JP2020035485A - Autonomous travel system - Google Patents

Abstract

To provide an autonomous travel system capable of easily changing, for example, a start position and an end position without remaking a travel route.SOLUTION: An autonomous travel system of the present invention includes: a route generation part capable of specifying a travel area where a machine body is caused to autonomously travel and previously generating a travel route of the machine body in the travel area; and a control part capable of instructing travel of the machine body along the travel route. The route generation part is capable of generating the travel route with reference to a start position where the machine body starts to travel and an end position where the machine body ends the travel and also capable of receiving a position change in the start position after the generation of the travel route and changing the start position.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an autonomous traveling system that generates a traveling route for an aircraft to autonomously travel.

  Conventionally, in order to efficiently and easily perform agricultural work in a field, a traveling route is generated such that straight running, turning around a boundary, and restart of straight running following a turn are repeated in order, and the farm work vehicle is driven along the running route. 2. Description of the Related Art A technique for performing autonomous traveling is known (for example, see Patent Documents 1 and 2).

JP-A-2004-8053 JP 2011-254704 A

  By the way, in the above-mentioned conventional technology, it is necessary to fix a start position and an end position in order to generate a traveling route on which the aircraft travels. For this reason, for example, when there is a deep groove near the start position of the field and it is not preferable as the start position, the start position cannot be changed unless the travel route once set is changed. There was room for improvement.

  The present invention has been made in view of the above situation, and has a technical problem to provide an autonomous traveling system that can easily change, for example, a start position and an end position without recreating a traveling route.

  An autonomous traveling system of the present invention specifies a traveling region in which the aircraft autonomously travels, a route generation unit capable of generating a traveling route of the aircraft in the traveling region in advance, and traveling of the aircraft along the traveling route. A control unit capable of instructing, wherein the route generation unit can generate the travel route based on a start position at which the aircraft starts traveling and an end position at which the aircraft ends traveling, and It is possible to change the start position by receiving a change in the start position after the route is generated.

  In the autonomous traveling system of the present invention, when the position change is received, the start position may be a predetermined position within the traveling region and outside the generated traveling route.

  In the autonomous driving system according to the present invention, the settable range of the new start position with respect to the start position before the change may be within a range of the same distance as the distance between the adjacent work paths.

  In the autonomous traveling system of the present invention, the route generation unit generates the traveling route by alternately connecting a plurality of work paths on which agricultural work is performed and a turning circuit on which a turning operation is performed, and the start position before the change. The settable range of the new start position with respect to the boundary side between the work area where the plurality of work paths is generated and the area where the circuit is generated is a boundary side to which the start position before change belongs It may be on the extension of the part or the boundary side.

  According to the present invention, it is possible to specify a traveling region in which the aircraft autonomously travels, to generate a traveling route of the aircraft in the traveling region in advance, and to instruct traveling of the aircraft along the traveling route. Control unit, and the route generation unit can generate the travel route based on a start position at which the aircraft starts traveling and an end position at which the aircraft ends traveling, and Since it is possible to change the start position by receiving the position change of the start position after generation, there is a possibility that there is a deep groove near the start position of the field, for example, which may hinder the autonomous traveling of the aircraft. Even in such a case, it is possible to change the position of either the start position or the end position without changing the travel route once set. Therefore, the workability for setting the travel route can be improved, the work load on the operator can be reduced, and the travel start position can be set according to the field conditions.

FIG. 1 is an overall side view of a robot tractor according to an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. (A) is a diagram for explaining the setting of the traveling route P with respect to the inclined field area F and the work area W, (b) is an explanatory diagram in the case where the corrected turning radius is reduced, and (c) is a diagram in which the corrected turning radius is increased. FIG. (A)-(d) is a screen diagram of a remote control device for explaining a modification example of the traveling route when the start position is changed outside the traveling route. (E)-(h) is a screen diagram of a remote control device for explaining a modification example of the traveling route when changing the end position outside the traveling route. (I)-(l) is a screen diagram of the remote control device for explaining a modification example of the traveling route when the start position is changed on the traveling route. (M)-(p) is a screen diagram of the remote control device for explaining a modification example of the traveling route when changing the end position on the traveling route.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, a description will be given of a robot tractor 1 (hereinafter sometimes simply referred to as a “tractor”), which is an example of a work vehicle according to the present invention. The tractor 1 includes a body 2 that autonomously travels in a field. The machine body 2 is detachably provided with a working machine 3 shown by a chain line in FIGS. 1 and 2. The working machine 3 is used for agricultural work. The working machine 3 includes, for example, various working machines such as a cultivator, a plow, a fertilizer, a mower, a seeder, and the like. Can be attached to The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3.

