JP2020028273A - Travel path display unit - Google Patents

Abstract

To prevent occurrence of deviation between a display position of a straight line travel path and a display position of a position of a work vehicle, when displaying the straight line travel path and the position of the work vehicle.SOLUTION: A travel path display unit comprises: a division point position information acquisition part for acquiring positional information of a latitude and longitude in respective division points C1-C5 after setting the plurality of division points C1-C5 on straight line travel paths P2, P3; a display straight line travel path generation part for plotting the respective division points C1-C5 on the basis of the positional information of the respective division points C1-C5 acquired by the division point position information acquisition part on a map space, and generating a display straight line travel path P5 formed by connecting adjacent division points C1-C5 by a straight line; a work vehicle position information acquisition part for acquiring positional information of the latitude and longitude on the work vehicle; and a display control part for superposing and displaying on the display part, the display straight line travel path generated by the display linear line travel path generation part and the position of the work vehicle by the positional information of the work vehicle acquired by the work vehicle position information acquisition part.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a traveling route display device used in an automatic traveling system that automatically makes a work vehicle travel along a target traveling route.

  The above-described automatic traveling system is configured to automatically travel a work vehicle along a target travel route generated in advance based on positioning information of the work vehicle acquired using a satellite positioning system or the like (for example, see Patent Document 1). 1).

  In the system described in Patent Literature 1, an arbitrary two points are set in a work area by a user actually driving and driving a work vehicle, and a straight line connecting the two points is generated as a reference travel route. . A plurality of traveling routes are generated in a state of being arranged in parallel with the reference traveling route at an interval. Each of the reference traveling route and the plurality of traveling routes is a linear straight traveling route, and a plurality of linear rectilinear traveling routes are generated as target traveling routes so as to be arranged in parallel at intervals. .

  When performing work in the work area with a work vehicle, the work vehicle is automatically driven along a certain straight travel route, and when the work vehicle reaches the end of the straight travel route, switching from automatic travel to manual travel is performed. The work vehicle is manually turned to the start of the next adjacent straight traveling route. When the work vehicle reaches the beginning of the next straight travel route, the travel mode is switched from manual travel to automatic travel, and the work vehicle is automatically traveled along the next straight travel route.

  The traveling route display device is provided, for example, as a monitor of a work vehicle. The traveling route display device displays a plurality of straight traveling routes and the current position of the work vehicle. Thus, the user or the like can check whether the work vehicle is traveling along the target travel route by comparing the display position of the target travel route with the display position of the current position of the work vehicle. .

Japanese Patent No. 6143716

  In displaying a plurality of straight travel routes, for example, the travel route display device displays a straight line connecting the start end and the end of the straight travel route in a plane space. On the other hand, as for the current position of the work vehicle, the current position of the work vehicle obtained in the map space is displayed on the traveling route display device. On a map such as the Mercator projection, as the east-west direction moves away from the equator and becomes higher in latitude, a shift occurs between the plane space and the map space. Therefore, if the straight traveling route extends in the east-west direction, a deviation occurs between the display position of the straight traveling route and the current position of the work vehicle on the display screen of the traveling route display device. Become. Therefore, the user or the like may erroneously determine that the current position of the work vehicle is out of the straight traveling route.

  In view of this situation, a main problem of the present invention is that when displaying the straight traveling route and the position of the work vehicle, the occurrence of a deviation between the display position of the straight traveling route and the display position of the work vehicle is considered. It is another object of the present invention to provide a travel route display device that can prevent such a problem.

A first characteristic configuration of the present invention is a traveling route display device used in an automatic traveling system for automatically traveling a work vehicle along a linear rectilinear traveling route,
A division point position information acquisition unit that sets a plurality of division points on a straight traveling route and acquires position information of latitude and longitude at each division point;
In the map space, each division point is plotted based on the position information of each division point acquired by the division point position information acquisition unit, and a display for generating a display straight traveling route connecting adjacent division points by a straight line is displayed. A straight traveling route generation unit for
A work vehicle position information acquisition unit that acquires position information of latitude and longitude in the work vehicle,
A display in which the display straight traveling route generated by the display straight traveling route generation unit and the position of the work vehicle based on the position information of the work vehicle acquired by the work vehicle position information acquisition unit are superimposed on the display unit. And a control unit.

