JP2020103094A - Automated travelling support device, work vehicle, and automated travelling method of work vehicle - Google Patents

Abstract

To provide an automated travelling support device that enables automated travelling to be performed smoothly even when a reference position of a scheduled travelling route and a reference position in performing automated travelling are different from each other.SOLUTION: An automated travelling support device includes: a first vehicle body position acquisition part for acquiring a first vehicle body position detected by a first positioning device 40A; a first reference acquisition part for acquiring a first reference position detected by a base station 700; a first map creation part for creating a first farm field map based on a relative position between the first vehicle body position acquired by the vehicle body position acquisition part and the first reference position acquired by the first reference acquisition part; a first route creation part for creating a scheduled travelling route L1 for performing automated travelling in the first farm field map; a first automated travelling control part for performing automated travelling of a first work vehicle 1A based on the scheduled travelling route L1 of the first farm field map; a reference position acquisition part for acquiring a second reference position different from the first reference position; and an automated travelling map correction part for correcting the first farm field map and the scheduled travelling route L1 based on a deviation between the first reference position and the second reference position.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic driving support device, a working vehicle, and an automatic driving method for a working vehicle.

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, a satellite positioning device serving as a base station is installed in the vicinity of a field, and a tractor receives correction information from the base station to automatically travel along a planned travel route while correcting the position of the tractor. You can

JP, 2018-105707, A

As described above, there is a case where the satellite positioning device is installed near the field in which the work is performed, and the plurality of tractors automatically travel based on the reference position (the position of the base station) of the satellite positioning device. In such a case, the position of the base station registered in the tractor may be different for each tractor, and in such a case, a plurality of tractors may perform automatic traveling using the reference position of one base station. The reality is that it is difficult. In addition, even when a single tractor performs automatic traveling, it is difficult to perform automatic traveling when the position of the base station registered in the tractor is different from the actual position of the base station. ..

Therefore, in view of the above problems, the present invention is capable of smoothly performing automatic traveling even if the reference position used to create a planned traveling route and the reference position when performing automatic traveling are different. An object of the present invention is to provide an apparatus, a work vehicle, and an automatic traveling method for the work vehicle.

The technical means of the present invention for solving this technical problem is characterized by the following points.
The automatic driving assistance device acquires a first vehicle body position acquisition unit that acquires a first vehicle body position detected by a first positioning device provided in a first work vehicle, and a first reference position detected by a base station. A first field map is created based on the relative position of the first reference acquisition unit, the first vehicle body position acquired by the vehicle body position acquisition unit, and the first reference position acquired by the first reference acquisition unit. 1 map creation unit, a first route creation unit that creates a planned travel route for performing automatic travel on the first farm map, and automatic operation of the first work vehicle based on the planned travel route of the first farm map Based on a deviation between the first automatic travel control unit that travels, a reference position acquisition unit that acquires a second reference position different from the first reference position, and the first reference position and the second reference position, An automatic travel map correction unit that corrects the first field map and the planned travel route.

When the first work vehicle is automatically driven together with the second work vehicle, the first automatic travel control unit is based on the first farm field map and the planned travel route corrected by the automatic travel map correction unit. , Automatically drive the first work vehicle.
The automatic travel assistance device acquires a second vehicle body position acquisition unit that acquires a second vehicle body position detected by a second positioning device provided in a second work vehicle, and a second reference position detected by the base station. A second farm field map is created based on the relative positions of the second reference acquisition unit, the second vehicle body position acquired by the vehicle body position acquisition unit, and the second reference position acquired by the second reference acquisition unit. A second map creation unit and a second route creation unit that creates a planned travel route for performing automatic travel on the second field map are provided.

The second automatic travel control unit includes a second automatic travel control unit that automatically drives the second work vehicle based on the planned travel route of the second field map.
The work vehicle includes a vehicle positioning device capable of detecting the vehicle body position of the traveling vehicle, and a field map indicated by the relationship between the vehicle body position detected by the vehicle positioning device and the relative position of a preset reference position. A map creating unit, a route creating unit that creates a planned travel route for automatic travel on the field map created by the map creating unit, a reference position acquiring unit that acquires a reference position, and the reference When the acquisition reference position, which is the reference position acquired by the position acquisition unit, is different from the setting reference position, the automatic traveling that corrects the field map and the planned traveling route based on the deviation between the acquisition reference position and the setting reference position. A map correction unit and an automatic travel control unit that automatically travels the traveling vehicle based on the corrected field map and the planned travel route are provided.

