JP2020103086A - Travelling support device and work vehicle equipped with travelling support device - Google Patents

Abstract

To create a scheduled travelling route easily even when a case where travelling cannot be performed, or work cannot be performed occurs in part of a farm field.SOLUTION: A travelling support device that creates a scheduled travelling route for a travelling vehicle to which a work device is connected includes: a map acquisition unit for acquiring a farm field map in a predetermined farm field; and a route creation unit for creating a scheduled travelling route in the farm field map acquired by the map acquisition unit. The route creation unit includes a restriction setting part for setting a restriction associated with either the travelling of the travelling vehicle or the work of the work device to the scheduled travelling route.SELECTED DRAWING: Figure 1

Description

The present invention relates to a travel support device for driving a work vehicle such as a tractor, and a work vehicle including the travel support device.

BACKGROUND ART Conventionally, a technique disclosed in Patent Document 1 is known as a technique for creating a traveling route (scheduled traveling route) for automatically traveling a work vehicle such as a tractor. In Patent Document 1, the traveling route generation unit generates an inner traveling route including a straight traveling route and a U-turn route connecting the respective straight traveling routes, and a traveling traveling route for traveling around the outer peripheral region of the field.

JP, 2008-116608, A

In Patent Document 1, a travel route (scheduled travel route) is created for the inner area of the field. When traveling cannot be performed or work cannot be performed in a part of the inner area of the field, it is necessary to reset the inner area for creating the planned traveling route, which makes setting the planned traveling route difficult. Further, when the inner region cannot be reset by the tractor, there is a possibility that the work in the field must be interrupted.

Therefore, in view of the above problems, the present invention provides a travel assistance device and a travel assistance device that can easily create a planned travel route even when traveling cannot be performed in a part of a field or when work cannot be performed. An object of the present invention is to provide a work vehicle equipped with the device.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The travel support device is a travel support device that creates a planned travel route of a traveling vehicle to which a work device is connected, and includes a map acquisition unit that acquires a field map in a predetermined field and a field map acquired by the map acquisition unit. And a route creating unit for creating a planned travel route, wherein the route creation unit includes a limit setting unit that sets a restriction relating to either traveling of the traveling vehicle or work of the working device to the planned travel route. Have

The restriction setting unit sets, as a restriction of the work, a non-working unit that does not work the working device on the planned travel route.
The restriction setting unit sets a stop unit that stops the traveling vehicle on the planned traveling route as the traveling restriction.
The travel assistance device includes a display unit that displays the planned travel route, and the limit setting unit, when a predetermined position is designated for the planned travel route displayed on the display unit, the predetermined position. Is set to the position where the restriction is performed.

The travel support device includes a map registration unit that registers a field map in a predetermined field, and the restriction setting unit sets the restriction on the planned travel route for the field map registered by the map registration unit. ..
The work vehicle includes a travel support device, a travel vehicle, and an automatic travel control unit that automatically travels the travel vehicle based on the planned travel route.

The automatic traveling control unit restarts the automatic traveling when the release information for releasing the limitation on traveling set in the planned traveling route is acquired.

According to the present invention, it is possible to easily create a planned traveling route even when traveling cannot be performed in a part of a farm field or when work cannot be performed.

It is a figure showing a block diagram of a work vehicle provided with a run support device. It is a figure which shows a lifting device. It is a figure explaining automatic running. It is a figure which shows an example of the map registration screen M1. It is a figure which calculates|requires the contour H1 (farm field map MP2) of a farm field from the traveling locus K1. It is a figure which calculates|requires the contour H1 (field map MP2) of a farm field from the inflection point of the traveling locus K1. It is a figure which asks for contour H1 (field map MP2) from switch operation at the time of running. It is a figure which shows an example of the route setting screen M3. It is the figure which created unit work section A3 in work area A2. It is a figure which shows the unit work division A3 different from FIG. 7A. It is a figure which shows creation of the straight advance part Lna and the turning part Lnb. It is the figure which set the stop part on the scheduled travel route L1. It is the figure which set the non-working part on the scheduled travel route L1. It is a figure which shows holding|maintaining the arbitrary positions of the planned driving route with a pointer, and moving the hold|maintained holding part. It is the figure which moved the holding part and contracted the planned running route. It is the figure which extended the planned travel route by moving the holding part. It is a figure which shows an example of the work screen M21. It is the figure which summarized automatic driving. It is an overall side view of the tractor.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a block diagram of a work vehicle provided with a travel support device 100. The travel support device 100 is a device that assists when a work vehicle such as a tractor travels. In this embodiment, the driving support device 100 is provided in the tractor 1, but devices provided in addition to the tractor 1, for example, portable terminals (portable terminals) such as tablets, smartphones, PDAs, personal computers, and servers. A fixed terminal such as a fixed computer (fixed terminal) may be used.