  According to this configuration, the division point position information acquisition unit sets a plurality of division points as well as both ends of the straight traveling route, and acquires position information of each of the division points. The display straight travel route generation unit plots each division point on the map space, and generates a display straight travel route connecting adjacent division points by a straight line, thereby converting the straight travel route to the map space. It can be generated as a corresponding display straight traveling route. The display control unit superimposes and displays the display straight traveling route and the position of the work vehicle corresponding to the map space on the display unit. Accordingly, it is possible to prevent the occurrence of a deviation between the display position of the straight traveling route and the display position of the position of the work vehicle, and the user or the like deviates from the current position of the work vehicle. Erroneous judgments can be prevented.

  A second characteristic configuration of the present invention resides in that the division point position information acquisition unit divides the straight traveling route equally to set a plurality of division points.

  Since a plurality of division points are set, a plurality of straight lines connecting adjacent division points exist. Here, if the length of the straight line connecting the adjacent division points is different, even if the position of the work vehicle is actually shifted by the same amount with respect to the straight line, the display unit displays the difference between the work vehicle position and the straight line. There is a possibility that the amount of deviation between the lines is displayed in a different state for each straight line. For example, the longer the length of the straight line, the larger the amount of deviation between the position of the work vehicle and the straight line is displayed.

  Therefore, according to this configuration, the division point position information acquisition unit equally divides the straight traveling route and sets a plurality of division points. This makes it possible to equalize the lengths of the straight lines connecting the adjacent division points, make it difficult for differences in display displacement between a plurality of straight lines to occur, and provide an appropriate display straight traveling route corresponding to the map space. Can be generated. Therefore, it is possible to accurately prevent the occurrence of a deviation between the display position of the straight traveling route and the display position of the position of the work vehicle.

Diagram showing a schematic configuration of an automatic driving system Block diagram showing a schematic configuration of an automatic driving system Diagram showing a work area in the process of generating a target travel route A diagram showing a work area in a state where a target travel route has been generated. Flowchart showing operation when generating a target travel route The figure which shows the display screen which superimposedly displayed the extended route and the parallel route, and the current position of the tractor. Diagram for explaining the process of generating a display straight traveling route Flowchart showing the operation when generating a display straight traveling route

An embodiment of an automatic traveling system using a traveling route display device according to the present invention will be described with reference to the drawings.
In this automatic traveling system, as shown in FIG. 1, a tractor 1 is applied as a work vehicle. And an unmanned working vehicle such as an unmanned mower can be applied.

  As shown in FIGS. 1 and 2, the automatic traveling system includes an automatic traveling unit 2 mounted on a tractor 1, and a mobile communication terminal 3 (communication according to the present invention) set to be communicable with the automatic traveling unit 2. (Equivalent to a travel route display device). As the mobile communication terminal 3, a tablet-type personal computer, a smartphone, or the like having a touch-operable display unit 51 (for example, a liquid crystal panel) and the like can be employed.

  The tractor 1 includes a traveling body 7 having left and right front wheels 5 functioning as drivable steering wheels and left and right drivable rear wheels 6. A hood 8 is disposed in front of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter, referred to as an engine) 9 having a common rail system is provided in the hood 8. Behind the hood 8 of the traveling machine body 7 is provided a cabin 10 forming a riding type operation unit.

  The tractor 1 can be configured to be a rotary tilling type by connecting a rotary tilling device, which is an example of a working device 12, to a rear portion of the traveling machine body 7 via a three-point link mechanism 11 so as to be able to move up and down and to be able to roll. it can. A working device 12 such as a plow, a sowing device, a spraying device, or the like can be connected to the rear portion of the tractor 1 instead of the rotary tillage device.

  As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 for shifting the power from the engine 9, a fully hydraulic power steering mechanism 14 for steering left and right front wheels 5, and left and right rear wheels 6. Left and right side brakes (not shown) for braking, an electronically controlled brake operating mechanism 15 that enables hydraulic operation of the left and right side brakes, and a work clutch for intermittently transmitting power to a working device 12 such as a rotary tilling device (FIG. Not shown), an electronically-controlled clutch operating mechanism 16 that enables hydraulic operation of the work clutch, an electro-hydraulic-controlled lifting drive mechanism 17 that drives the working device 12 such as a rotary tilling device up and down, automatic running of the tractor 1, and the like. Vehicle-mounted electronic control unit 18 having various control programs and the like, a vehicle speed sensor 19 for detecting a vehicle speed of the tractor 1, and a steering angle sensor for detecting a steering angle of the front wheels 5. 20, and the positioning unit 21 and the like for measuring the current position and current heading of the tractor 1 is provided.