The automatic traveling method of a work vehicle is an automatic traveling method of a work vehicle that automatically travels the work vehicle, including a step of detecting the vehicle body position of the work vehicle, the vehicle body position, and a preset reference position. The step of creating a field map indicated by the relationship with the relative position of the field, the step of creating a planned travel route for performing automatic travel on the field map, the step of acquiring a reference position, the acquired reference When the acquisition reference position, which is a position, is different from the setting reference position, based on the deviation between the acquisition reference position and the setting reference position, a step of correcting the field map and the planned traveling route, the corrected field map and And a step of automatically traveling the traveling vehicle based on the planned traveling route.

ADVANTAGE OF THE INVENTION According to this invention, even if the reference|standard position used in creation of the planned driving route and the reference|standard position at the time of performing automatic traveling differ, automatic traveling can be performed smoothly.

It is a figure showing the situation where a plurality of work vehicles 1 are running automatically. It is a figure which shows the block diagram of a work vehicle. It is a figure which shows a lifting device. It is a figure explaining automatic running. It is a figure which shows the mode of a 1st work vehicle etc. at the time of creating the 1st field map MP11. It is a figure which shows the mode of a 2nd work vehicle etc. at the time of creating the 2nd farm field map MP12. It is a figure which shows an example of the map registration screen M1. It is a figure which calculates|requires the outline of a farm field from driving loci K11 and K12. It is a figure which calculates|requires the outline of a farm field from the inflection points of the traveling loci K11 and K12. It is a figure which calculates a contour from switch operation at the time of running. It is the figure which created the planned driving route in the 1st field map MP11. It is a figure which created the planned driving route in the 2nd field map MP12. 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. 10A. It is the figure which showed a mode that a 1st work vehicle automatically drive|works in the field HA1 on the basis of 1st reference position BP-A. It is the figure which showed the mode that the 2nd work vehicle automatically drive|works in the farm field HB1 on the basis of the 2nd reference position BP-B. It is a figure which a 1st work vehicle and a 2nd work vehicle communicate, and acquires the 2nd standard position BP-B. It is a figure in which a 1st work vehicle inquires a satellite positioning device and acquires the 2nd standard position BP-B. It is a figure which corrects the 1st farm field map MP11 and a planned run route based on gap of a standard position. It is a figure which shows the automatic drive method of a work vehicle. 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 situation in which a plurality of work vehicles 1 are automatically traveling along a planned traveling route L1. In automatic driving of a plurality of work vehicles 1, satellite navigation, in particular, RTK-GNSS positioning using the RTK method that enables highly accurate positioning is performed while detecting the position, direction, etc. of the work vehicle 1. .. In RTK-GNSS positioning, satellite signals from satellites are received by a base station (satellite positioning device 700 below) and a mobile station (vehicle positioning device 40 mounted on the work vehicle 1 below). The satellite positioning device 700) is installed at a reference position indicated by latitude and longitude.

In the base station, the satellite positioning device 700 transmits the correction information including the inter-satellite receiver distance and the like obtained from the satellite signal of the positioning satellite, the reference position, etc. to the mobile station (vehicle positioning device 40) by wireless communication. In the mobile station, the information received from the positioning satellite is corrected based on the correction information acquired from the base station, and the position information with higher accuracy is acquired.
As shown in FIG. 1, the satellite positioning device 700 is a device that can configure a base station in the RTK-GNSS positioning technology. The satellite positioning device 700 is installed, for example, in a work place (field or the like) where work is performed by the work vehicle 1. The satellite positioning device 700 has a support 701 and a positioning device 702 attached to the support 701. The positioning device 702 includes a reception unit 703 that receives L1 signals, L2 signals, L6 signals, and the like from positioning satellites, a position calculation unit 705 that calculates a position and the like based on the signals received by the reception unit 703, and correction information. And a transmission unit 706 that transmits position information indicating a position. The satellite positioning device 700 can obtain the position (reference position) of the base station (satellite positioning device 700) from the L1 signal, the L2 signal, and the L6 signal.

Now, the plurality of work vehicles 1 include a first work vehicle 1A and a second work vehicle 1B. The first work vehicle 1A and the second work vehicle 1B are agricultural machines such as tractors, combine harvesters, and rice transplanters.
First, the description will proceed assuming that the first work vehicle 1A and the second work vehicle 1B are tractors. The front side of the driver seated in the driver's seat 10 of the tractor will be referred to as the front, the rear side of the driver as the rear, the left side of the driver as the left side, and the right side of the driver as the right side. Further, a horizontal direction that is a direction orthogonal to the front-rear direction of the work vehicle 1 will be described as a vehicle body width direction.

As shown in FIG. 15, the tractor 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 tilling, a fertilizer spraying device for spraying fertilizer, a pesticide spraying device for spraying pesticides, a harvesting device for harvesting, a mowing device for cutting grass and the like, a diffusing device for spreading grass and the like, A grass collection device for collecting grass and the like, a molding device for molding grass, etc.