First, a tractor, which is one of the work vehicles, will be described.
As shown in FIG. 13, the tractor 1 includes a traveling vehicle 3 having a traveling device 7, a prime mover 4, and a transmission 5. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheel 7F may be a tire type or a crawler type. Further, the rear wheel 7R may also be a tire type or a crawler type. The prime mover 4 is a diesel engine, an electric motor, or the like. The speed change device 5 can switch the propulsive force of the traveling device 7 by speed change, and can also switch the traveling device 7 between forward and reverse. A cabin 9 is provided in the traveling vehicle 3, and a driver's seat 10 is provided in the cabin 9.

Further, an elevating device 8 including a three-point link mechanism or the like is provided at the rear part of the traveling vehicle 3. The working device 2 can be attached to and detached from the lifting device 8. By connecting the work device 2 to the lifting device 8, the work device 2 can be pulled by the traveling vehicle 3. The working device 2 is a tilling device for cultivating, a ridge coating device for ridge coating, a ridge forming device for ridge coating, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, grass etc. And a spreading device for spreading grass and the like, a grass collecting device for collecting grass and the like, and a molding device for molding grass and the like.

As shown in FIG. 1, the tractor 1 includes a steering device 11. The steering device 11 has a steering wheel (steering wheel) 11a, a rotating shaft (steering shaft) 11b that rotates with the rotation of the steering wheel 11a, and an auxiliary mechanism (power steering mechanism) 11c that assists the steering of the steering wheel 11a. doing. The auxiliary mechanism 11c includes a hydraulic pump 21, a control valve 22 to which hydraulic oil discharged from the hydraulic pump 21 is supplied, and a steering cylinder 23 operated by the control valve 22. The control valve 22 is a solenoid valve that operates based on a control signal. The control valve 22 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 22 can also be switched by steering the steering shaft 11b. The steering cylinder 23 is connected to an arm (knuckle arm) 24 that changes the direction of the front wheels 7F.

Therefore, when the handle 11a is operated, the switching position and the opening of the control valve 22 are switched according to the handle 11a, and the steering cylinder 23 is expanded or contracted to the left or right according to the switching position and the opening of the control valve 22. By doing so, the steering direction of the front wheels 7F can be changed. Note that the steering device 11 described above is an example, and the present invention is not limited to the configuration described above.
As shown in FIG. 2, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. A front end portion of the lift arm 8a is supported by a rear upper portion of a case (transmission case) accommodating the transmission 5 so as to be swingable upward or downward. The lift arm 8a swings (elevates) by driving the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve. The control valve is an electromagnetic valve or the like, and expands and contracts the lift cylinder 8e.

The front end of the lower link 8b is supported on the lower rear portion of the transmission 5 so as to be swingable upward or downward. The front end portion of the top link 8c is supported by the rear portion of the transmission 5 so as to be swingable upward or downward above the lower link 8b. The lift rod 8d connects the lift arm 8a and the lower link 8b. The working device 2 is connected to the rear portion of the lower link 8b and the rear portion of the top link 8c. When the lift cylinder 8e is driven (expanded and contracted), the lift arm 8a moves up and down, and the lower link 8b connected to the lift arm 8a via the lift rod 8d moves up and down. As a result, the work device 2 swings (moves up and down) upward or downward with the front portion of the lower link 8b as a fulcrum.