  The engine 9 may be an electronically controlled gasoline engine equipped with an electronic governor. The transmission 13 may be a hydromechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt-type continuously variable transmission, or the like. The power steering mechanism 14 may employ an electric power steering mechanism 14 including an electric motor.

  As shown in FIG. 1, inside the cabin 10, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via the power steering mechanism 14 (see FIG. 2), a driver's seat 39 for a passenger, a touch panel An expression display unit, various operation tools, and the like are provided.

  As shown in FIG. 2, the on-vehicle electronic control unit 18 includes a shift control unit 181 that controls the operation of the transmission 13, a brake control unit 182 that controls the operation of the left and right side brakes, and a working device 12 such as a rotary plow. A working device control unit 183 that controls the operation, a steering angle setting unit 184 that sets a target steering angle of the left and right front wheels 5 during automatic traveling and outputs the target steering angle to the power steering mechanism 14, and a target traveling for automatic traveling generated in advance. It has a non-volatile in-vehicle storage unit 185 for storing the path P (for example, see FIG. 3) and the like.

  As shown in FIG. 2, the positioning unit 21 has a satellite that measures the current position and current direction of the tractor 1 using a GPS (Global Positioning System), which is an example of a satellite positioning system (NSS). A navigation device 22 and an inertial measurement unit (IMU: Inertial Measurement Unit) 23 having a three-axis gyroscope, a three-direction acceleration sensor, and the like to measure the attitude and orientation of the tractor 1 and the like are provided. Positioning methods using GPS include DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinematic GPS: interference positioning method). In the present embodiment, RTK-GPS suitable for positioning of a moving object is employed. Therefore, at a known position around the field, as shown in FIGS. 1 and 2, a reference station 4 that enables positioning by RTK-GPS is installed.

  As shown in FIG. 2, each of the tractor 1 and the reference station 4 has a positioning antenna 24, 61 for receiving a radio wave transmitted from a positioning satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. The communication modules 25 and 62 that enable wireless communication of various types of information including positioning information are provided. Accordingly, the satellite navigation device 22 receives the positioning information obtained by the positioning antenna 24 on the tractor side receiving the radio wave from the positioning satellite 71 and the positioning antenna 61 on the base station side receiving the radio wave from the positioning satellite 71. Based on the obtained positioning information, the current position and the current direction of the tractor 1 can be measured with high accuracy. In addition, the positioning unit 21 includes the satellite navigation device 22 and the inertial measurement device 23 to measure the current position, the current azimuth, and the attitude angle (the yaw angle, the roll angle, and the pitch angle) of the tractor 1 with high accuracy. Can be.

  The positioning antenna 24, the communication module 25, and the inertial measurement device 23 provided in the tractor 1 are housed in an antenna unit 80 as shown in FIG. The antenna unit 80 is arranged at an upper position on the front side of the cabin 10.

  As shown in FIG. 2, the mobile communication terminal 3 has a terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and positioning information between the mobile communication terminal 3 and the communication module 25 on the tractor side. And a communication module 55 that enables wireless communication of various information including The terminal electronic control unit 52 includes a travel route generation unit 53 that generates a target travel route P (for example, see FIG. 3) for automatically traveling the tractor 1, various input information input by the user, and a travel route generation unit. 53 includes a non-volatile terminal storage unit 54 for storing the target travel route P and the like generated by the terminal 53.

  The travel route generation unit 53 generates a target travel route P (for example, see FIG. 3) in the work area S, and a method of generating the target travel route P will be described later.

  The target travel route P generated by the travel route generation unit 53 can be displayed on the display unit 51, and route information on the target travel route P is stored in the terminal storage unit 54. The route information includes an azimuth angle of the target travel route P, a set engine rotation speed, a target travel speed, and the like set according to the travel mode of the tractor 1 on the target travel route P.

  In this way, when the travel route generation unit 53 generates the target travel route P, the terminal electronic control unit 52 transfers the route information from the portable communication terminal 3 to the tractor 1 so that the onboard electronic control unit 18 of the tractor 1 However, the route information can be obtained. The vehicle-mounted electronic control unit 18 causes the positioning unit 21 to automatically drive the tractor 1 along the target travel route P while acquiring its current position (the current position of the tractor 1) based on the acquired route information. Can be. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, a period of several milliseconds). I know.

