JP2020106974A - Travel assistance device, work vehicle equipped with the same, and travel assistance method - Google Patents

Abstract

To allow for generating a planned travel route that allows for performing work while self-driving at any position in a farm field.SOLUTION: A travel assistance device for generating a planned travel route for a travel vehicle coupled with a work machine is provided, the travel assistance device comprising: a map acquisition unit for acquiring a farm field map of a specific farm field; a route generation unit for generating a planned travel route on the farm field map acquired by the map acquisition unit; and a route shifting unit for shifting the planned travel route generated by the route generation unit on the farm field map.SELECTED DRAWING: Figure 1

Description

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

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) can be created in an inner area different from the outer circumference area. However, only the inner area, that is, only the central part of the field becomes the planned travel route. As a result, there is a problem that work can be performed only in the central portion of the field.
Therefore, in view of the above problems, the present invention includes a traveling support device and a traveling support device capable of creating a planned traveling route such that work can be performed while automatically traveling at an arbitrary position in a field. It is an object of the present invention to provide a work vehicle and a driving support method.

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 moving unit that moves the planned traveling route created by the route creating unit with respect to the farm field map.

The travel support device includes a display unit that displays the farm field map and the planned travel route, and the route moving unit, when the planned travel route displayed on the display unit is selected, travels to the farm field map. When the movement of the route is permitted and the movement of the permitted planned traveling route is completed, the position data of the planned traveling route is changed from the position data of the planned traveling route before the movement to the planned traveling route after the movement.

The route creation unit has a route addition unit that adds a new planned travel route to an empty area formed in the farm field map by moving the planned travel route.
The travel assistance device includes a machine acquisition unit that acquires machine identification information that identifies the work device, and the route moving unit changes the planned travel route of the work device that corresponds to the machine identification information acquired by the machine acquisition unit. When the work device is permitted, the travel scheduled route is permitted to move with respect to the farm field map.

The route moving unit does not allow the planned traveling route to move with respect to the farm field map when the working device corresponding to the machine identification information is a working device that is not permitted to change the planned traveling route. ..
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 travel support method is a travel support method for creating a planned travel route of a traveling vehicle to which a work device is connected, and a step of acquiring a field map in a predetermined field, and traveling on the field map acquired by the map acquisition unit. The method includes the steps of creating a planned route and the step of moving the created planned traveling route with respect to the farm field map.

According to the present invention, it is possible to create a planned traveling route that enables work to be performed while automatically traveling at an arbitrary position in a field.

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 a figure showing movement of a run schedule route. It is a figure which shows the relationship between machine identification information and the permission and prohibition condition data. It is a figure which adds the planned driving route L1. It is a figure which shows a driving assistance method. 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 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. 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 so 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 route creation unit 105 that creates a planned travel route L1 and a map acquisition unit 120. The route creation unit 105 and the map acquisition unit 120 are configured by electric/electronic circuits provided in the display device, programs 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 enter 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 1
For 05, a plurality of unit work sections A3n having a width W4 obtained by dividing the work width W2 by the overlap width W3 may be created 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. As shown in FIG. 1, the route creating unit 105 includes a straight travel 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.
The planned travel route L1 created by the route creation unit 105 can be moved with respect to the farm field map MP2 to change the position of the planned travel route L1 with respect to the farm field map MP2.

The display device includes a route moving unit 250 that moves the planned traveling route L1 with respect to the farm field map MP2. The route moving unit 250 is composed of an electric/electronic circuit provided in the display device, a program stored in the display device, and the like. Specifically, when the move button 251 displayed on the route setting screen M3 is selected, the route moving unit 250 permits movement of the planned travel route L1 created by the route creating unit 105. The planned traveling route L1 is moved by the pointer 252 displayed on the route display portion 85 of the route setting screen M3. As shown in FIG. 9, when the planned travel route L1 displayed on the route display unit 85 is selected by the pointer 252, the route movement unit 250 causes the entire planned travel route L1 (block B10 indicating the entire planned travel route L1). Is in a movable state (moving is permitted). When the pointer 252 is moved to the left, right, up, and down in the field map MP2 while the block B10 is movable, the route moving unit 250 moves the block B10 along with the movement of the pointer 252. The block B10 is movable in the entire farm field map MP2, for example, in all areas surrounded by the vertical L40 and the horizontal L41 of the farm field map MP2, and may be moved to the headland area A1 beyond the work area A2. Is possible.

