JP2019201667A - Travel route setting device - Google Patents

Abstract

To provide a work route setting device that even when a work machine of either a first work vehicle or a second work vehicle is eccentric from the center of its work vehicle, is capable of setting an optimum travel route for both of the work vehicles.SOLUTION: A travel route setting device comprises: work machine selection means for selecting a work machine to be mounted on each of a first work vehicle and a second work vehicle depending on a work form; and arrangement position setting means for setting a work arrangement position of the second work vehicle with respect to the first work vehicle in the work form. The travel route setting device is capable of communicating with the first work vehicle and/or the second work vehicle via a communication device. A work machine mounted on at least any one of the first work vehicle and the second work vehicle is eccentric from the center of its work vehicle. Depending on output of the work machine selection means and output of the arrangement position setting means, a travel route for performing revolving work is set as a travel route for both of the work vehicles.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a travel route setting device that generates a travel route in which a first work vehicle and a second work vehicle can work together.

  2. Description of the Related Art Conventionally, a technique for displaying a menu screen on a display device having a touch panel type display unit and inputting and teaching position data, work contents, work width, display grid line interval, and the like using touch keys has become known. (For example, refer to Patent Document 1).

Japanese Patent Laid-Open No. 2000-14208

  In the above technique, a driving / working route having a high work efficiency is set and displayed only by pressing a route display key in consideration of the field section, the current position of the vehicle, the field, the work content, and the like. However, since there is only one work vehicle, it is not considered to work with two work vehicles at the same time. When two work vehicles work at the same time to increase work efficiency, each work vehicle A driving route must be set every time. Moreover, since the other work vehicles are not displayed when the travel route of one work vehicle is set, it is difficult to understand the mutual travel state.

  The present invention has been made in view of the above situation, and even when one of the first work vehicle and the second work vehicle is eccentric with respect to the center of the work vehicle, A work route setting device capable of setting an optimum travel route of a work vehicle is provided.

The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.
That is, in claim 1, a travel route setting device that generates a travel route in which the first work vehicle and the second work vehicle can work together is provided, and the travel route setting device is in a work mode. Accordingly, a work machine selection means for selecting a work machine to be mounted on each of the first work vehicle and the second work vehicle, and an arrangement position setting for setting a work arrangement position of the second work vehicle with respect to the first work vehicle in the work mode. The travel route setting device is capable of communicating with the first work vehicle and / or the second work vehicle via a communication device, and is mounted on the first work vehicle and the second work vehicle. Further, at least one of the work machines is eccentric with respect to the center of the work vehicle, and depending on the output of the work machine selection means and the output of the arrangement position setting means, the work route is used as a travel route of both work vehicles. The line It is for setting a travel route.

  According to the present invention, it is possible to set an optimal travel route for both work vehicles even when the work machine of either the first work vehicle or the second work vehicle is eccentric with respect to the center of the work vehicle. Is possible.

The schematic side view of a 1st work vehicle and a 2nd work vehicle. Control block diagram. The figure which shows a setting screen. The figure which shows a working machine setting screen. The figure which shows the working machine setting screen of other embodiment. The figure which shows the setting driving | running route | route when a 1st work vehicle and a 2nd work vehicle arrange | position and work diagonally front and rear, and right and left. The figure which shows the other setting driving | running route when a 1st work vehicle and a 2nd work vehicle arrange | position and work diagonally front-back and left-right. The figure which shows the other setting driving | running route when a 1st work vehicle and a 2nd work vehicle arrange | position and work diagonally front-back and left-right. The figure which shows the setting driving | running route | path when a 2nd work vehicle drive | works and work behind the 1st work vehicle. The figure which shows the setting driving | running route | route when a 2nd work vehicle drive | works behind the 1st work vehicle and a working machine differs. The figure which shows the setting driving | running route | route when a 1st work vehicle and a 2nd work vehicle arrange | position and work side by side. The figure which shows the setting driving | running route in the case of arrange | positioning a 1st work vehicle and a 2nd work vehicle side by side, and performing different work.