  Regarding the transfer of the route information, the entire route information can be transferred at once from the terminal electronic control unit 52 to the on-vehicle electronic control unit 18 before the tractor 1 starts the automatic traveling. Further, for example, the route information including the target travel route P can be divided into a plurality of route portions for each predetermined distance with a small amount of information. In this case, at the stage before the tractor 1 starts the automatic traveling, only the initial route portion of the route information is transferred from the terminal electronic control unit 52 to the on-vehicle electronic control unit 18. After the automatic driving starts, every time the tractor 1 reaches a route acquisition point set according to the amount of information or the like, only the subsequent route information corresponding to that point is transmitted from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit. You may make it transfer to the unit 18.

  In the tractor 1, the on-vehicle electronic control unit 18 receives an instruction to start automatic traveling in a state where the route information on the target traveling route P is acquired, and the positioning unit 21 uses the current position (the current position of the tractor 1). While the position) is being acquired, automatic traveling control for automatically traveling the tractor 1 along the target traveling route P is performed. Based on the positioning information of the tractor 1 acquired by the positioning unit 21 (corresponding to a satellite positioning system), the on-vehicle electronic control unit 18 automatically drives the tractor 1 along the target traveling route P (see FIG. 4). It is configured as an automatic traveling control unit that performs traveling control.

  The automatic traveling control includes automatic transmission control for automatically controlling the operation of the transmission 13, automatic braking control for automatically controlling the operation of the brake operating mechanism 15, automatic steering control for automatically steering the left and right front wheels 5, and a rotary tillage device. And the like, which includes automatic operation control for automatically controlling the operation of the operation device 12.

  In the automatic shift control, the shift control unit 181 controls the tractor 1 on the target travel route P based on the route information of the target travel route P including the target travel speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target traveling speed set according to the traveling mode or the like is obtained as the vehicle speed of the tractor 1.

  In the automatic braking control, based on the target traveling route P and the output of the positioning unit 21, the braking control unit 182 controls the left and right side brakes in the braking region included in the route information on the target traveling route P The operation of the brake operation mechanism 15 is automatically controlled so as to appropriately brake the wheel 6.

  In the automatic steering control, the steering angle setting unit 184 sets the target of the left and right front wheels 5 based on the route information of the target traveling route P and the output of the positioning unit 21 so that the tractor 1 automatically travels on the target traveling route P. The steering angle is obtained and set, and the set target steering angle is output to the power steering mechanism 14. The power steering mechanism 14 automatically steers the left and right front wheels 5 based on the target steering angle and the output of the steering angle sensor 20 so that the target steering angle is obtained as the steering angle of the left and right front wheels 5.

  In the automatic control for work, the working device control unit 183 causes the tractor 1 to move the tractor 1 along the straight traveling route (for example, FIG. 4), a predetermined operation (for example, plowing operation) by the operation device 12 is started along with reaching the operation start point such as the starting end of the tractor 1, and the tractor 1 is moved straight along the extension path P2 and the parallel path P3 (for example, The operation of the clutch operating mechanism 16 and the lifting / lowering drive mechanism 17 is automatically controlled such that the predetermined operation by the operation device 12 is stopped when the operation end point such as the end of the operation shown in FIG.

  In this manner, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operation mechanism 15, the clutch operation mechanism 16, the lifting drive mechanism 17, the onboard electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, the positioning The automatic traveling unit 2 is constituted by the unit 21, the communication module 25, and the like.

  In this embodiment, not only can the tractor 1 automatically travel without the user or the like riding in the cabin 10, but also the tractor 1 can automatically travel with the user or the like riding in the cabin 10. Therefore, not only can the tractor 1 automatically travel along the target travel route P by the automatic travel control by the on-vehicle electronic control unit 18 without the user or the like boarding the cabin 10, but also the user or the like board the cabin 10. Even in this case, the tractor 1 can automatically travel along the target travel route P by the automatic travel control by the on-vehicle electronic control unit 18.

  When a user or the like is in the cabin 10, the vehicle is switched between an automatic traveling state in which the tractor 1 is automatically driven by the onboard electronic control unit 18 and a manual traveling state in which the tractor 1 is driven based on the driving of the user or the like. be able to. Therefore, the automatic traveling state can be switched from the automatic traveling state to the manual traveling state during the automatic traveling on the target traveling route P in the automatic traveling state. The state can be switched to the automatic driving state. As for switching between the manual traveling state and the automatic traveling state, for example, a switching operation unit for switching between the automatic traveling state and the manual traveling state can be provided near the driver's seat 39, and the switching operation unit is portable. It can also be displayed on the display unit 51 of the communication terminal 3. Further, when the user operates the steering wheel 38 during the automatic traveling control by the on-vehicle electronic control unit 18, the automatic traveling state can be switched to the manual traveling state.