The tractor 1 includes a positioning device 40. The positioning device 40 can detect its own position (positioning information including latitude and longitude) by a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Hokuto, Galileo, and Michibiki. That is, the positioning device 40 receives the satellite signal (position of the positioning satellite, transmission time, correction information, etc.) transmitted from the positioning satellite, and based on the satellite signal, the position of the tractor 1 (for example, latitude, longitude), That is, the vehicle body position is detected. The positioning device 40 includes a reception device 41 and an inertial measurement unit (IMU: Inertial Measurement Unit) 42. The receiving device 41 is a device that has an antenna or the like and receives a satellite signal transmitted from a positioning satellite, and is attached to the traveling vehicle 3 separately from the inertial measuring device 42. In this embodiment, the receiving device 41 is attached to the cabin 9. Note that the mounting location of the receiving device 41 is not limited to the embodiment.

The inertial measurement device 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, and the like. The inertial measurement device 42 is provided in the traveling vehicle 3, and the inertial measurement device 42 can detect the roll angle, the pitch angle, the yaw angle, and the like of the traveling vehicle 3.
As shown in FIG. 1, the tractor 1 includes a control device 60. The control device 60 is a device that controls a traveling system, a work system, and the like in the tractor 1.

The control device 60 has an automatic travel control unit 61 that controls the automatic travel of the tractor 1. The automatic traveling control unit 61 is composed of an electric/electronic circuit provided in the control device 60, a program stored in a CPU, and the like. When starting the automatic traveling, the automatic traveling control unit 61 controls the control valve 22 of the steering device 11 so that the traveling vehicle 3 travels along the planned traveling route L1. Further, when the automatic running control unit 61 starts the automatic running, the automatic running control unit 61 controls the vehicle speed (speed) of the tractor 1 by automatically changing the shift speed of the transmission, the rotation speed of the prime mover, and the like.

As shown in FIG. 3, when the deviation between the vehicle body position and the planned travel route L1 is less than the threshold value under the condition that the tractor 1 is traveling automatically, the automatic travel control unit 61 causes the steering shaft (rotating shaft) to rotate. The rotation angle of 11b is maintained. When the deviation between the vehicle body position and the planned traveling route L1 is equal to or greater than the threshold value and the tractor 1 is located on the left side of the planned traveling route L1, the automatic traveling control unit 61 determines that the steering direction of the tractor 1 is right. The steering shaft 11b is rotated so as to be oriented. When the deviation between the vehicle body position and the planned travel route L1 is equal to or greater than the threshold value and the tractor 1 is located on the right side of the planned travel route L1, the automatic travel control unit 61 determines that the steering direction of the tractor 1 is left. The steering shaft 11b is rotated so as to be oriented. In the above-described embodiment, the steering angle of the steering device 11 is changed based on the deviation between the vehicle body position and the planned traveling route L1, but the azimuth of the planned traveling route L1 and the progress of the tractor 1 (traveling vehicle 3). When the azimuth (vehicle body direction) F1 in the direction (traveling direction) is different, that is, when the angle θg of the vehicle body direction F1 with respect to the planned travel route L1 is equal to or greater than a threshold value, the automatic traveling control unit 61 determines that the angle θg is zero (vehicle body direction). The steering angle may be set such that the azimuth F1 matches the azimuth of the planned travel route L1. Further, the automatic travel control unit 61 sets the final steering angle in the automatic steering based on the steering angle obtained based on the deviation (positional deviation) and the steering angle obtained based on the azimuth (azimuth deviation). May be. The setting of the steering angle in the automatic steering in the above-described embodiment is an example, and the setting is not limited.

As described above, the tractor 1 (traveling vehicle 3) can be automatically driven by the control device 60.
Further, the control device 60 can perform manual lifting control, automatic lifting control, and the like. The manual elevating control is a control for elevating the work device 2 by the elevating device 8 based on the operation of the elevating switch 72 connected to the control device 60. Specifically, the elevating switch 72 is a three-position changeover switch provided around the driver's seat 10. When the raising/lowering switch 72 is switched from the neutral position to one side, a raising signal for raising the raising/lowering device 8 (lift arm 8a) is input to the control device 60. Further, when the lifting switch 72 is switched from the neutral position to the other position, a lowering signal for lowering the lifting device 8 (lift arm 8a) is input to the control device 60. The control device 60 outputs the control signal to the control valve to raise the lifting device 8 when the rising signal is obtained, and outputs the control signal to the control valve to drop the lifting device 8 when the falling signal is obtained. That is, the control device 60 can perform the manual elevating control for elevating the elevating device 8 according to the manual operation of the elevating switch 72.