  The first work vehicle and the second work vehicle that perform work while running side by side are unmanned or manned tractors. First, the first work vehicle, which is a typical combination, is an autonomous traveling work vehicle 1 that can automatically run unattended, and the second work vehicle is accompanied by the first work vehicle and the operator boarded and steered. An embodiment in which the accompanying traveling work vehicle 100 is used will be described. Rotary tillage devices 24 and 224 are mounted as work machines on the autonomous traveling work vehicle 1 serving as the first working vehicle and the accompanying traveling working vehicle 100 serving as the second working vehicle. However, the first work vehicle and the second work vehicle are not limited to tractors, and may be a combine or the like, and the work machine is not limited to the rotary tiller 24, but is applied to a fertilizer seeding machine, a mower, or a chemical sprayer. It may be a machine, a disinfector, a harvester, or the like.

  1 and 2, an overall configuration of a tractor that becomes an autonomous traveling work vehicle 1 will be described. An engine 3 is installed in the hood 2, a dashboard 14 is provided in a cabin 11 at the rear of the hood 2, and a steering handle 4 serving as a steering operation means is provided on the dashboard 14. The steering wheel 4 is rotated to rotate the front wheels 9 and 9 through the steering device. 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 control device 30. The control device 30 includes a CPU (central processing unit), a storage device 30m such as a RAM and a ROM, an interface, and the like, and the storage device 30m stores a program, data, and the like for operating the autonomous traveling work vehicle 1.

  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 speed change means 44 is connected to the control device 30. The rotational speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the control device 30 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. The PTO clutch is turned on and off by a PTO on / off means 45. The PTO on / off means 45 is connected to the control device 30 to connect and disconnect the power to the PTO shaft. It can be controlled.

  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 the control device 30 and is controlled and driven by automatic traveling means.

  An engine controller 60 serving as engine rotation control means is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 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 the display device 113 can display it. 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 control device 30. The display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 has a fuel supply. A fuel gauge for displaying the remaining amount is provided and connected to the control device 30. Then, information regarding the remaining amount of fuel is transmitted from the control device 30 to the remote operation device 112, and the remaining fuel amount and workable time can be displayed on the display device 113 of the remote operation device 112.

  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.

  Further, a rotary tiller 24 is installed on the rear side of the tractor body as a work machine via a work machine 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 control device 30.

  A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile communicator 33 is provided with a position calculating means for transmitting latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (US), high-precision 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 attitude change information of the airframe, and an orientation sensor 32 for detecting a traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the direction sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the autonomous traveling work vehicle 1 in the longitudinal direction (pitch), the angular velocity in the lateral direction (roll), and the angular velocity of turning (yaw). By integrating the three angular velocities, it is possible to obtain the tilt angle and the turning angle of the body of the autonomous traveling work vehicle 1 in the front-rear direction and the left-right direction. 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 device 30 and inputs information relating to the three angular velocities to the control device 30.

  The direction sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the direction sensor 32 includes a magnetic direction sensor. The direction sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.

  In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the azimuth sensor 32 by the attitude / azimuth calculation means, and the attitude of the autonomous traveling work vehicle 1 (orientation, forward / backward direction of the body, left / right direction of the body, turning direction). )

  Next, a method for acquiring the position information of the autonomous traveling work vehicle 1 using the GPS (global positioning system) will be described. GPS was originally developed as a navigation support system for aircraft, ships, etc., and is composed of 24 GPS satellites (four on six orbital planes) orbiting about 20,000 kilometers above the sky. It consists of a control station that performs tracking and control, and a user communication device that performs positioning. 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, an RTK-GPS positioning method with high measurement accuracy is adopted, and this method will be described with reference to FIGS.

  RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. Is transmitted in real time, and the position of the mobile station is obtained in real time based on the position result of the reference station.

  In the present embodiment, a mobile communication device 33 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmission antenna. 39 is disposed at a predetermined position that does not interfere with the work in the field. In the RTK-GPS (real-time kinematic-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. Transmit to the data receiving 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 mobile communication device 33 for positioning. At the same time, signals from GPS satellites 37, 37... Are received by a fixed GPS antenna 36 serving as a reference station, measured by a fixed communication device 35, transmitted to the mobile communication device 33, and the observed data is analyzed and moved. Determine the station location. The position information obtained in this way is transmitted to the control device 30.

  Thus, the control device 30 in the autonomous traveling work vehicle 1 includes automatic traveling means for automatically traveling. The automatic traveling means receives radio waves transmitted from the GPS satellites 37, 37. The position information of the airframe is obtained at time intervals, the displacement information and the direction information of the airframe are obtained from the gyro sensor 31 and the direction sensor 32, and along the set route R set in advance by the airframe based on the position information, the displacement information, and the direction information. The steering actuator 40, the speed change means 44, the lifting / lowering actuator 25, the PTO on / off means 45, the engine controller 60, etc. are controlled so as to automatically run and work automatically. In addition, the positional information on the outer periphery of the field H which becomes a work range is also set in advance by a known method and stored in the storage device 30m.