  As shown in FIGS. 1 and 2, the tractor 1 includes an obstacle detection system 100 for detecting an obstacle around the tractor 1 (the traveling vehicle body 7) and avoiding a collision with the obstacle. ing. The obstacle detection system 100 includes a plurality of lidar sensors 101 and 102 capable of three-dimensionally measuring a distance to a measurement target using a laser, and a plurality of lidar sensors 101 and 102 capable of measuring the distance to a measurement target using an ultrasonic wave. Sonar units 103 and 104 having a sonar, an obstacle detection unit 110, and a collision avoidance control unit 111 are provided.

  The measurement object measured by the rider sensors 101 and 102 and the sonar units 103 and 104 is an object, a person, or the like. The rider sensors 101 and 102 include a front rider sensor 101 that measures the front side of the tractor 1 and a rear rider sensor 102 that measures the rear side of the tractor 1. The sonar units 103 and 104 are provided with a right sonar unit 103 whose measurement object is the right side of the tractor 1 and a left sonar unit 104 whose measurement object is the left side of the tractor 1.

  The obstacle detection unit 110 performs an obstacle detection process of detecting a measurement object such as an object or a person within a predetermined distance as an obstacle based on measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104. Is configured. When the obstacle detection unit 110 detects an obstacle, the collision avoidance control unit 111 performs a collision avoidance control that decelerates the tractor 1 or stops traveling of the tractor 1. In the collision avoidance control, the collision avoidance control unit 111 not only decelerates the tractor 1 or stops the tractor 1 running but also activates a notification device 26 such as a notification buzzer or a notification lamp to determine that an obstacle exists. Informing. In the collision avoidance control, the collision avoidance control unit 111 uses the communication modules 25 and 55 to communicate from the tractor 1 to the portable communication terminal 3 and display the presence of the obstacle on the display unit 51, thereby indicating that the obstacle is present. To be notified.

  The obstacle detection unit 110 repeatedly performs an obstacle detection process based on measurement information of the rider sensors 101 and 102 and the sonar units 103 and 104 in real time, and appropriately detects an obstacle such as an object or a person. The collision avoidance control unit 111 performs collision avoidance control for avoiding collision with an obstacle detected in real time.

  The obstacle detection unit 110 and the collision avoidance control unit 111 are provided in the vehicle-mounted electronic control unit 18. The on-vehicle electronic control unit 18 is communicably connected to an electronic control unit for an engine, the lidar sensors 101 and 102, the sonar units 103 and 104 included in the common rail system via a CAN (Controller Area Network). I have.

Hereinafter, generation of the target travel route P by the travel route generation unit 53 will be described.
When the travel route generation unit 53 generates the target travel route P, the user can input the target travel route setting input guide displayed on the display unit 51 of the mobile communication terminal 3 so that the user can determine the type or model of the work vehicle or the work device. The vehicle information is input, and the input vehicle information is stored in the terminal storage unit 54.

  As shown in FIG. 2, the traveling route generating unit 53 includes an initial route generating unit 57 that generates an initial route P1 (see FIG. 3), and the initial route P1 is disposed on both sides of the traveling direction by a predetermined distance (for example, 1 km). A parallel path generation unit 58 that generates the extended path P2 (see FIG. 4) and generates a plurality of parallel paths P3 (see FIG. 4) parallel to the extended path P2 is provided.

Hereinafter, description will be made with reference to FIG. 5 which is a flowchart showing an operation when the target travel route P is generated.
First, in a work place such as a field, a user or the like actually drives the tractor 1 to drive, so that an initial route generation unit 57 generates an initial route P1 as shown in FIG. Step # 1, Step # 2). When the user or the like travels the tractor 1 from the point A to the point B, the traveling locus acquisition unit 60 (see FIG. 2) acquires the traveling locus from the point A to the point B based on the output of the positioning unit 21. The route generation unit 57 generates a route corresponding to the traveling locus as an initial route P1. The traveling direction of the initial route P1 is the same as the traveling direction when the user or the like drives the tractor 1, and the direction from point A to point B is the traveling direction. FIG. 3 illustrates a case where a straight traveling locus is acquired as the traveling locus from the point A to the point B.