In the automatic raising control, when the steering angle of the steering device 11 is equal to or greater than a predetermined value, for example, the steering angle corresponding to turning, the work device 2 is raised by automatically operating the lifting device 8. .. Specifically, a steering angle detection device 70 and a changeover switch 71 are connected to the control device 60. The steering angle detection device 70 is a device that detects the steering angle of the steering device 11. The changeover switch 71 is a switch that switches between valid/invalid of the automatic raising control and is a switch that can be switched ON/OFF. When the changeover switch 71 is ON, the automatic raising control is set valid, and when the changeover switch 71 is OFF, the automatic raising control is set invalid.

When the automatic raising control is effective and the steering angle detected by the steering angle detecting device 70 is equal to or larger than the steering angle corresponding to the turning, the control device 60 outputs a control signal to the control valve to automatically move the lifting device 8 automatically. The automatic raising control is performed to raise automatically.
As described above, the control device 60 can perform control related to the tractor 1, for example, manual lifting control and automatic lifting control.

The travel support device 100 is a display device provided near the driver's seat 10. Hereinafter, the description will be given assuming that the driving support device 100 is a display device.
The display device is a display device having a display unit 50 configured by any one of a liquid crystal panel, a touch panel, and other panels, and in addition to information for supporting the traveling of the tractor 1, the tractor 1, the working device. Various information regarding 2 can be displayed.

The display device includes a map registration unit 101 and a map storage unit 102. The map registration unit 101 is composed of electric/electronic components provided in the display device, programs installed in the display device, and the like. The map storage unit 102 is composed of a non-volatile memory or the like. The map registration unit 101 registers a contour of a predetermined field, for example, a position corresponding to the contour of the predetermined field.

As shown in FIG. 4, when the worker (driver) performs a predetermined operation on the display device, the map registration unit 101 displays the map registration screen M1 on the display unit 50 of the display device. On the map registration screen M1, field identification information such as a map MP1 including a field, a vehicle body position VP1 of the tractor 1, a field name and a field management number are displayed. The map MP1 is associated with position information such as latitude and longitude in addition to image data showing a field. When the tractor 1 enters the field and goes around the field, the current vehicle body position VP1 detected by the positioning device 40 when the tractor 1 goes around is displayed on the map registration screen M1. When the tractor 1 completes the orbit in the field and the registration button 51 displayed on the map registration screen M1 is selected, as shown in FIG. The travel locus K1 obtained from the vehicle body position is used as the contour (outer shape) H1 of the field, and the field map MP2 represented by the contour H1 is registered together with the field identification information.

As shown in FIG. 5B, the map registration unit 101 calculates an inflection point from the traveling locus indicated by the vehicle body position VP1 and registers the contour K2 connecting the inflection points as the field contour H1 (field map MP2). Alternatively, as shown in FIG. 5C, when the tractor 1 orbits, the driver or the like designates the end of the field by a switch or the like provided on the tractor 1, and a contour K3 connecting the designated ends. May be registered as the contour H1 (field map MP2). The field registration method described above is an example, and is not limited. The contour of the field, that is, the field map MP2, may be expressed by other expressions, whether it is the data shown by the position (latitude, longitude) or the data shown by the coordinate system (X axis, Y axis). It may be the data shown.

The map storage unit 102 stores the field map MP2 indicating the contour (outer shape) registered by the map registration unit 101. That is, the map storage unit 102 stores the farm field map MP2 and data indicating the contour of the farm field (data for representing a predetermined farm field).
The display device (travel support device 100) can create a planned travel route L1 used when the tractor 1 is automatically traveled in a predetermined field. The travel support device 100 includes a map acquisition unit 120 and a route creation unit 105 that creates a planned travel route L1. In the map acquisition unit 120, the route creation unit 105 is composed of an electric/electronic circuit provided in the display device, a program stored in the display device, and the like.