  In addition, an obstacle sensor 41 is disposed on the autonomous traveling work vehicle 1 and is connected to the control device 30 so as not to contact the obstacle. For example, the obstacle sensor 41 is composed of a laser sensor or an ultrasonic sensor, and is arranged at the front, side, or rear of the aircraft and connected to the control device 30, and there are obstacles at the front, side, or rear of the aircraft. Whether or not an obstacle approaches within a set distance is controlled to stop traveling.

  In addition, the autonomous traveling work vehicle 1 is mounted with a camera 42 </ b> F for photographing the front, a working machine behind the camera 42 </ b> R, and a camera 42 </ b> R for photographing a state after work. 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 aircraft and rotated around the vertical axis to photograph the surroundings, or the camera 42 may be arranged at the four corners of the aircraft to photograph the surroundings of the aircraft. Images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote operation device 112 provided in the accompanying traveling work vehicle 100.

  The remote control device 112 sets the travel route R 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, Work data is stored, and includes a control device (CPU and memory) 119, a communication device 111, a display device 113, and the like.

  The accompanying traveling work vehicle 100, which is a manned traveling vehicle, is operated by an operator, and a remote operation device 112 is mounted on the accompanying traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof is omitted. The accompanying traveling work vehicle 100 (or the remote control device 112) may include a GPS mobile communication device 233, a mobile GPS antenna 234, and a data receiving antenna 238. Further, the steering sensor 120, the angle sensor 121, the shift position detecting means 122, the engine speed detecting means 123, the PTO on / off detecting means 124, the elevating actuator 125, the vehicle speed sensor 127, the travel stopping means 143, the speed changing means 144, and the PTO entering It is also possible to configure the vehicle to automatically run with the cutting means 245 and the like.

  The remote operation device 112 can be attached to and detached from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while attached to the dashboard of the accompanying traveling work vehicle 100, or can be taken out of the accompanying traveling work vehicle 100 to be carried and operated, or attached to the dashboard of the autonomous traveling work vehicle 1. Can be operated. The remote operation device 112 can be configured by, for example, 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. Further, the remote control device 112 can communicate with the control device 130 of the accompanying traveling work vehicle 100 via the communication devices 133 and 111. 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.

  The travel route setting device includes the remote control device 112, the display means 49 of the autonomous traveling work vehicle 1 that becomes the first work vehicle, and / or the display means 149 of the accompanying travel work vehicle 100 that becomes the second work vehicle. The setting screen can be displayed on the display device 113 of the remote operation device 112, the display means 49 of the autonomous traveling work vehicle 1, and / or the display means 149 of the accompanying traveling work vehicle 100. Since the setting method on the setting screen is the same, a method for setting with the display device 113 of the remote operation device 112 will be described below.

  The display device 113 of the remote operation device 112 is provided with a setting button or the like so that the setting screen can be easily displayed by a touch operation. However, a setting button may be provided on the remote operation device 112 itself. After the field is specified on the setting screen, a travel route setting screen is displayed. As shown in FIG. 3, the travel route setting screen 315 includes a first / second work vehicle arrangement setting screen 315a, a manned / unmanned setting screen 315b, and a work implement setting screen 315c. By selecting the work mode and work implement that are actually performed on the selection screens displayed on the setting screen 315a, the manned / unmanned setting screen 315b, and the work implement setting screen 315c, a travel route that can be automatically worked is displayed. When a plurality of driving routes are conceivable, the user can select one of them. Note that map data (information) is referred to in order to determine the position of the field H, to travel using a satellite positioning system, and to set a travel route R. Public map data, map data distributed by map makers, etc., car navigation map data, and the like are used.

  The first and second work vehicle arrangement setting screen 315a displays four arrangement patterns of the first work vehicle and the second work vehicle, and can be selected by touching. That is, the first / second work vehicle arrangement setting screen 315a includes the first work vehicle diagonally rearward arrangement 315a1, the first work vehicle diagonal rearward arrangement 315a2, the first / second work vehicle front / rear arrangement 315a3, and the first -The second work vehicle left and right arrangement 315a4 is displayed side by side, and further, each screen is provided with a left and right turn direction setting button 316 at the headland, and when selected by touching, the selection result is indicated by lighting or flashing, etc. I am doing so.