  The configuration of the tractor 1 will be described with reference to FIGS. As shown in FIG. 1, the body 2 of the tractor 1 has a front portion supported by a pair of left and right front wheels 7, and a rear portion supported by a pair of left and right rear wheels 8. The front wheels 7, 7 and the rear wheels 8, 8 constitute a traveling unit.

  A hood 9 is arranged at the front of the body 2. The hood 9 accommodates an engine 10 as a drive source of the tractor 1, a fuel tank (not shown), and the like. The engine 10 can be constituted by, for example, a diesel engine, but is not limited to this, and may be constituted by, for example, a gasoline engine. Further, an electric motor may be used as a drive source in addition to or instead of the engine.

  A cabin 11 on which an operator rides is arranged behind the hood 9. Inside the cabin 11, a steering handle 12 for an operator to perform a steering operation, a seat 13 on which the operator can sit, and various operation devices for performing various operations are mainly provided. I have. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although not shown, examples of the operating device include a monitor device, a throttle lever, a main shift lever, a lifting lever, a PTO switch, a PTO shift lever, and a plurality of hydraulic shift levers. These operating devices are arranged near the seat 13 or near the steering handle 12.

  The monitor device is configured to be able to display various information of the tractor 1. The throttle lever sets the rotation speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The elevating lever operates to raise and lower the height of the work implement 3 mounted on the machine body 2 within a predetermined range. The PTO switch disconnects power transmission to a PTO shaft (power take-out shaft) that projects outward from the rear end side of the transmission case 22. That is, when the PTO switch is ON, power is transmitted to the PTO shaft, the PTO shaft rotates, and the work machine 3 is driven. On the other hand, when the PTO switch is OFF, power to the PTO shaft is cut off. The PTO shaft does not rotate, and the work machine 3 stops. The PTO speed change lever is used to change the power input to the work implement 3 and, specifically, to change the rotation speed of the PTO shaft. The hydraulic shift lever switches the hydraulic external take-out valve.

  As shown in FIG. 1, a chassis 20 constituting the skeleton is provided at a lower portion of the body 2. The chassis 20 includes a body frame 21, a transmission case 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at a front portion of the tractor 1, and supports the engine 10 directly or via a vibration isolating member or the like. The transmission case 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission case 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission case 22 to the rear wheels 8.

  As shown in FIG. 3, the tractor 1 controls the operation of the body 2 (forward, backward, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.) as a control unit. The device 4 is provided. The control device 4 is electrically connected to a common rail device 41 as a fuel injection device, a transmission 42, a lifting actuator 44, and the like.

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to be opened and closed by the control device 4, so that the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is supplied from each injector to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of the fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

  The transmission 42 is, for example, a hydraulic swash plate type continuously variable transmission that is provided in the transmission case 22. By controlling the transmission 42 by the control device 4 and appropriately adjusting the angle of the swash plate, the transmission ratio of the transmission case 22 can be set to a desired transmission ratio.

  The lifting actuator 44 moves the working machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed), for example, by operating a three-point link mechanism connecting the work machine 3 to the body 2. Either raise or lower. By controlling the lifting / lowering actuator 44 by the control device 4 to appropriately raise / lower the work implement 3, it is possible to perform agricultural work with the work implement 3 at a desired height in a field area, for example.

  The control device 4 includes a rotation speed sensor 31 for detecting the rotation speed of the engine 10, a vehicle speed sensor 32 for detecting the rotation speed of the rear wheel 8, and a steering angle sensor for detecting a turning angle (steering angle) of the steering wheel 12. Sensors such as 33 are also electrically connected. The detection values of these sensors are converted into detection signals and transmitted to the control device 4.