As shown in FIG. 6, when the worker (driver) performs a predetermined operation on the display device, the route creation unit 105 displays the route setting screen M3. The route setting screen M3 includes a field input unit 80 and a route display unit 85. The field input unit 80 can input field identification information such as a field name and a field management number. The route display unit 85 displays a farm field map MP2 indicating a predetermined farm field corresponding to the farm field identification information input to the farm field input unit 80. When the field identification information is input, the map acquisition unit 120 refers to the map storage unit 102 and acquires the field map MP2 corresponding to the field identification information. The route creation unit 105 causes the farm field display unit 81 to display the farm field map MP2 acquired by the map acquisition unit 120. The farm field input unit 80 displays a list of farm field identification information corresponding to the farm field map MP2 registered in the map storage unit 102, and the map acquisition unit 120 identifies the farm field selected from the list. The field map MP2 corresponding to the information may be acquired from the map storage unit 102.

The route display unit 85 also displays the planned travel route L1 set in the farm field map MP2.
The route setting screen M3 includes a headland width input unit 82 for inputting the headland width W1 and a work width input unit 88 for inputting the work width W2. When the decision button 99 is selected after the headland width W1 is input to the headland width input unit 82, the route creation unit 105 excludes the headland area A1 from the farm field map MP2 displayed on the route display unit 85. The work area A2 is displayed. For example, the route creation unit 105 sets, as the work area A2, an area surrounded by the contour H2 formed by offsetting the contour H1 of the farm field map MP2 inside by the distance of the headland width W1. In the route setting screen M3, the work area A2 is set in the farm field map MP2 by designating the position of the contour of the work area A2 on the farm field map MP2 displayed on the route display section 85 using a pointer or the like. May be.

Further, when the determination button 99 is selected after the work width W2 is input to the work width input unit 88, the route creation unit 105 causes the route creation unit 105 to select a plurality of fields in a predetermined field, that is, the field map MP2, based on the work width W2. A unit work section A3n (n: number of unit work sections) is created. Specifically, as shown in FIG. 7A, the route creation unit 105 divides the work area A2 into work widths W2 in the vertical direction or the horizontal direction to divide a plurality of unit work sections A3n in which the work device 2 performs work. Created in the work area A2. That is, the route creation unit 105 creates a plurality of unit work sections A3n having the same width as the work width W2 in the work area A2. As shown in FIG. 7B, the route creation unit 105 may create a plurality of unit work sections A3n having a width W4 obtained by dividing the work width W2 by the overlap width W3 in the work area A2. The overlap width W3 can be input on the route setting screen M3.

As described above, when the traveling vehicle 3 connected with the work device 2 is run, the route creation unit 105 defines the minimum unit area where work is performed on the field by the work device 2 as the unit work section A3n. Set as. In addition, when the width (W2, W4) of the unit work section A3n is not divisible by an integer with respect to the length L40 of the work area A2, and a surplus portion is generated, the route creating unit 105, in the unit work section A3n, The first or last unit work section A3n is set in the area included in the remaining portion.

When the setting of the unit work section A3 is completed, the route creation unit 105 creates the planned travel route L1. The route creating unit 105 includes a straight traveling creating unit 105A and a turning creating unit 105B.
As shown in FIG. 8, the straight traveling preparation unit 105A prepares a straight traveling portion (straight traveling route) Lna (n=1, 2, 3,...) In which the traveling vehicle 3 travels straight. The straight advancement creation unit 105A creates a straight advancement part Lna connecting both ends in the longitudinal direction in each of the plurality of unit work sections A3n (n=1, 2, 3,... ). The position (latitude, longitude) at a predetermined position of the straight traveling portion Lna, that is, position data indicating the position is associated with the position (latitude, longitude) of the field map MP2. Further, in the route creating unit 105, the vehicle speed input to the vehicle speed input unit 97 displayed on the route setting screen M3 is assigned to the straight traveling portion Lna. That is, when the traveling vehicle 3 travels in the straight traveling portion Lna, the traveling vehicle 3 automatically travels at the vehicle speed associated with the straight traveling portion Lna.