  When the initial route generating unit 57 generates the initial route P1, as shown in FIG. 4, the parallel route generating unit 58 extends the initial route P1 by a predetermined distance (for example, 1 km) on both sides in the traveling direction to extend the extended route P2. Is generated (Step # 3 in FIG. 5). Thus, the extension route P2 includes the initial route P1. When generating the extension path P2, the parallel path generation unit 58 generates a plurality of parallel paths P3 arranged in parallel to the extension path P2 in a direction orthogonal to the extending direction (Step # 4 in FIG. 5). . The parallel path generating unit 58 sets the direction orthogonal to the extending direction of the extension path P2 as the juxtaposition direction, and first, in the juxtaposition direction, a position separated from the extension path P2 by a distance corresponding to the work width or the like included in the vehicle body information. Then, a parallel path P3 parallel to the extension path P2 is generated. Next, the parallel path generation unit 58 is parallel to the generated parallel path P3 at a position separated from the generated parallel path P3 by a distance corresponding to the work width or the like included in the vehicle body information in the juxtaposition direction. The parallel path P3 is generated, and the operation of generating the parallel path P3 parallel to the generated parallel path P3 is repeated. Accordingly, the parallel path generation unit 58 sets the distance between the extension path P2 and the parallel path P3 adjacent in the juxtaposed direction and the distance between the parallel paths P3 to a constant distance, and sets the plurality of parallel paths P3 so as to be arranged in parallel. Has been generated.

  In this way, as shown in FIG. 4, the target travel route P is generated by the extended route P2 and the multiple straight travel routes P4 including the multiple parallel routes P3. The straight traveling route P4 is a route for performing a predetermined operation while automatically traveling the tractor 1, and is a straight traveling route for moving the tractor 1 forward.

  The in-vehicle electronic control unit 18 is configured to be able to execute a straight-ahead mode in which the tractor 1 automatically travels along a straight travel path P4 in the target travel path P in the automatic travel control. In the straight traveling mode, the on-vehicle electronic control unit 18 causes the tractor 1 to automatically travel along the straight traveling route P4 on each of the plurality of straight traveling routes P4. Traveling between the travel routes P4 is performed by manual operation of a user or the like.

  When performing work in a work place such as a field, for example, the vehicle-mounted electronic control unit 18 causes the tractor 1 to automatically travel along the straight traveling path P4 in a state where the plurality of straight traveling paths P4 are automatically traveled in order. . The in-vehicle electronic control unit 18 automatically drives the tractor 1 along a straight traveling path P4. When the user or the like operates the steering wheel 38, for example, when the tractor 1 reaches near the end of the work place during the automatic traveling, the on-vehicle electronic control unit 18 switches to the manual operation, and the tractor 1 is set to the manual operation. To make a turn. When the vehicle reaches the next straight traveling route P4 by this turning traveling, the vehicle-mounted electronic control unit 18 causes the tractor 1 to automatically travel along the next straight traveling route P4. As described above, it is possible to perform work on a work site such as a field while switching between the automatic traveling state and the manual traveling state while the linear traveling path P4 is traveling automatically.

  The route information on the target travel route P generated by the travel route generation unit 53 is stored in the terminal storage unit 54, and the current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal in real time. The mobile communication terminal 3 knows the current position of the tractor 1. Therefore, in the mobile communication terminal 3, when the tractor 1 is automatically driven, as shown in FIG. 6, the straight traveling path P4 (the extended path P2 and the parallel path P3) on the target traveling path P and the current position of the tractor 1 are determined. Are superimposed on the display unit 51. Thereby, the user or the like can confirm whether or not the current position of the tractor 1 is displaced from the straight traveling route P4.

  In superimposing and displaying the straight running route P4 and the current position of the tractor 1 on the display unit 51, simply displaying the straight running route P4 and the current position of the tractor 1 will cause a deviation between the displayed position of the straight running route P4 and the current position of the tractor 1. May occur. On a map such as the Mercator projection, as the east-west direction moves away from the equator and becomes higher in latitude, a shift occurs between the plane space and the map space. For example, the current position of the tractor 1 can be displayed as position information on a map space. On the other hand, a straight line connecting the position information (latitude / longitude) at one end and the position information (latitude / longitude) at the other end in plane coordinates is generated for the straight traveling route P4, and when the straight line is displayed, the straight traveling is performed. A deviation occurs between the display position of the route P4 and the display position of the current position of the tractor 1.