As shown in FIG. 2, the tractor 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. 3, 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 includes a vehicle positioning device 40. The vehicle 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 vehicle 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 (eg, latitude, longitude), That is, the vehicle body position is detected. The vehicle positioning device 40 includes a reception device 41, an inertial measurement unit (IMU: Inertial Measurement Unit) 42, and a communication device 43. 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 traveling vehicle 3, that is, 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 roll angle, the pitch angle, the yaw angle, etc. of the traveling vehicle 3 can be detected by the inertial measurement device 42 provided below the traveling vehicle 3, for example, the driver's seat 10.
The communication device 43 is a device that transmits various data to the outside of the tractor and fetches external data into the tractor. The communication device 43 performs wireless communication by, for example, Wi-Fi (Wireless Fidelity, registered trademark) of the IEEE 802.11 series which is a communication standard, or wirelessly by a mobile phone communication network, a data communication network, a mobile phone communication network, or the like. It is a device that performs communication.

As shown in FIG. 1, the tractor includes a control device 60. The control device 60 is a device that controls the traveling system and the work system of the tractor.
The control device 60 has an automatic travel control unit 61 that controls the automatic travel of the tractor. 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 traveling is started, the automatic traveling control unit 61 controls the vehicle speed (speed) of the tractor by automatically changing the shift speed of the transmission, the rotation speed of the prime mover, and the like.

As shown in FIG. 4, when the deviation between the vehicle body position and the planned traveling route L1 is less than the threshold value under the condition that the tractor is traveling automatically, the automatic traveling control unit 61 causes the steering shaft (rotating shaft) 11b to rotate. Maintain the rotation angle of. 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 is located on the left side of the planned travel route L1, the automatic travel control unit 61 determines that the steering direction of the tractor is the right direction. The steering shaft 11b is rotated so that When the deviation between the vehicle body position and the planned traveling route L1 is equal to or more than the threshold value and the tractor is located on the right side of the planned traveling route L1, the automatic traveling control unit 61 determines that the steering direction of the tractor is the left direction. The steering shaft 11b is rotated so that 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 direction of the planned traveling route L1 and the traveling direction of the tractor (traveling vehicle 3) are changed. When the azimuth (vehicle body direction) F1 of (travel 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 (body direction The steering angle may be set so that F1 coincides with 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 (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, for example, manual lifting control and automatic lifting control.

The tractor includes a display device 100. The display device 100 is a device having a display unit 50 configured by any one of a liquid crystal panel, a touch panel, and other panels. The display device 100 can display various information regarding the tractor in addition to the information for supporting the traveling of the tractor.
Hereinafter, for convenience of description, the vehicle positioning device 40 provided in the first work vehicle 1A is referred to as a “first positioning device 40A”, and the vehicle positioning device 40 provided in the second work vehicle 1B is referred to as a “second positioning device”. The device 40B" and the vehicle body position measured by the first positioning device 40A are referred to as "first vehicle body position", and the vehicle body position measured by the second positioning device 40B is referred to as "second vehicle body position". Further, the automatic traveling control unit 61 provided in the first work vehicle 1A is referred to as a "first automatic traveling control unit 61A", and the automatic traveling control unit 61 provided in the second work vehicle 1B is referred to as a "second automatic drive control unit 61A". The traveling control unit 61B". The field map MP used in the automatic traveling of the first work vehicle 1A is referred to as "first field map MP11", and the field map MP used in the automatic traveling of the second work vehicle 1B is referred to as "second field map MP12". .. The display device 100 provided on the first work vehicle 1A is referred to as a "first display device 100A", and the display device 100 provided on the second work vehicle 1B is referred to as a "second display device 100B".

As shown in FIG. 5A, when the first working vehicle 1A is automatically driven, the first field map MP11 for automatic driving is registered in the first working vehicle 1A. For example, the satellite positioning device 700 is installed in the vicinity of the field HA1 where the first work vehicle 1A works, and the position of the base station is set by the positioning of the satellite positioning device 700, that is, the first reference position BP-A. Make settings. The first work vehicle 1A corresponds to the field HA1 based on, for example, the first vehicle body position VP1 when traveling inside the field HA1 and the first reference position (setting reference position) BP-A. The first field map MP11 is registered (created). Note that the first field map MP11 may be registered by another method as described later.

As shown in FIG. 5B, even when the second work vehicle 1B is automatically driven, the second field map MP12 for automatic travel is registered in the second work vehicle 1B. For example, the satellite positioning device 700 is installed in the vicinity of the field HB1 on which the second work vehicle 1B works, and the position of the base station is set by the positioning of the satellite positioning device 700, that is, the second reference position BP-B. Make settings. Further, the second work vehicle 1B corresponds to the farm field HB1 based on the second vehicle body position VP2 when traveling inside the farm field HB1 and the second reference position (setting reference position) BP-B. The field map MP12 is created. The second farm field map MP12 may be registered by another method as described later.