  However, the first / second work vehicle arrangement setting screen 315a is not limited to the above-described screen, and may be the screen shown in FIG. That is, on the first and second work vehicle arrangement setting screen 315a of the embodiment shown in FIG. 5, a schematic picture representing the autonomous traveling work vehicle 1 serving as the first work vehicle is arranged in the center, and the eight directions around it are arranged in the eight directions. A schematic picture of the accompanying traveling work vehicle 100 serving as the second working vehicle is displayed, and the position where the accompanying traveling work vehicle 100 performs work on the autonomous traveling work vehicle 1 can be arbitrarily selected. The selection operation can be performed by touching the screen on which the accompanying traveling work vehicle 100 is located, and the setting can be understood by lighting or the like.

  In the travel route setting screen 315, it is possible to select whether the first work vehicle and the second work vehicle are manned (manual running operation) or unmanned (automatic maneuvering). That is, as shown in FIG. 3, in the manned / unmanned setting screen 315b, manned and unmanned can be selected for the first work vehicle, and manned and unmanned can be selected for the second work vehicle. . This selection can be made by touching, and lights up when selected.

  In addition, the travel route setting screen 315 is provided with a screen for selecting work machines to be mounted on the first work vehicle and the second work vehicle, respectively. That is, as shown in FIG. 3, when the button of the first work vehicle is touched on the work machine setting screen 315c, the screen is switched to the screen of FIG. 4, and the work machine selection screen 113s and the length setting screen 113g are displayed. On the work machine selection screen 113s, work machines that can be mounted on the tractor or work machines that the user has are displayed side by side, and can be selected by touching. The length setting screen 113g can set the width and front / rear length of the work implement, and the overlap length of the work implements of the first work vehicle and the second work vehicle. In this setting, the number may be input directly or the number may be increased or decreased, and the input method is not limited. Further, when the button of the second work vehicle on the work machine setting screen 315c is touched, a screen similar to that of the first work vehicle is displayed, and the work machine to be mounted on the second work vehicle can be selected. However, the screen configuration of the work implement setting screen 315c is not limited, and when the button of the first work vehicle is touched, a scroll unit in which the types of work implements are displayed side by side may be displayed and selected by touching. . When the enter button 318 is pressed on the work implement setting screen 315c to complete the work implement setting, the screen returns to the screen of FIG. When the work implement is set on the work implement setting screen 315c, the screen displayed thereafter is displayed as a schematic diagram simulating the shape of the selected work implement so that the set work implement can be visually confirmed.

  Thus, when the placement of the first work vehicle and the second work vehicle, the manned and unmanned of the first work vehicle and the second work vehicle, and the type of the work machine are selected and set, and the determination button 318 is pressed, the most A work travel route that enables efficient work is automatically calculated and displayed. In other words, when the arrangement of the first work vehicle and the second work vehicle, the type of work machine, and the width, front / rear length, and overlap length of the work machine are set, the travel route is inevitably required for the field where the work is performed. Therefore, a travel route pattern that can be worked from a plurality of travel patterns stored in the storage device 30m in advance is displayed. The travel route that matches the actual work is touched and determined. By the selection by the touch operation, the work travel routes of the autonomous travel work vehicle 1 and the accompanying travel work vehicle 100 are displayed. If the displayed route is acceptable, the travel route is confirmed by touching the decision button 318. When a different travel route is desired, the reset button 317 is pressed to manually set the travel route. This manual setting can be selected and set from a plurality of travel routes capable of automatic travel. A travel route can be easily set by such a simple operation.

  Next, a specific example of setting a travel route will be described. A setting screen 315 is displayed on the display device 113 of the remote operation device 112. In addition, although the setting screen 315 demonstrates embodiment which sets manned / unmanned, a work machine, and a travel route, other fields, a work speed, work rotation speed, etc. can also be set and the setting is other than that. It can be set on the screen, and a detailed description is omitted.

  First, on the first / second work vehicle arrangement setting screen 315a of the setting screen 315, the arrangement (positional relationship) at the time of work between the first work vehicle and the second work vehicle is selected by a touch operation. In this embodiment, as shown in FIG. 3, when the first work vehicle is working diagonally forward and the second work vehicle is placed diagonally rearward to the right, the first work vehicle touches the diagonally forward placement 315 a 1 button. Next, a left / right turning direction setting button 316 is used to select which direction the work should proceed in the left / right direction. The screen is turned on by the touch operation (or blinks or others disappear) so that the selection result can be easily understood.