  In order to prevent display displacement between the display position of the straight traveling route P4 and the display position of the current position of the tractor 1, the mobile communication terminal 3 includes a division point position information acquisition unit 91, a display straight traveling. A route generation unit 92, a work vehicle position information acquisition unit 93, a display control unit 94, and the like are provided.

The superimposed display of the straight traveling route P4 and the current position of the tractor 1 on the display unit 51 will be described with reference to the flowchart in FIG.
First, as shown in FIG. 7A, the division point position information acquisition unit 91 sets a plurality of division points C1 to C5 on all the straight traveling paths P4 on the plane coordinates, and sets the latitude at each division point. The position information of the longitude has been acquired (step # 11 in FIG. 8). The division point position information acquiring unit 91 sets the plurality of division points C1 to C5 by equally dividing the straight traveling route P4. In FIG. 7A, a plurality of division points C1 to C5 are set so as to be equal between one end E1 and the other end E2 of the straight traveling path P4. The division point position information acquisition unit 91 sets a plurality of division points C1 to C5 such that the distance between the division points is within a range of a predetermined distance.

  The division point position information acquisition unit 91 acquires the position information of the latitude and longitude of the one end E1 and the other end E2 of the straight traveling route P4 from the route information stored in the terminal storage unit 54, and obtains the acquired position information. The position information of the latitude / longitude at each division point is obtained using the above.

  As shown in FIG. 7B, the display straight traveling route generation unit 92 plots each of the division points C1 to C5 on the map space based on the latitude and longitude position information at each division point. (Step # 12 in FIG. 8). As described above, when the respective division points C1 to C5 are plotted on the map space, the respective division points C1 to C5 are shifted from the positions of the respective division points C1 to C5 on the plane coordinates shown in FIG. Will be plotted.

  As shown in FIG. 7B, the display straight traveling route generation unit 92 generates a display straight traveling route P5 that connects adjacent division points C1 to C5 with a straight line (in FIG. 8, step #). 13). The display straight traveling route generation unit 92 generates a first straight line P5a connecting one end E1 of the straight traveling route and the dividing point C1, and generates a second straight line P5b connecting the dividing point C1 and the dividing point C2. I have. The display straight traveling route generation unit 92 similarly generates the third to sixth straight lines P5c to P5f for the other adjacent division points C2 to C5 and the other end E2 of the straight traveling route. In this way, the display straight traveling route generation unit 92 generates the first to sixth straight lines P5a to P5f as the display straight traveling route P5. The display straight traveling route generation unit 92 generates a corresponding display straight traveling route P5 for all the straight traveling routes P4.

  As shown in FIG. 6, the display control unit 94 calculates the current position of the tractor 1 obtained by the work vehicle position information obtaining unit 93 and all the display linear travel routes generated by the display linear travel route generation unit 92. P5 is superimposed on the display screen of the display unit 51 (step # 14 in FIG. 8). The work vehicle position information acquisition unit 93 receives the current position of the tractor 1 acquired by the positioning unit 21 in real time (for example, a period of several milliseconds) by the communication module 55. Is getting in real time.

  When the tractor 1 moves, the work vehicle position information acquisition unit 93 acquires the current position of the tractor 1 after the movement, so the display control unit 94 changes the current position of the tractor 1 after the movement and displays the current position of the tractor 1 on the display unit 51. It is displayed on the display screen (in FIG. 8, in the case of Yes in step # 15, step # 16). The operations of Step # 15 and Step # 16 are repeatedly performed until the superimposed display of the straight traveling route P4 and the current position of the tractor 1 on the display unit 51 is completed, for example, when the automatic traveling of the tractor 1 ends. (No in step # 17).

  Here, as shown in FIG. 2, a work registration unit 95 that registers the work-completed straight travel route P4 among the plurality of straight travel routes P4 is provided. In the display screen shown in FIG. 6, by adding a color (gray in FIG. 6) or the like to the straight traveling route P <b> 4 registered as completed by the completed registration unit 95, the unworked straight traveling route P <b> 4 and the completed Can be identified from the straight traveling route P4.

  As described above, the display straight travel route P5 is generated for all the straight travel routes P4, and the generated display straight travel routes P5 are displayed on the display unit 51. May be selected as a display straight-line travel route generation target, only the selected straight-line travel route P5 may be generated, and the generated display straight-line travel route P5 may be displayed on the display unit 51. . By the way, for the remaining straight traveling route P4, for example, a straight line connecting both ends in the plane coordinate space is generated, and the straight line is displayed on the display unit 51.