Next, the creation of the first farm field map MP11 in the first work vehicle 1A and the creation of the second farm field map MP12 in the second work vehicle 1B will be described in order.
The first farm field map MP11 is created by the automatic driving support device provided in the first work vehicle 1A. The automatic driving support device includes a first vehicle body position acquisition unit 800A, a first reference acquisition unit 801A, and a first map creation unit 802A. The first vehicle body position acquisition unit 800A, the first reference acquisition unit 801A, and the first map creation unit 802A are composed of, for example, electric/electronic components provided in the first display device 100A, programs installed in the display device, and the like. ing. The first reference acquisition unit 801A and the first map creation unit 802A are not limited to the first display device 100A as long as they are provided in the first work vehicle 1A.

The first vehicle body position acquisition unit 800A acquires the first vehicle body position detected by the first positioning device 40A. The first reference acquisition unit 801A acquires the first reference position BP-A detected by the base station (satellite positioning device 700). The first map creation unit 802A determines whether the first vehicle body position acquisition unit 800A obtains the first vehicle body position based on the relative position between the first vehicle body position and the first reference position BP-A obtained by the first reference acquisition unit 801A. A field map MP11 is created.

As shown in FIG. 6, when the worker (driver) performs a predetermined operation on the display device, the first map creation unit 802A displays the map registration screen M1 on the display unit 50 of the first display device 100A. To do. The map registration screen M1 displays a map including fields, field identification information such as field names and field management numbers. The map is associated with position information such as latitude and longitude in addition to image data showing a field.

When the first work vehicle 1A enters the field HA1 and circulates in the field HA1, the first vehicle body position acquisition unit 800A acquires the first vehicle body position VP1 detected by the first positioning device 40A. The first vehicle body position VP1 is displayed on the map registration screen M1 when the first work vehicle 1A orbits. Further, the first reference acquisition unit 801A acquires the first reference position BP-A transmitted from the satellite positioning device 700 via the communication device 43 of the first work vehicle 1A, that is, the set reference position BP-A.

When the orbit of the field HA1 by the first work vehicle 1A is completed and the registration button 51 displayed on the map registration screen M1 is selected, as shown in FIG. 7A, the first map creation unit 802A causes the first work vehicle The travel locus K11 obtained by the plurality of first vehicle body positions VP1 when 1A makes a turn is set as the contour (outer shape) H11 of the field, and the contour H11 is registered as the first field map MP11 together with the field identification information.

As shown in FIG. 7B, the first map creation unit 802A calculates an inflection point from the traveling locus indicated by the first vehicle body position VP1 and registers the contour K12 connecting the inflection points as the first field map MP11. Alternatively, as shown in FIG. 7C, when the first working vehicle 1A goes around, the driver or the like designates the end portion of the farm field by a switch or the like provided on the first working vehicle 1A, and the designated end is designated. The contour K13 connecting the parts may be the first field map MP11.

The position information (latitude, longitude) in the first field map MP11 is expressed as a relative position between the first vehicle body position VP1 measured by the first positioning device 40A and the first reference position BP-A, and the first display device 100A. It is stored in the first storage device 805A provided in the.
The second farm field map MP12 is created by the automatic driving support device provided in the second work vehicle 1B. The automatic driving support device has a second vehicle body position acquisition unit 800B, a second reference acquisition unit 801B, and a second map creation unit 802B. The second vehicle body position acquisition unit 800B, the second reference acquisition unit 801B, and the second map creation unit 802B are composed of, for example, electric/electronic components provided in the second display device 100B, programs installed in the display device, and the like. ing. The second reference acquisition unit 801B and the second map creation unit 802B are not limited to the second display device 100B as long as they are provided in the second work vehicle 1B.

The second vehicle body position acquisition unit 800B acquires the second vehicle body position detected by the second positioning device 40B. The second reference acquisition unit 801B acquires the second reference position BP-B detected by the base station (satellite positioning device 700). The second map creation unit 802B determines the second position based on the relative position between the second vehicle body position acquired by the second vehicle body position acquisition unit 800B and the second reference position BP-B acquired by the second reference acquisition unit 801B. A field map MP12 is created.

As shown in FIG. 6, when the worker (driver) performs a predetermined operation on the display device, the second map creation unit 802B displays the map registration screen M1 on the display unit 50 of the second display device 100B. To do. The map registration screen M1 displays a map including fields, field identification information such as field names and field management numbers. The map is associated with position information such as latitude and longitude in addition to image data showing a field.