The turning creating unit 105B creates a turning unit (turning route) Lnb (n=1, 2, 3...) In which the traveling vehicle 3 turns. The turning creating unit 105B creates, in the headland area A1, a turning portion Lnb on an arc connecting the straight-moving portions Lna adjacent to each other among the straight-moving portions Lna. The position (latitude, longitude) at a predetermined position of the turning portion Lnb, that is, position data indicating the position is associated with the position (latitude, longitude) of the field map MP2. Further, when the traveling vehicle 3 passes through the turning portion Lnb when the automatic raising control is valid, the route creating unit 105 is automatically assigned to raise the work device 2 by the automatic raising control. That is, when the traveling vehicle 3 travels on the turning portion Lnb, the work device 2 automatically moves up.

As described above, when the planned travel route L1 (the straight traveling portion L1a and the turning portion L1b) is set, the set planned travel route L1 is stored in the route storage unit 109 of the display device. Further, the planned travel route L1 is displayed on the route display section 85 together with the farm field map MP2.
By the way, the route creation unit 105 can set a limitation on the traveling of the traveling vehicle 3 (travel limitation) or a work limitation of the work device 2 (work limitation) on the planned travel route L1. The route creation unit 105 includes a limit setting unit 105D. The restriction setting unit 105D can perform at least one of the travel restriction and the work restriction on the planned travel route L1. The limit setting unit 105D sets a stop unit 410 that stops the traveling vehicle 3 on the planned traveling route L1 as a restriction on traveling. Further, the restriction setting unit 105D sets, as the work restriction, the non-working unit 420 that does not work the work device 2 on the planned travel route L1.

Specifically, on the route setting screen M3, a restriction item section 401 that displays a restriction item indicating a restriction is displayed. In the limit item section 401, for example, a work stop Q1 indicating that work is not performed is displayed as a work limit, and a travel stop Q2 indicating that the traveling vehicle 3 is stopped is displayed as a travel limit. Further, a pointer 402 is displayed on the route setting screen M3.
As shown in FIG. 9A, when the travel stop Q2 is selected and the predetermined position of the planned travel route L1 is specified by the pointer 402 in the restriction item section 401, the restriction setting unit 105D specifies the specified predetermined position ( The stop portion 410 is set at (predetermined position) P71. When a plurality of predetermined positions P71 are designated in the planned travel route L1, the limit setting unit 105D sets the plurality of predetermined positions P71 as the stop unit 410. That is, the limit setting unit 105D gives the position data of the stopping unit 410 that the traveling vehicle 3 stops at the predetermined position P71 of the planned traveling route L1. In this way, when the limit setting unit 105D sets the stop unit 410 on the planned travel route L1, the position data of the planned travel route L1 including the position data of the stop unit 410 is stored in the route storage unit 109.

As shown in FIG. 9B, when the work stop Q1 is selected and the predetermined position of the planned travel route L1 is specified by the pointer 402 in the restriction item section 401, the restriction setting unit 105D specifies the specified predetermined position ( The non-working section 420 is set at (predetermined position) P72. That is, the restriction setting unit 105D gives the information of the non-working unit 420 that the work device 2 does not work at the predetermined position P72 of the planned travel route L1. Note that the restriction setting unit 105D may set the portion connecting the predetermined position P72a selected on the planned travel route L1 and P72b as the non-working unit 420. In this way, when the non-working section 420 is set on the planned travel route L1 by the restriction setting unit 105D, the position data of the planned travel route L1 including the position data of the non-working section 420 is stored in the route storage unit 109. It

The route creation unit 105 may be capable of extending or shortening (contracting) the planned travel route L1. The route creating unit 105 includes a route transforming unit 105E. The route transformation unit 105E extends or shortens the planned travel route L1. Specifically, after selecting the extension button 405 displayed on the route setting screen M3 and selecting the planned traveling route L1 with the pointer 402 as shown in FIG. 10A, the route deforming unit 105E causes the selected selection position P75. A part of the planned travel route L1 corresponding to is held. For example, in the planned traveling route L1, when the position corresponding to the selected position P75 is the turning portion Lnb, the route deforming portion 105E holds the turning portion Lnb.