  In this case, for example, a straight traveling route P4 extending along the east-west direction is selected as a display straight traveling route generation target, or a straight traveling route P4 having a route length equal to or longer than a predetermined length is generated as a display straight traveling route. Can be selected as a target. Further, only the straight traveling route P4 during which the tractor 1 is automatically traveling can be set as the generation target of the display straight traveling route. At this time, as the straight traveling route P4 on which the tractor 1 automatically travels is changed to the next straight traveling route P4, the generation target of the display straight traveling route is also changed to the next straight traveling route P4.

  Whether or not to generate the display straight travel route can be switched depending on the direction of the generated straight travel route P4. For example, if the extension direction of the generated straight travel route P4 is the east-west direction, the display straight travel route is generated for all the straight travel routes P4. Conversely, if the extension direction of the generated straight traveling route P4 is the north-south direction, the display straight traveling route is not generated for all the straight traveling routes P4, and both ends in the plane coordinate space are not displayed. A connecting straight line can be generated, and the straight line can be displayed on the display unit 51. In this way, it is possible to switch whether or not to generate the display straight traveling route according to the direction of the extending direction of the generated straight traveling route P4 (the extended route P2 and the parallel route P3).

[Another embodiment]
Another embodiment of the present invention will be described.
Note that the configuration of each embodiment described below is not limited to being applied alone, and can be applied in combination with the configuration of another embodiment.

(1) The configuration of the work vehicle can be variously changed.
For example, the work vehicle may be configured to a hybrid specification including an engine 9 and an electric motor for traveling, or may be configured to an electric specification including an electric motor for traveling instead of the engine 9. .
For example, the work vehicle may be configured to have a semi-crawler specification including left and right crawlers as the traveling unit instead of the left and right rear wheels 6.
For example, the work vehicle may be configured to a rear wheel steering specification in which the left and right rear wheels 6 function as steering wheels.

(2) In the above-described embodiment, the portable communication terminal 3 includes the division point position information acquisition unit 91, the display straight traveling route generation unit 92, the work vehicle position information acquisition unit 93, and the display control unit 94. Is a traveling route display device. For example, a display device such as a monitor of the tractor 1 includes a dividing point position information acquiring unit 91, a display straight traveling route generating unit 92, a work vehicle position information acquiring unit 93, and a display control unit 94. And the display device of the tractor 1 can be a traveling route display device. In addition, an external management device having a display unit includes a division point position information acquisition unit 91, a display straight traveling route generation unit 92, a work vehicle position information acquisition unit 93, and a display control unit 94. A travel route device can also be used.

(3) In the above-described embodiment, the case where only a plurality of straight travel routes P4 are generated as the target travel route P has been exemplified. However, the target travel route P may be any as long as it includes a straight travel route. The present invention is applicable to a case where a target travel route P including travel routes of various shapes is generated.

  For example, as the target travel route P, a plurality of linear straight travel routes are generated in parallel, and the straight travel routes adjacent to each other are connected in a state where the end of the straight travel route is connected to the start end of the next straight travel route. It is possible to generate a plurality of turning traveling paths that connect each other. In this case, when the straight traveling route and the position of the work vehicle are superimposed and displayed on the display unit, a display straight traveling route is generated for the straight traveling route, and the display straight traveling route and the position of the work vehicle are determined. It can be superimposed.

1 tractor (work vehicle)
3 Mobile communication terminal (travel route display device)
51 display unit 91 division point position information acquisition unit 92 display straight traveling route generation unit 93 work vehicle position information acquisition unit 94 display control unit P2 extended route (straight traveling route)
P3 Parallel route (straight route)

Claims (2)

A traveling route display device used for an automatic traveling system for automatically traveling a work vehicle along a linear rectilinear traveling route,
A division point position information acquisition unit that sets a plurality of division points on a straight traveling route and acquires position information of latitude and longitude at each division point;
In the map space, each division point is plotted based on the position information of each division point acquired by the division point position information acquisition unit, and a display for generating a display straight traveling route connecting adjacent division points by a straight line is displayed. A straight traveling route generation unit for
A work vehicle position information acquisition unit that acquires position information of latitude and longitude in the work vehicle,
A display in which the display straight traveling route generated by the display straight traveling route generation unit and the position of the work vehicle based on the position information of the work vehicle acquired by the work vehicle position information acquisition unit are superimposed on the display unit. A traveling route display device provided with a control unit. The traveling route display device according to claim 1, wherein the division point position information acquisition unit divides the straight traveling route equally to set a plurality of division points.

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