  Next, whether the first work vehicle and the second work vehicle are manned (manual operation) or unmanned (automatic maneuver) is selected from the manned / unmanned setting screen 315b. When unattended or manned is selected by touching, it lights up. In this embodiment, the first work vehicle is set to be unmanned and the second work vehicle is set to be manned.

  Next, on the work machine setting screen 215c, the type of work machine mounted on the first work vehicle and the second work vehicle is selected. In this embodiment, the working machine of the first work vehicle is a rotary tiller, and the working machine of the second work vehicle is also a rotary tiller. Then, necessary lengths are input on the work machine selection screen 113s and the length setting screen 113g shown in FIG. It should be noted that once input is made on the manned / unmanned setting screen 315b and work implement setting screen 315c, it is assumed that the previous setting is stored, and if it is the same, the setting can be omitted.

  As described above, as shown in FIG. 3, the arrangement of the first work vehicle and the second work vehicle is when the first work vehicle selects the diagonally forward arrangement 315a1 and advances the work leftward on the headland. When the first work vehicle is an unmanned autonomous traveling work vehicle 1, the second work vehicle is a manned accompanying traveling work vehicle 100, both work machines are set as rotary tillers, and the decision button 318 is pressed, FIG. The set travel routes of the first work vehicle and the second work vehicle are displayed. If the route is acceptable, the confirm button 319 is pressed. If a different travel route is desired, the reset button 317 is pressed. In the case of FIG. 6, the work machine of the first work vehicle and the work machine of the second work vehicle perform the reciprocating work, so that the work can be performed with approximately twice the efficiency. In addition, the same traveling route is set when the working machine is a sowing machine, a fertilizer machine, a mower or a control machine other than the rotary tiller.

  In the case where the first work vehicle is obliquely arranged 315a1, if the work machine of the first work vehicle and the work machine of the second work vehicle are different, for example, the first work vehicle 1 is equipped with a grass collecting device, When a baler is attached to the two work vehicle 100, when the work machine is set on the work machine setting screen 315c, a travel route as shown in FIG. 7 is displayed. In this case, since the work machine is mounted eccentrically with respect to the center of the machine body, the reciprocation work cannot be performed and the work is turned. If the route is acceptable, the confirmation button 319 is pressed, and if a different travel route is desired, the reset button 317 is pressed, and a desired travel route is selected from a plurality of patterns.

  In addition, when the first work vehicle oblique rear arrangement 315a2 is selected on the first / second work vehicle arrangement setting screen 315a and the work proceeds to the left on the headland, the first work vehicle (the accompanying traveling work vehicle 100) is selected. Is manned, the second work vehicle (autonomous traveling work vehicle 1) is unmanned, and when both work machines are set as rotary tillers and the determination button 318 is pressed, a travel route as shown in FIG. 8 is displayed. The After the first work vehicle 1 reciprocates, this travel route is located on the strip where the first work vehicle flew one diagonally behind the second work vehicle. Therefore, the work machine has the same travel route regardless of whether the first work vehicle and the second work vehicle are the same or different. The first work vehicle travels with the marker protruding from the second work vehicle as a target, but may travel along a travel route using a satellite positioning system.

  In addition, on the first / second work vehicle arrangement setting screen 315a, the first / second work vehicle front / rear arrangement 315a3 is selected, and the work is set to proceed to the left on the headland. And the determination button 318 is pressed, as shown in FIG. 9, a travel route for performing work while the second work vehicle travels behind the first work vehicle is displayed. In this work, the first working vehicle is plowed, and the second working vehicle is plowed again to perform the setting. In such a working machine, when the reciprocating work is performed by turning to adjacent strips, the working widths are partially overlapped, so that the working machines interfere with each other.

  In addition, on the first / second work vehicle arrangement setting screen 315a, the first / second work vehicle front / rear arrangement 315a3 is selected and set to advance the work in the left direction. When a work machine in which the work machine and the work machine of the second work vehicle are different is mounted, for example, when the first work vehicle is a rotary tiller and the second work vehicle is a seeding machine, the determination button 318 is pressed. 10 is a traveling route that reciprocates between adjacent strips. In this case, even if the first work vehicle turns to the adjacent strip and travels from the opposite direction to perform the work, the work machine of the second work vehicle is narrow so that the work can be performed without interference.