  The tractor 1 including the control device 4 as described above controls various parts of the tractor 1 (the body 2, the working machine 3, and the like) by the control device 4 when the operator gets into the cabin 11 and performs various operations. Thus, the farm work can be executed while traveling in the field. In addition, the tractor 1 of the embodiment can autonomously travel based on a predetermined control signal output from the remote control device 46, for example, without an operator boarding.

  More specifically, as shown in FIG. 3, the tractor 1 includes various components in the control device 4 for enabling autonomous traveling. Further, the tractor 1 has various configurations such as a positioning antenna 6 necessary for acquiring position information of (the aircraft itself) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and travel autonomously on the field.

  Next, the configuration of the tractor 1 for autonomous traveling will be described in detail. Specifically, the tractor 1 includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, and the like, as shown in FIGS.

  The steering actuator 43 is provided, for example, in the middle of the rotation axis (steering axis) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels on a predetermined route (as an unmanned tractor), the control device 4 calculates and calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 is rotated at the rotation angle.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS), for example. As shown in FIG. 1, the positioning antenna 6 is arranged on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the position and inclination information calculator 49 shown in FIG. 3, and the tractor 1 (strictly speaking, the positioning antenna 6) is calculated by the position and inclination information calculator 49. Is calculated as, for example, latitude / longitude information. The position information calculated by the position and tilt angle information calculation unit 49 is obtained by the position and tilt angle information obtaining unit 50 of the control device 4 and used for controlling the tractor 1.

  The position and tilt angle information calculation unit 49 of the embodiment can measure not only the position information of the tractor 1 (the body 2) but also the front, rear, left and right tilt angle information. The tilt angle information measured by the position and tilt angle information calculation unit 49 is acquired by the position and tilt angle information acquisition unit 50 of the control device 4 in a state where it is associated with the position information (latitude / longitude information). Used for control of The position and tilt angle information calculation unit 49 can also measure the height position of the positioning antenna 6 with respect to the field scene, and thus the vehicle height of the tractor 1 (body 2).

  In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and another positioning system may be used as long as high-precision position coordinates can be obtained. You may. The GNSS-RTK is a positioning method in which the accuracy is improved by correcting based on information of a reference station whose position is known, and there are a plurality of methods depending on the method of distributing information from the reference station. Since the present invention does not depend on the GNSS-RTK method, details of the present embodiment are omitted.

  The wireless communication antenna 48 receives a signal from the remote operation device 46 and transmits a signal to the remote operation device 46. As shown in FIG. 1, the wireless communication antenna 48 is arranged on the upper surface of the roof 14 of the cabin 11 of the tractor 1. The signal from the remote control device 46 received by the wireless communication antenna 48 is signal-processed by the transmission / reception processing unit 47 shown in FIG. A signal transmitted from the control device 4 to the remote operation device 46 is signal-processed by the transmission / reception processing unit 47, then transmitted from the wireless communication antenna 48, and received by the remote operation device 46.

  Further, the tractor 1 is provided with a pair of left and right brake devices 26, 26 for applying brakes to the left and right rear wheels 8, 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right brake devices 26, 26 are configured to apply a brake to both the left and right rear wheels 8, 8 by operating the brake pedal (or the parking brake lever) in the braking direction. Further, when the rotation angle of the handle 12 becomes equal to or larger than a predetermined angle, the brake device 26 for the rear wheel 8 inside the turning automatically performs a braking operation in response to a command from the control device 4 (so-called automatic operation). brake).

  Note that the tractor 1 is provided with an obstacle sensor 35 for detecting whether there is an obstacle in front, side, or rear. The obstacle sensor 35 includes a laser sensor, an ultrasonic sensor, and the like, and recognizes an obstacle existing in front, side, and rear of the tractor 1 and generates a detection signal. Further, the tractor 1 is provided with a camera 36 for photographing the front, side, and rear. The obstacle sensor 35 and the camera 36 are electrically connected to the control device 4. The detection values of these sensors are converted into detection signals and transmitted to the control device 4.