When the second work vehicle 1B enters the field HB1 and circulates in the field HB1, the second vehicle body position acquisition unit 800B acquires the second vehicle body position VP2 detected by the second positioning device 40B. The second vehicle body position VP2 is displayed on the map registration screen M1 when the second work vehicle 1B orbits. Further, the second reference acquisition unit 801B acquires the second reference position BP-B transmitted from the satellite positioning device 700 via the communication device 43 of the second work vehicle 1B, that is, the set reference position BP-B.

When the circling of the field HB1 by the second work vehicle 1B is completed and the registration button 51 displayed on the map registration screen M1 is selected, as shown in FIG. 7A, the second map creation unit 802B causes the second work vehicle The travel locus K21 obtained by the plurality of second vehicle body positions VP2 when 1B goes around is set as the contour (outer shape) H21 of the field, and the contour H21 is registered as the second field map MP12 together with the field identification information.

Note that, as shown in FIG. 7B, the second map creation unit 802B calculates an inflection point from the traveling locus indicated by the second vehicle body position VP2 and registers the contour K22 connecting the inflection points as the second farm field map MP12. Alternatively, as shown in FIG. 7C, when the second work vehicle 1B goes around, the driver or the like designates the end portion of the field by a switch or the like provided on the second work vehicle 1B, and the designated end The contour K23 connecting the parts may be the second field map MP12.

The position information (latitude, longitude) in the second field map MP12 is expressed as a relative position between the second vehicle body position VP2 measured by the second positioning device 40B and the second reference position BP-B, and the second display device 100B. Stored in the second storage device 805B provided in.
As shown in FIG. 8A, in the first work vehicle 1A, when the registration of the first field map MP11 is completed, the planned travel route L1 is created in the registered first field map MP11. Further, as shown in FIG. 8B, in the second work vehicle 1B, when the registration of the second field map MP12 is completed, the planned travel route L1 is created in the registered second field map MP12. For convenience of explanation, the planned travel route L1 corresponding to the first work vehicle 1A is referred to as “first planned travel route L1”, and the planned travel route L1 corresponding to the second work vehicle 1B is referred to as “second planned travel route L1. ".

Next, the creation of the first planned travel route L1 will be described.
The creation of the first planned travel route L1 is performed by the automatic travel support device provided in the first work vehicle 1A. The automatic driving support device includes a first route creation unit 807A. The first route creation unit 807A includes, for example, electric/electronic components provided in the first display device 100A, programs installed in the display device, and the like. The first route creation unit 807A creates a first planned travel route L1 for performing automatic travel on the first field map MP11. The first route creating unit 807A is not limited to the first display device 100A as long as it is provided in the first work vehicle 1A.

As shown in FIG. 9, when a worker (driver) performs a predetermined operation on the first display device 100A, the first route creation unit 807A displays a route setting screen M3. The route display portion 85 of the route setting screen M3 displays the first field map MP11. When the enter button 99 is selected after the headland width W1 is input to the headland width input unit 82, the first route creation unit 807A causes the headland map MP11 displayed on the route display unit 85 to display the headland The work area A2 excluding the area A1 is displayed. When the determination button 99 is selected after the work width W2 is input to the work width input unit 88, the first route creation unit 807A causes the first route creation unit 807A to determine a predetermined field, that is, the first field map, based on the work width W2. A plurality of unit work sections A3n (n: number of unit work sections) are created in MP11. Specifically, as shown in FIG. 10A, the first route creation unit 807A divides the work area A2 by the work width W2 in the vertical direction or the horizontal direction, and thereby, the plurality of unit work sections in which the work device 2 performs work. A3n is created in the work area A2. That is, the first route creation unit 807A 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. 10B, the first route creation unit 807A 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.

When the setting of the unit work section A3 is completed, the first route creation unit 807A creates the first scheduled travel route L1. As shown in FIG. 8A, the first route creating unit 807A creates a straight traveling unit (straight traveling route) L1a in which the traveling vehicle 3 travels straight for each unit work section A3. The first route creation unit 807A creates a turning portion (straight ahead route) L1b in which the traveling vehicle 3 turns in the headland area A1.

Next, the creation of the second scheduled travel route L1 will be described.
Creation of the second scheduled travel route L1 is performed by the automatic travel support device provided in the first work vehicle 1A. The automatic driving support device includes a second route creation unit 807B. The second route creation unit 807B is composed of, for example, electric/electronic components provided in the second display device 100B, programs installed in the display device, and the like. The second route creation unit 807B creates a second planned travel route L1 for performing automatic travel on the second field map MP12. The second route creation unit 807B is not limited to the second display device 100B as long as it is provided in the second work vehicle 1B.