  In addition, on the first / second work vehicle arrangement setting screen 315a, the first / second work vehicle left / right arrangement 315a4 is selected, the work is set to proceed leftward on the headland, and the work implement setting screen 315c When a work machine narrower than the width, for example, a sowing machine, a fertilizer machine, a subsoiler, or the like is selected and the determination button 318 is pressed, a reciprocating work path for skipping one line is set as shown in FIG. In the work implement setting screen 315c, if both the work implements of the first work vehicle and the second work vehicle are set as the rotary tiller and the determination button 318 is pressed, the rotary tillers overlap each other. Is displayed as impossible and prompts you to change the settings. In this case, if the overlap length is negative on the length setting screen 113g, the travel route is displayed.

  In addition, on the first / second work vehicle arrangement setting screen 315a, the first / second work vehicle left / right arrangement 315a4 is selected, and on the work machine setting screen 315c, the work machine of the first work vehicle is the harvester. When the work implement of the vehicle is a baler and the determination button 318 is pressed, a reciprocating travel route as shown in FIG. 11 is displayed. Alternatively, the traveling route of the turning work as shown in FIG. 7 is displayed.

  As described above, when the travel route is set by touching the arrangement positions of the first work vehicle and the second work vehicle, and the unmanned work vehicle is arranged at the work start position, the own vehicle is utilized using the satellite positioning system. The position is measured and the work is performed while traveling along the travel route. The manned work vehicle performs work while traveling along with the unmanned work vehicle. The manned work vehicle can also travel by using the satellite positioning system, positioning the own vehicle, displaying the set travel route on the display device 149, and viewing the guide. Alternatively, positioning may be performed by a satellite positioning system and automatically traveled along a preset travel route. Also, when both the first work vehicle and the second work vehicle are unmanned, the same traveling route as described above can be used to perform work.

  As described above, the travel route setting device for performing work while traveling in parallel with the first work vehicle and the second work vehicle, and the travel route setting device is provided by the touch panel type display device 113 provided in the remote operation device 112. Configured, the first work vehicle and / or the second work vehicle and the remote control device 112 can communicate with each other via the communication device, and after specifying the farm field on the setting screen 315 of the travel route setting device, When the work placement position of the second work vehicle with respect to one work vehicle is set, the travel route for performing the work of the first work vehicle and the second work vehicle is set and displayed, so the operator touches a predetermined screen Therefore, the positional relationship between the first work vehicle and the second work vehicle can be easily grasped, the travel route is automatically set, and the setting work can be easily performed.

  In addition, since the work placement position of the second work vehicle with respect to the first work vehicle is configured such that possible combinations are displayed side by side and can be arbitrarily selected, the operator can display a screen with a placement that matches the placement of the actual work. All you have to do is select, you can reduce the number of operations for setting, and you can reduce mistakes.

  The setting screen 315 is provided with a screen for selecting whether the first work vehicle and the second work vehicle are manned or unmanned. Manned and unmanned work vehicles can be set easily.

  The setting screen 315 is provided with a screen for selecting a work machine to be attached to each of the first work vehicle and the second work vehicle, so that the setting screen 315 is adapted to the work machine to be attached to the first work vehicle and the second work vehicle. An optimal travel route is set, and a work route that causes interference between the work machines of the first work vehicle and the second work vehicle is not set.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling work vehicle 30 Control apparatus 110 * 111 Communication apparatus 112 Remote control apparatus 113 Display apparatus 315 Traveling route setting screen 315a First / second work vehicle arrangement setting screen 315b Manned / unmanned setting screen 315c Work implement setting screen

Claims (1)

A travel route setting device that generates a travel route in which a first work vehicle and a second work vehicle can work together,
The travel route setting device includes: a work machine selection unit that selects a work machine to be attached to each of the first work vehicle and the second work vehicle according to a work form; and a second work vehicle with respect to the first work vehicle in the work form. Provided with an arrangement position setting means for setting the work arrangement position of
The travel route setting device can communicate with the first work vehicle and / or the second work vehicle via a communication device,
At least one of the work machines mounted on the first work vehicle and the second work vehicle is eccentric with respect to the center of the work vehicle,
A travel route setting device that sets a travel route for performing a turning work as a travel route for both work vehicles according to the output of the work implement selection means and the output of the arrangement position setting means.

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