. In addition, when using a distance sensor such as a laser sensor and an ultrasonic sensor, by detecting a step existing at the boundary between the field edge and the shore as a change in distance, the lower end of the step is used as a boundary feature point. It is also possible to automatically recognize the outer peripheral edge of the field (see FIG. 11).

  In this specification, the remote control device 112 is used when setting the route R of the autonomous traveling work vehicle 1. Various settings necessary for setting the route R (the tractor setting, the field setting, and the route generation setting) are set by appropriately operating the display device 113 of the remote operation device 112. The controller 30 (for example, the autonomous traveling control controller 307) may perform various settings necessary for setting the route R by appropriately operating the display unit 49 by the user. In other words, the remote operation device 112 may not be included in the system for registering the shape of the field, or the remote operation device 112 may be included but the remote operation device 112 may not be used in setting the route R.

  In addition, in this specification, the travel locus information is corrected to specify and register the shape of the field. However, in addition to the shape of the field, or in place of the shape of the field, other regions (autonomous traveling) It may be used for specifying and registering the shape of a predetermined area (traveling area) where the work vehicle 1 travels. For example, it may be used to specify / register the shape of the work area described above. Furthermore, it may be used to specify / register the shape of a predetermined area (non-traveling area) where traveling of the autonomous traveling work vehicle is prohibited. For example, it may be used to specify / register the shape of the obstacle described above. Regardless of whether the identification / registration target is a travel region or a non-travel region, there is no difference in correcting the travel locus information based on the peripheral information, but generally, the travel locus information is acquired in the travel region. While traveling for traveling inside the end of the traveling region, traveling for obtaining traveling locus information in the non-traveling region often travels outside the end of the traveling region. In this case, the correction of the travel trajectory information in the travel region is performed in the direction of expanding the area of the closed line shape specified by the travel trajectory information, while the correction of the travel trajectory information in the non-travel region is performed by the closed line. This is done in the direction of reducing the area of the shape.

  In view of the above-described invention based on the present specification, the present invention is a system for registering the shape of a traveling area (in this specification, realized by, for example, a field) on which a work vehicle travels, which includes satellite positioning. Position information acquisition means (which is realized by, for example, a positioning control unit in this specification) that acquires the position information of the work vehicle by a system (for example, realized by GNSS in this specification), and environmental information around the work vehicle. Travel path information indicating the travel path of the work vehicle specified based on the environment information acquisition means (in this specification, for example, realized by an environment recognition sensor) to be acquired and the position information of the work vehicle acquired by the satellite positioning system Traveling locus information acquisition means (in this specification, for example, by a control means provided in a work vehicle or a wireless communication terminal capable of wireless communication with the work vehicle) And a specific area (in this specification, for example, obtained by correcting the travel area) specified by correcting the travel path information based on the environment information acquired by the travel path information acquisition unit. Registration means (in this specification, for example, realized by a control means provided in a work vehicle or a wireless communication terminal capable of wireless communication with the work vehicle). It is.

  In the present invention, the correction of the travel locus information by the registration unit is also performed based on the position information of the environment recognition unit and the direction in which the environment information is acquired. Further, in the present invention, display means (in this specification, for example, a work vehicle or a wireless communication terminal capable of wireless communication with the work vehicle) capable of displaying the shape of the travel area registered by the registration means (that is, the corrected travel area shape). And an operation means that can operate the shape of the travel area displayed on the display means (in this specification, for example, realized by a touch panel provided in the display means), and a registration means Indicates the changed area in which the shape of the travel area displayed on the display means is changed according to an operation on the operation means (in this specification, for example, realized by adding a control point or specifying a boundary feature point) Register as the shape. Needless to say, it may be changed according to the operation on the operation means before being registered by the registration means (that is, the shape of the travel area before correction).

  1: autonomous traveling work vehicle, 30: control unit, 34: mobile GPS antenna, 37: GPS satellite, 41: obstacle sensor, 42F / 42R: camera, 112: remote control device, 113: display device, 306: positioning control Unit, H: field

Claims (1)

A travel region shape registration system for registering a shape of a travel region in which a work vehicle travels,
Position information acquisition means for acquiring position information of the work vehicle by a satellite positioning system;
Traveling track information for acquiring traveling track information indicating the traveling track of the work vehicle, which is specified based on the position information of the working vehicle acquired by the satellite positioning system and is a track for registering the shape of the traveling region. Acquisition means;
Display means for superimposing and displaying the travel locus information acquired by the travel locus information acquisition means on a map image displayed on the display screen;
A travel area shape registration system comprising: correction means for correcting a part of the travel locus information by an operation on the display screen of the display means by an operator.

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