  The remote control device 46 is specifically configured as a tablet-type personal computer having a touch panel. The operator can confirm by referring to information displayed on the touch panel of the remote operation device 46 (for example, information on a field necessary for performing autonomous traveling). Further, the operator can operate the remote control device 46 to transmit a control signal for controlling the tractor 1 to the control device 4 of the tractor 1. In addition, the remote control device 46 of the embodiment is not limited to a tablet-type personal computer, but may be configured by, for example, a notebook-type personal computer. Alternatively, when a manned tractor (not shown) travels along with the unmanned tractor 1, a monitor device mounted on the manned tractor may be a remote control device.

  The control device 4 shown in FIG. 3 is provided with various components for autonomous traveling control of the tractor 1, and by providing various components such as the positioning antenna 6 to the tractor 1 in addition to the components, the existing tractor can be unmanned. It can be used as a tractor 1. The control device 4 is configured as a small computer having a CPU, a ROM, a RAM, and the like. The ROM stores an operation program, an application program, various data, and the like. By the cooperation of the above hardware and software, the control device 4 is controlled by the position and tilt angle information acquisition unit 50, the area information storage unit 51, the work information storage unit 52, the contour registration point storage unit 53, and the area shape acquisition unit 54. , A path generation unit 55, a display data generation unit 56, and the like.

  The tractor 1 configured as described above calculates a travel route in a field area (travel area) by the route generation unit 55 based on an instruction of the operator using the remote control device 46, and autonomously travels along the travel route. While performing the agricultural work using the working machine 3. As described above, a route in the field area (traveling area) in which the tractor 1 autonomously travels may be referred to as a “traveling path” in the following description. In the field area (running area), an area to be subjected to agricultural work by the work machine 3 of the tractor 1 may be referred to as a “work area”. The work area is defined as an area obtained by removing the headland and the allowance from the entire field area, and is based on the work width of the tractor 1 and these registered points when an operator or the like executes the work of registering the registered points described below. Is set.

  Next, each unit provided in the control device 4 to enable autonomous traveling will be described individually with reference to FIG.

  The position and tilt angle information acquisition unit 50 configured using the control device 4 is configured to calculate the tractor calculated by the position and tilt angle information calculation unit 49 based on the positioning signal from the positioning system obtained by the positioning antenna 6. 1 as well as the position and inclination information of the tractor 1 measured by the position and inclination information calculator 49, and the position information (latitude and longitude information). It is acquired in a state where it is associated with.

  The area information storage unit 51 configured by using the control device 4 stores various information regarding an area such as a field where farming work by autonomous traveling with the tractor 1 is performed. The information on the field includes, specifically, the position and shape of the field (which may be referred to as a field area or a traveling area), the position and shape of the work area where the work machine 3 performs the agricultural work in the field, and the work machine in the field. 3 is a start position where the agricultural work is started, and an end position where the agricultural work is ended.

  Prior to generating a traveling route, the position and shape of the field, that is, the field area (traveling area), is specified from a traveling locus when the body 2 of the tractor 1 is manned and travels around the field, and the area shape described later is used. Acquired by the acquisition unit 54. The stage before the generation of the traveling route corresponds to the stage before the traveling of the tractor 1 (body 2) with the agricultural work on the work implement 3 is started. Further, the position and shape of the work area are also acquired by the area shape acquisition unit 54 described later. Other information can be set by, for example, operating the touch panel of the remote operation device 46 by the operator. The information on the start position and the end position is set by the operator operating the touch panel of the remote operation device 46 after the information on the field area (running area) is obtained by the area shape obtaining unit 54. The information on the field area and the work area (which may be referred to as area information) includes front, rear, left, and right tilt angle information associated with each position information (latitude / longitude information).

  The work information storage unit 52 configured using the control device 4 stores, as work information, the type, work width, overlap width, and the like of the work performed by the work machine 3 mounted on the body 2 of the tractor 1. In the embodiment, such information can be set by the operator operating the touch panel of the remote operation device 46. The types of work include, for example, plowing work, sowing work, and the like. The work width means an effective width in which work is performed by the work machine 3, and is, for example, 3 meters. The overlap width means a width in which the above-described working widths of the working machine 3 overlap (duplicate is allowed) when the tractor 1 travels on adjacent traveling routes, and is, for example, 30 cm.