The second planned travel route L1 in the second route creation unit 807B is the same as the first planned travel route L1. In the description of the first planned travel route L1 described above, the “first planned travel route L1” is the “second planned travel route”, the “first display device 100A” is the “second display device 100B”, and “first route creation”. If "part 807A" is read as "second route creation part 807B" and "first field map MP11" is read as "second field map MP12", the description of creation of the second planned travel route L1 is made, so the reading is applied. By doing so, detailed description is omitted.

According to the above, in each of the first work vehicle 1A and the second work vehicle 1B, registration of the first field map MP11, registration of the second field map MP12, creation of the first planned travel route L1, and second planned travel route. L2 can be created.
Now, in each of the first work vehicle 1A and the second work vehicle 1B, when performing automatic traveling, both the first work vehicle 1A and the second work vehicle 1B acquire the current reference position of the satellite positioning device 700. Then, the vehicle automatically travels based on the reference position of the satellite positioning device 700. As shown in FIG. 11A, when the first work vehicle 1A independently travels in the field HA1, the current reference position (acquisition reference position) BP-Q of the satellite positioning device 700 is acquired and acquired. When the reference position (acquisition reference position) BP-Q that matches the first reference position BP-A when the first field map MP11 of the field HA1 is registered, while acquiring the correction information from the satellite positioning device 700, The first automatic travel control unit 61A controls the automatic travel such that the first vehicle body position matches the first planned travel route L1 set in the first field map MP11.

As shown in FIG. 11B, even when the second work vehicle 1B is automatically traveling alone in the field HB1, the current reference position (acquisition reference position) BP-Q of the satellite positioning device 700 is acquired and the acquisition is performed. When the determined reference position (acquisition reference position) BP-Q matches the second reference position BP-B when the second field map MP12 of the field HA2 is registered, while acquiring the correction information from the satellite positioning device 700, The second automatic travel control unit 61B controls the automatic travel such that the second vehicle body position matches the second planned travel route L1 set in the second field map MP12.

Further, as shown in FIGS. 12A and 12B, one satellite positioning device 700 is installed near the field HA1 and the field HB1, and the first work vehicle 1A automatically travels in the field HA1. 2 The work vehicle 1B may perform automatic traveling in the field HB1. That is, both the first work vehicle 1A and the second work vehicle 1B may automatically travel using the common satellite positioning device 700. In such a case, for example, the first field map MP11 is corrected and the vehicle automatically travels.

Specifically, the automatic travel support device for the first work vehicle 1A includes a reference position acquisition unit 810A and an automatic travel map correction unit 811A. The reference position acquisition unit 810A and the automatic travel map correction unit 811A are configured by electric/electronic components provided in the first display device 100A, programs installed in the display device, and the like. The reference position acquisition unit 810A and the automatic travel map correction unit 811A are not limited to the first display device 100A as long as they are provided in the first work vehicle 1A.

The reference position acquisition unit 810A acquires a reference position different from the first reference position BP-A registered in the first work vehicle 1A when performing automatic traveling. For example, in FIGS. 12A and 12B, the satellite positioning device 700 is installed at the second reference position BP-B before the first work vehicle 1A starts the automatic traveling, and the second work vehicle 1B is set to the field HB1 (the first work vehicle HB1). It is assumed that the vehicle is automatically traveling on the 2 field map MP12). Consider the case where the first work vehicle 1A automatically travels in the field HA1 in such a situation.

As shown in FIG. 12A, when the first work vehicle 1A and the second work vehicle 1B are within the communication area of the communication device 43 and can communicate with each other, the first work vehicle 1A starts automatic traveling in the field HA1. Before performing the above, the reference position acquisition unit 810A connects to the second work vehicle 1B via the communication device 43 (S1). When the second work vehicle 1B receives the connection from the first work vehicle 1A (S2), the second work vehicle 1B first sets the second reference position BP-B associated with the second field map MP12. It is transmitted to the work vehicle 1A (S3). The reference position acquisition unit 810A receives the second reference position BP-B transmitted from the second work vehicle 1B (S4).

As shown in FIG. 12B, when the first work vehicle 1A and the second work vehicle 1B are outside the communication area of the communication device 43 and cannot communicate with each other, the first work vehicle 1A starts automatic traveling in the field HA1. Before performing, the reference position acquisition unit 810A inquires the satellite positioning device 700 about the reference position via the communication device 43 (S10). When the satellite positioning device 700 receives the inquiry from the reference position acquisition unit 810A (S11), the satellite positioning device 700 transmits the current reference position, that is, the second reference position BP-B to the first work vehicle 1A. (S12). The reference position acquisition unit 810A receives the second reference position BP-B transmitted from the satellite positioning device 700 (S13).