Hereinafter, for convenience of explanation, the description will proceed assuming that the turning portion Lnb is the holding portion 425 held by the pointer 402. As a matter of course, the holding portion 425 held by the pointer 402 is not limited to the turning portion Lnb, and various places can be applied.
When the pointer 402 is moved up, down, right, or left on the field map MP displayed on the route display unit 85, the route deforming unit 105E moves the holding portion 425 to the pointer 402 as shown in FIG. 10A. Along with the movement, the selected position P75 is moved to an arbitrary position, and the length of the planned traveling route L1 is extended or shortened (contracted) according to the arbitrary position of the holding portion 425. As illustrated in FIG. 10B, for example, when the holding portion 425 is moved to the work area A2 side from the selection position P75, the route deforming unit 105E causes the holding portion 425 to move, and thus the straight-moving straight portion connected to the holding portion 425. The part Lna is shortened (contracted). As shown in FIG. 10C, for example, when the holding portion 425 is moved to the inside of the work area A2 from the selection position P75, the route deforming unit 105E is connected to the holding portion 425 as the holding portion 425 moves. The straight-ahead portion Lna is shortened. In this way, when the planned route L1 is extended or shortened (contracted) by the route deforming unit 105E, the position data of the shortened (contracted) planned route L1 is stored in the route storage unit 109.

Now, in the case of performing automatic traveling, a work screen M21 is displayed on the display device as shown in FIG. The work screen M21 includes a work display unit 197. The work display unit 197 displays the planned travel route L1 stored in the route storage unit 109. When the travel restriction is set on the planned travel route L1, the work display unit 197 displays the planned travel route L1 for which the travel restriction is set, for example, the planned travel route L1 to which the position of the stop unit 410 is given. .. When the work restriction is set on the planned travel route L1, the work display unit 197 displays the planned travel route L1 for which the work restriction is set, for example, the planned travel route L1 to which the position of the non-work unit 420 is given. To do. The work display unit 197 may display a graphic D21 indicating the stopping unit 410 and a graphic D22 indicating the non-working unit 420 on the planned travel route L1. In addition, the work display unit 197 displays the extended or shortened planned traveling route L1 when the planned traveling route L1 is extended or shortened. The work display unit 197 displays the vehicle body position detected by the positioning device 40 during automatic traveling, that is, the automatic work trajectory K11. The work display unit 197 may display the current position of the tractor 1 with respect to the planned travel route L1.

When the traveling vehicle 3 reaches the stop portion 410 under the condition of automatic traveling, the automatic traveling control unit 61 stops the traveling vehicle 3 by setting the vehicle speed to zero, so that the automatic traveling is temporarily stopped. Stop.
In addition, when the stop portion 410 is not set in the straight traveling portion Lna and the turning portion Lnb, the traveling vehicle 3 performs straight traveling and turning without stopping unless an emergency occurs. The emergency case is a case where an obstacle such as a person or an animal is detected while the traveling vehicle 3 is automatically traveling. The detection of the obstacle is detected by the obstacle detection device 77 provided in the tractor 1. When the obstacle detection device 77 detects an obstacle, the automatic traveling control unit 61 stops the traveling vehicle 3 by setting the vehicle speed to zero, thereby temporarily stopping the automatic traveling.

That is, in the case of steady traveling in which no obstacle is detected by the obstacle detection device 77 and the stopping portion 410 is not set in the straight traveling portion Lna and the turning portion Lnb, the automatic traveling control portion 61 responds to the vehicle speed. When the traveling vehicle 3 continues to travel and the traveling vehicle 3 reaches the stop portion 410 in the steady traveling, the automatic traveling control unit 61 temporarily stops the automatic traveling.
When the automatic traveling is once stopped, when the traveling vehicle 3 is stopped, and when the release information for releasing the limitation on traveling is acquired, the automatic traveling control unit 61 restarts the automatic traveling. For example, when the release information is transmitted from the outside to the tractor 1 by operating an external terminal such as a remote controller, and the automatic traveling control unit 61 acquires the release information via the communication device provided in the tractor 1, When the automatic traveling control unit 61 acquires the release information, the automatic traveling control unit 61 releases control regarding traveling, for example, releases the stop of the traveling vehicle 3 and causes the traveling vehicle 3 to automatically travel at a vehicle speed corresponding to the planned traveling route L1.