  The contour registration point storage unit 53 configured using the control device 4 may include a plurality of points (for example, corners F1 to F4) configuring the contour of the field area F (running area) illustrated in FIG. ) Stores the position information and the tilt angle information corresponding to the position information when the operator performs the operation of registering the position information when the body 2 of the tractor 1 is located in (1). As described above, the identification of the field area F is obtained based on the traveling trajectory when the body 2 of the tractor 1 travels around the field by manned traveling before the travel route is generated. In the embodiment, the contour registration point storage unit 53 stores the position information and the inclination angle information at the plurality of points on the traveling locus. In the present embodiment, a point registered in the outline registered point storage unit 53 may be referred to as a registered point.

  The region shape acquisition unit 54 acquires the shape (including the inclination) of the field region F based on the position information and the inclination angle information of the plurality of registration points read from the outline registration point storage unit 53. Further, the area shape obtaining unit 54 obtains the shape (including the inclination) of the work area W based on the shape of the field area F and the work information (at least the work width information) read from the work information storage unit 52. I do. Specifically, a polygon (a quadrangle in the embodiment) specified by a so-called closed-circuit graph so that the line segments connecting the registration points do not intersect is acquired as the shape of the field area F or the work area W.

  The route generation unit 55 calculates a travel route P that causes the body 2 of the tractor 1 to autonomously travel based on the work information read from the work information storage unit 52 and the information on the work area W read from the area information storage unit 51. create. The traveling route P includes a plurality of straight roads Ps and a plurality of circuit circuits Pc. That is, the traveling route P includes a straight path Ps (which may be referred to as a working path) which is a straight or broken line path in which agricultural work is performed, and a turning circuit Pc (a non-working path) in which a turning operation (direction change) is performed. ) May be generated as a series of alternately connected paths. Therefore, according to the embodiment, the field area F can be specified based on the inclination, and the area of the field area F can be measured with high accuracy. As a result, it is possible to generate the optimal traveling route P.

  The display data creation unit 56 is a display for displaying the shapes of the field area F and the work area W acquired by the area shape acquisition unit 54 and stored in the area information storage unit 51 on the touch panel of the remote operation device 46. Create data for use. The display data created by the display data creation unit 56 is received by the remote operation device 46 via the transmission / reception processing unit 47, and displayed as an image on the touch panel of the remote operation device 46.

  Next, a mode of the traveling route correction control in the embodiment will be described with reference to FIGS. As described above, the control device 4 (the route generation unit 55) can generate the travel route P based on the start position S at which the aircraft 2 starts traveling and the end position E at which the aircraft 2 ends traveling, After the generation of the traveling route P, any one of the position change of the start position S and the end position E is accepted, and the generated traveling route P can be corrected.

  In the following description and drawings, for convenience, the original work area W, the original travel route P, the original start position S, and the original end position E may be described with the letter "o" appended thereto. In some cases, a new work area W, a new travel route P, a new start position S, and a new end position E are written with the letter “n” appended.

  When receiving the position change, the control device 4 (the route generation unit 55) can also receive a predetermined position within the field area F and outside the original travel route Po as a new start position Sn or a new end position En. However, it is also possible to receive the predetermined position of Po on the original traveling route as a new start position Sn or a new end position En.

  The correction examples shown in FIGS. 5A to 5D and 6E to 6H correspond to the case where a predetermined position in the field area F and outside the original travel route Po is set to a new start position Sn or a new end position. The modified example shown in FIGS. 7 (i) to (l) and FIGS. 8 (m) to (p) is a case where the position is set to the position En, and the predetermined position of Po on the original traveling route is set to the new start position Sn. Alternatively, this is an example of a case where a new end position En is set. In any of the examples, the start position S can be changed on the boundary side wa where the original start position So was located or on the extension of the boundary side wa among the boundary sides wa to wd of the work area W. ing. Further, the end position E can be changed on the boundary side wa where the original end position Eo was located or on an extension of the boundary side wa.