In the automatic travel map correction unit 811A, the second reference position BP-B acquired by the reference position acquisition unit 810A is different from the first reference position BP-A associated with the first field map MP11 of the first work vehicle 1A. Therefore, based on the deviation between the first reference position BP-A and the second reference position BP-B, the first field map MP11 and the first planned travel route L1 associated with the first field map MP11 are corrected. ..

As shown in FIG. 13, the automatic travel map correction unit 811A includes the first field map MP11 and the first travel schedule for the latitude deviation ΔX between the first reference position BP-A and the second reference position BP-B. Correction for shifting the route L1 is performed. In addition, the automatic travel map correction unit 811A shifts the first field map MP11 and the first planned travel route L1 by the amount of the deviation ΔY in longitude between the first reference position BP-A and the second reference position BP-B. Make a correction. In other words, when the first work vehicle 1A performs automatic traveling with the second reference position BP-B as a reference, the automatic traveling map correction unit 811A sets the first reference position BP-A and the second reference position BP-B as the reference. A new route map MP13 based on the second reference position BP-B is created by shifting the first field map MP11 and the first planned travel route L1 by the deviation (deviation amount).

When the correction of the first field map MP11 (creation of a new route map MP13) by the automatic travel map correction unit 811A is completed, the first automatic travel control unit 61A causes the corrected first field map MP11 and the first planned travel route L1. Based on the (route map MP13), the first work vehicle 1A is automatically driven. That is, the first automatic travel control unit 61A controls the automatic travel such that the first vehicle body position matches the corrected first scheduled travel route L1.

In the embodiment described above, the first work vehicle 1A is provided with the reference position acquisition unit 810A and the automatic travel map correction unit 811A, but the second work vehicle 1B is provided with the reference position acquisition unit 810B and the automatic travel map correction. The portion 811B may be provided. The reference position acquisition unit 810A described above is the “reference position acquisition unit 810B”, the automatic travel map correction unit 811A is the “automatic travel map correction unit 811B”, the first farm field map MP11 is the “second farm field map MP12”, and the first traveling schedule. The route L1 is replaced with the "second planned travel route L1", the first automatic travel control unit 61A is replaced with the "second automatic travel control unit 61B", and the "first work vehicle 1A" and the "second work vehicle 1B" are replaced with each other. , "Field HA1" and "field HB1" are replaced with each other, and "first reference position BP-A" and "second reference position BP-B" are replaced with each other, so that reference position acquisition unit 810B and automatic travel map correction unit Since the description is for 811B, the detailed description is omitted by applying the replacement and the replacement.

According to the above, the vehicle positioning device 40, the map creation unit (first map creation unit 802A, second map creation unit 802B), and the route creation unit (for both the first work vehicle 1A and the second work vehicle 1B). A first route creating unit 807A and a second route creating unit 807B) are provided. Further, both the first work vehicle 1A and the second work vehicle 1B have reference position acquisition units 810A and 810B, automatic travel map correction units 811A and 811B, and an automatic travel control unit (first automatic travel control unit 61A, 2 automatic traveling control unit 61B). Therefore, when the first work vehicle 1A and the second work vehicle 1B are automatically driven using the reference positions (first reference position BP-A, second reference position BP-B) of one base station, By correcting either the first farm field map MP11 or the second farm field map MP12, automatic traveling can be stably performed.

FIG. 14 is a diagram showing an automatic traveling method for a work vehicle for automatically traveling the work vehicle.
As shown in FIG. 14, the vehicle body position (first vehicle body position, second vehicle body position) of the work vehicle (first work vehicle 1A, second work vehicle) is detected before performing the automatic traveling (S110). In the first working vehicle 1A, the first positioning device 40A detects the first vehicle body position, and in the second working vehicle 1B, the second positioning device 40B detects the second vehicle body position.

It is indicated by the relationship between the vehicle body position (first vehicle body position, second vehicle body position) and the relative position between the predetermined set reference position (first reference position BP-A, second reference position BP-B). A field map (first field map MP11, second field map MP12) is created (S111). The first map creation unit 802A creates the first field map MP11, and the second map creation unit 802B creates the second field map MP12.

A planned travel route L1 for automatic travel is created in the farm field map (first farm field map MP11, second farm field map MP12) (S112). The first route creation unit 807A creates the first planned travel route L1 in the first field map MP11, and the second route creation unit 807B creates the second planned travel route L1 in the second field map MP12.
After creating the planned traveling route L1 and before starting the automatic traveling, the reference position is acquired (S113). When the acquired reference position, which is the acquired reference position, is different from the set reference position, the field map and the planned travel route L1 are corrected based on the deviation between the acquired reference position and the set reference position (S114). When the acquisition reference position is the first reference position BP-A and the setting reference position is the second reference position BP-B, the first field map MP11 and the first planned travel route L1 are corrected. When the acquisition reference position is the second reference position BP-B and the setting reference position is the first reference position BP-A, the second field map MP12 and the second planned travel route L1 are corrected. The traveling vehicle is automatically driven based on the corrected field map and the planned traveling route L1 (S115).