In addition, when the traveling vehicle 3 reaches the non-working section 420 under the condition of automatic traveling, the automatic traveling control section 61 notifies the control device 60 of work stoppage in the work device 2. Upon receiving the notification from the automatic travel control unit 61, the control device 60 stops the work of the work device 2 by not transmitting the power of the PTO to the work device 2, for example, by disengaging the clutch or the like. The work of the work device 2 is stopped by automatically raising the work device 2 by the automatic raising control so that the ground work is not performed. When the non-working section 420 is not set in the straight traveling section Lna, the work of the working apparatus 2 is continuously performed. In the above-described embodiment, the work of the work device 2 is stopped by the automatic travel control unit 61 notifying the control device 60 of the work stoppage, but the automatic travel control unit 61 is similar to the control device 60. The work of the work device 2 may be stopped by performing the control.

FIG. 12 is a diagram summarizing the operation of automatic traveling. As shown in FIG. 12, when the start of the automatic traveling is instructed (S120), the automatic traveling control unit 61 determines whether or not the obstacle is detected by the obstacle detection device 77 (S121). .. When the obstacle detection device 77 has not detected an obstacle (S121, No), the automatic traveling control unit 61 automatically determines the deviation between the planned traveling line L1 and the traveling vehicle 3 (positional deviation, azimuth deviation). Steering is performed (S122). Further, the automatic traveling control unit 61 sets the vehicle speed of the traveling vehicle 3 to the vehicle speed corresponding to the planned traveling line L1 (S123). The automatic traveling control unit 61 determines whether or not the traveling vehicle body 3 has reached a position (limit position) corresponding to the limit set on the planned traveling line L1 during automatic traveling (S124). When the traveling vehicle body 3 reaches the limit position (S124, Yes), the tractor 1, for example, the automatic traveling control unit 61 executes the limit (travel limit, work limit) corresponding to the limit position (S125). When the traveling vehicle body 3 has not reached the limit position (S124, No), the automatic traveling control unit 61 continues the automatic traveling.

When the traveling vehicle 3 is stopped due to traveling limitation, the automatic traveling control unit 61 determines whether or not the traveling limitation has been released (S126). When the traveling restriction has been released (S126, Yes), the automatic traveling control unit 61 releases the traveling restriction (S127), and after the traveling restriction is released, the automatic traveling control returns to the automatic traveling.
In addition, when the work limitation is performed and the traveling vehicle 3 reaches the position where the work limitation is not set, the work limitation is automatically released.

As described above, the tractor 1 can travel according to the planned travel route and the restrictions set on the planned travel route.
The embodiments disclosed this time are to be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the claims, and is intended to include meanings equivalent to the claims and all modifications within the scope. For example, the travel restrictions and work restrictions described above are examples, and other contents may be used.

1: Working vehicle (tractor)
50: Display unit 61: Automatic driving control unit 100: Driving support device 101: Map registration unit 105: Route creation unit 105D: Limit setting unit

Claims (7)

A travel support device for creating a planned travel route of a traveling vehicle to which a work device is connected,
A map acquisition unit for acquiring a field map in a predetermined field,
A route creation unit that creates a planned travel route in the field map acquired by the map acquisition unit;
Equipped with
The travel support device, wherein the route creation unit includes a limit setting unit that sets a limit on either travel of the traveling vehicle or work of the work device to the planned travel route. The travel support device according to claim 1, wherein the restriction setting unit sets, as a restriction on the work, a non-working unit that does not work the work device on the planned travel route. The travel support device according to claim 1, wherein the restriction setting unit sets a stop unit that stops the traveling vehicle on the planned travel route as the travel restriction. A display unit for displaying the planned traveling route,
The said limit setting part sets the said predetermined position to the position which performs the said limit, when a predetermined position is designated with respect to the planned driving route displayed on the said display part. The driving assistance device according to claim 1. A map registration unit for registering a field map in a predetermined field is provided,
The travel support device according to claim 1, wherein the restriction setting unit sets the restriction on the planned travel route for the field map registered by the map registration unit. A travel support device according to any one of claims 1 to 5,
A traveling vehicle,
An automatic traveling control unit for automatically traveling the traveling vehicle based on the planned traveling route,
Work vehicle equipped with. The work vehicle according to claim 6, wherein the automatic traveling control unit restarts the automatic traveling when the release information for releasing the limitation on traveling set in the planned traveling route is acquired.

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