  In any of the modified examples, the new start position Sn (or the new end position En) is such that, among the boundary sides wa to wd of the work area W, the boundary sides wb and wd on the side without the circling circuit Pc are in the field area F. Cannot be set farther away from the original start position So (or the original end position Eo). In the modification examples shown in FIGS. 5, 6, 7 (i) (j) and 8 (m) (n), the settable range of the new start position Sn (or the new end position En) is the same as the original range. Both sides of the start position So (or the original end position Eo) are within the same distance range as the distance D between the adjacent straight roads Ps. In other words, the distance from the boundary side wb before the correction to the end of the field area F is set to be longer than the distance D between the adjacent straight roads Ps, and the original start position So is set to the new start position. The machine body 2 and the work machine 3 are set so as not to protrude out of the field area F even if corrected to the position Sn.

  In the modified examples shown in FIGS. 5A to 5D and FIGS. 7I and 7J, before the tractor 1 (body 2) autonomously travels, the field area F, the original work area Wo, and the original travel route When Po is displayed on the touch panel of the remote operation device 46 and a finger or a pen is pressed near the original start position So on the touch panel, the display of the start position S on the touch panel of the remote operation device 46 returns to the original start. The position is switched from the position So to a new start position Sn corresponding to the pressed position (see FIGS. 5A and 5C and FIG. 7I). Then, on the touch panel of the remote operation device 46, the work area W, the end position E, and the travel route P in the field area F correspond to the positional deviation of the new start position Sn (the distance between So and Sn). The state is changed by sliding from the original ones Wo, Eo, Po to the new ones Wn, En, Pn and corrected (see FIGS. 5 (b), (d) and 7 (j)).

  Similarly, in the modified examples shown in FIGS. 6E to 6H and FIGS. 8M and 8N, when a finger or a pen presses the vicinity of the original end position En on the touch panel, the remote control device 46 is pressed. The display of the end position E is switched from the original end position Eo to a new end position En corresponding to the pressed position on the touch panel (see FIGS. 6 (e), (g) and 8 (m)). Then, on the touch panel of the remote operation device 46, the work area W, the end position E, and the traveling route P in the field area F are changed to the original ones Wo, Eo, The state is slid from Po to new ones Wn, En, and Pn, and corrected (see FIGS. 6F and 8N).

  In any of the above cases, the original work area W (= Wo), start position S (= So), end position E (= Eo), and travel route P stored in the control device 4 (area information storage unit 51). The information of (= Po) is replaced with new information Wn, Sn, En, and Pn.

  In the modified examples shown in FIGS. 7 (k) (l) and 8 (o) (p), the first (or last) one round trip on the original travel route Po is skipped and counted from the first (last) three times. The end position of the second straight road Ps is set as a new start position Sn (or a new end position En). In this case, the first (or last) one round trip of the original travel route Po is deleted on the touch panel of the remote operation device 46, but the original end position Eo (or the original start position So) is maintained as it is. Then, the work area W and the travel route P in the field area F are switched from the original ones Wo and Po to the new ones Wn and Pn.

  In the modification example shown in FIGS. 7 (k) and (l), the original work area W (= Wo), the start position S (= So), and the travel route P () stored in the control device 4 (area information storage unit 51). = Po) is replaced with new information Wn, Sn, Pn. The information of the end position E (= Eo) is maintained. In the modification shown in FIGS. 8 (o) and 8 (p), the original work area W (= Wo), end position E (= Eo), and travel route P () stored in the control device 4 (area information storage unit 51). = Po) is replaced with new information Wn, En, Pn. The information of the start position S (= So) is maintained.

  With the above-described control, for example, even in a case where there is a ditch near the starting position S of the field and there is a possibility that the autonomous traveling of the tractor 1 (body 2) may be hindered, the traveling route P generated earlier By simply changing the position of one of the start position S and the end position E without recreating itself from scratch, the travel route P generated earlier can be diverted and corrected. Therefore, the setting workability of the traveling route P can be improved, the work load on the operator can be reduced, and the traveling route P adapted to the field conditions can be generated.