When the first field map MP11 and the first planned travel route L1 are corrected, the first automatic travel control unit 61A of the first work vehicle 1A sets the first vehicle body position to match the corrected first planned travel route L1. To automatically drive. When the second field map MP12 and the second planned travel route L1 are corrected, the second automatic travel control unit 61B of the second work vehicle 1B sets the second vehicle body position to match the corrected second planned travel route L1. To automatically drive.

As described above, the first work vehicle 1A and the second work vehicle 1B are automatically traveled using the reference positions (first reference position BP-A and second reference position BP-B) of one base station. In this case, by correcting either the first farm field map MP1 or the second farm field map MP12, automatic traveling can be stably performed.
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.

1: Work vehicle 1A: First work vehicle 1B: Second work vehicle 40: Vehicle positioning device 40A: First positioning device 40B: Second positioning device 100: Display device 800A: First vehicle body position acquisition unit 800B: Second vehicle body Position acquisition unit 801A: first reference acquisition unit 801B: second reference acquisition unit 802A: first map creation unit 802B: second map creation unit 805A: first storage device 805B: second storage device 807A: first route creation unit 807B: Second route creation unit 810A: Reference position acquisition unit 810B: Reference position acquisition unit 811A: Automatic travel map correction unit 811B: Automatic travel map correction unit

Claims (6)

A first vehicle body position acquisition unit that acquires a first vehicle body position detected by a first positioning device provided in the first work vehicle;
A first reference acquisition unit that acquires the first reference position detected by the base station;
A first map creation unit that creates a first field map based on the relative position between the first vehicle body position acquired by the vehicle body position acquisition unit and the first reference position acquired by the first reference acquisition unit;
A first route creation unit that creates a planned travel route for automatic travel on the first field map;
A first automatic travel control unit that automatically travels the first work vehicle based on the planned travel route of the first field map;
A reference position acquisition unit that acquires a second reference position different from the first reference position,
An automatic travel map correction unit that corrects the first field map and the planned travel route based on a deviation between the first reference position and the second reference position,
Automatic driving support device. When the first work vehicle is automatically driven together with the second work vehicle, the first automatic travel control unit is based on the first farm field map and the planned travel route corrected by the automatic travel map correction unit. The automatic driving support device according to claim 1, wherein the first working vehicle is automatically driven. A second vehicle body position acquisition unit that acquires a second vehicle body position detected by a second positioning device provided in the second work vehicle;
A second reference acquisition unit that acquires a second reference position detected by the base station;
A second map creation unit that creates a second farm field map based on the relative position between the second vehicle body position acquired by the vehicle body position acquisition unit and the second reference position acquired by the second reference acquisition unit;
A second route creation unit that creates a planned travel route for automatic travel on the second field map;
The automatic driving support device according to claim 1, further comprising: The automatic travel assistance device according to claim 3, further comprising a second automatic travel control unit that automatically travels the second work vehicle based on the planned travel route of the second field map. A vehicle positioning device capable of detecting the vehicle body position of a traveling vehicle,
A vehicle body position detected by the vehicle positioning device, and a map creating unit that creates a farm field map indicated by a relationship between a relative position and a preset reference position,
A route creation unit that creates a planned travel route for automatic travel on the field map created by the map creation unit,
A reference position acquisition unit for acquiring the reference position,
When the acquisition reference position which is the reference position acquired by the reference position acquisition unit is different from the setting reference position, the field map and the planned traveling route are corrected based on the deviation between the acquisition reference position and the setting reference position. An automatic driving map correction unit,
An automatic traveling control unit for automatically traveling the traveling vehicle based on the corrected field map and the planned traveling route;
Work vehicle equipped with. A method for automatically driving a work vehicle for automatically driving the work vehicle, comprising:
Detecting the body position of the work vehicle,
A step of creating a farm field map indicated by a relationship between the vehicle body position and a relative position with a preset reference position,
A step of creating a planned travel route for automatic travel on the farm field map,
Obtaining a reference position,
When the acquisition reference position that is the acquired reference position is different from the setting reference position, based on the deviation between the acquisition reference position and the setting reference position, a step of correcting the field map and the planned travel route,
A step of automatically traveling the traveling vehicle based on the corrected field map and the planned traveling route;
A method for automatically driving a work vehicle.

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