  In the above embodiment, the control device 4 of the tractor 1 includes the position and tilt angle information acquisition unit 50, the area information storage unit 51, the work information storage unit 52, the contour registration point storage unit 53, the area shape acquisition unit 54, and the path generation. It functions as the unit 55 and the display data creation unit 56, but is not limited to this. That is, the above-described configuration may be included in the remote control device 46, or a part of the configuration may be included in the control device 4 and another portion may be included in the remote control device 46. In addition, both the control device 4 and the remote control device 46 may include all or a part of the above configuration.

  Therefore, the route generation device of the present invention may be configured to be provided in the tractor 1 or may be configured to be provided in the remote control device 46. When the path generation device is provided in the remote operation device 46, the remote operation device 46 wirelessly communicates the position information and the inclination angle information of the tractor 1 calculated by the position and the inclination angle information acquisition unit 50 provided in the tractor 1. Can be obtained through the antenna for use 48. When a travel route is generated by the remote control device 46, the remote control device 46 includes storage units 51 and 52, and information (work information and information of the work area W) acquired from each of the storage units 51 and 52. ). The remote controller 46 can instruct the tractor 1 to travel along the generated travel route (transmit an autonomous traveling start control signal). In this case, the controller 4 controls the remote controller 46 The tractor 1 is controlled to run autonomously based on the instruction.

  As described above, the travel route P is a route generated based on the start position S and the end position E, and the start position S and the end position E are obtained by acquiring the information of the travel region by the region shape acquisition unit 54. Later, it is set by the operator and stored in the area information storage unit 51. Correcting the original travel route Po to a new travel route Pn involves changing the start position S (original start position So) and the end position E (original end position Eo). When the start position S and the end position E are changed, the changed start position (ie, a new start position Sn) and the changed end position (ie, a new end position En) are stored in the area information storage unit 51. However, it is not limited to this. That is, in the area information storage unit 51, the original work area Wo, the original start position So, the original end position Eo, and the original travel route Po are stored, and correction information indicating that each information is corrected is added. And may be stored in association with each other. With this processing, for example, when a plurality of travel routes are generated based on the original start position So, even if the start position S is corrected in one travel route, the start position of another travel route is changed. S is not corrected, and the correction of one travel route can be prevented from affecting other travel routes.

  The present invention is not limited to the above embodiment, but can be embodied in various forms. The configuration of each unit is not limited to the illustrated embodiment, and various changes can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Robot tractor 2 Body 3 Work machine 4 Control device 6 Positioning antenna 26 Brake device 46 Remote control device 48 Wireless communication antenna 49 Position and tilt angle information calculation unit 50 Position and tilt angle information acquisition unit 51 Area information storage unit 52 Work Information storage unit 53 Outline registration point storage unit 54 Area shape acquisition unit 55 Route generation unit 56 Display data creation unit

Claims (4)

A route generation unit that specifies a traveling area in which the aircraft autonomously travels and that can previously generate a traveling route of the aircraft in the traveling area,
A control unit capable of instructing traveling of the aircraft along the traveling route,
The route generation unit is capable of generating the traveling route based on a start position at which the aircraft starts traveling and an end position at which the aircraft terminates traveling, and a position of the start position after the traveling route is generated. An autonomous driving system, wherein the start position can be changed upon receiving a change.   The autonomous traveling system according to claim 1, wherein, when the position change is received, the start position is a predetermined position within the traveling area and outside the generated traveling route.   3. The apparatus according to claim 1, wherein the settable range of the new start position with respect to the start position before the change is within a range of the same distance as the distance between the adjacent work paths. 4. Autonomous driving system as described. The route generating unit generates the traveling route by alternately connecting a plurality of work paths on which agricultural work is performed and a circling circuit on which a turning operation is performed,
The settable range of the new start position with respect to the start position before the change is a boundary side between a work region where the plurality of work paths are generated and a region where the circuit is generated. The autonomous driving system according to any one of claims 1 to 3, wherein the start position is a boundary side to which the start position belongs or an extension of the boundary side.

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