When the enter button 99 is selected after moving the pointer 252 to an arbitrary position on the route display unit 85, the route moving unit 250 completes the movement of the block B10.
When the movement of the block B10 is completed (the movement of the permitted planned traveling route L1 is completed), the route moving unit 250 updates the position data of the planned traveling route L1 before the movement to the planned traveling route L1 after the movement. .. For example, the position data X1j, Y1k (j=1, 2, 3..., k=1, 2, 3...) of the planned travel route L1 before the movement and the position data of the planned travel route L1 after the movement are set. When X2j, Y2k (j=1, 2, 3,..., K=1, 2, 3...), the route moving unit 250 converts the position data of the planned travel route L1 into the position data X1j, Y1k. To position data X2j, Y2k. After changing the position data of the planned travel route L1 to the position data X2j and Y2k, the changed position data of the planned travel route L1 is stored in the route storage unit 109 of the display device.

According to the above, as shown in FIG. 9, when the planned travel route L1 is set in the work area A2 and then the planned travel route L1 is to be moved in the field map MP2, that is, the position of the planned travel route L1 is changed. In this case, the route moving unit 250 can change the position.
The permission to move the planned travel route L1 may be given based on the work device 2 that performs the work. The display device includes a machine acquisition unit 254. The machine acquisition unit 254 includes an electric/electronic circuit provided in the display device, a program stored in the display device, and the like. The machine acquisition unit 254 acquires machine identification information that identifies the work device 2. For example, when the model, model number, name or the like indicating the work device 2 is input to the machine input unit 258 displayed on the route setting screen M3, the machine acquisition unit 254 causes the machine identification unit 254 to be the model, model number, name, or the like that is machine identification information. To get.

When the work device 2 corresponding to the machine identification information acquired by the machine acquisition unit 254 is the work device 2 that is permitted to change the planned travel route L1, the planned travel route L1 is set in the field map MP2. Allowed to move relative to. As shown in FIG. 10, the display device stores condition identification data in which machine identification information (model, model number, name, etc.) and movement permission/non-permission are associated with each other. The route moving unit 250 refers to the condition data and searches whether the work device 2 corresponding to the machine identification information input to the machine input unit 258 is permitted or not permitted to move. When the work device 2 corresponding to the machine identification information is the work device 2 that is not permitted to change the planned travel route L1, the route moving unit 250 permits the planned travel route L1 to move with respect to the farm field map. do not do.

According to this, it is possible to allow the movement of the planned travel route L1 or not allow the movement according to the work of the work device 2. For example, when the work device 2 is a ridge device, by permitting the movement of the planned traveling route L1, the planned traveling route L1 can be brought close to the end of the field map MP2. On the other hand, when the working device 2 is a cultivating device, the headland area A1 can be left on both sides of the planned travel route L1 by disallowing the movement of the planned travel route L1. Can be cultivated at the end.

As shown in FIG. 11, when the planned traveling route L1 is moved to the right end of the farm field map MP2 by the route moving unit 250, an empty area A8 is formed in the farm field map MP2. Here, it is possible to add a new scheduled travel route L1 to the empty area A8.
The route creation unit 105 has a route addition unit 105C. The route adding unit 105C adds a new planned traveling route L1 to the empty area A8. Specifically, when the add button 255 displayed on the route setting screen M3 is selected, the route adding unit 105C adds the unit work section A3n to the empty area A8 and adds the added unit, as shown in FIG. The straight-ahead portion Lna is created in the work section A3n. In addition, the route adding unit 105C creates the turning portion Lnb that connects the ends of the added straight traveling portion Lna. The width (W2, W4) of the unit work section A3n is the same as the width (W2, W4) of the unit work section A3n before the planned travel route L1 is added. The number of unit work sections A3n to be added can be determined by, for example, the additional input unit 256 input to the route setting screen M3. The width of the empty area A8 may be divided by the width (W2, W4) of the unit work section A3n, and the number to be added to the unit work section A3n may be automatically determined based on the quotient when the division is performed.

According to the above, by moving the planned travel route L1, it is possible to add the planned travel route L1 when the empty area A8 is formed in the farm field map MP2. For example,
When the working device 2 is a ridge forming device, it is possible to increase the number of ridges in a predetermined field and to cultivate a larger number of crops with the ridges.
FIG. 12 is a diagram showing a driving support method for creating the planned driving route L1.

As shown in FIG. 12, the farm field map MP2 that creates the planned travel route L1 is acquired (S80). The headland area A1 and the work area A2 are set in the field map MP2 (S81). The work width W2 of the work device 2 is acquired (S82). A plurality of unit work sections A3n are created in the work area A2 using the work width W2 (S83).
A planned travel route L1 is created based on the work area A2 (S84). In creating the planned travel route L1, the straight-ahead section Lna is created in each of the unit work sections A3n of the work area A2 (S84-1), and the turning section Lnb is created in the headland area A1 (S84-2). After the planned travel route L1 is created, the created planned travel route L1 is moved with respect to the farm field map MP2 (S85). On the planned traveling route L1, the block B10 indicating the entire planned traveling route L1 is selected by the pointer 252 (S85-1). By moving the pointer 252, the block B10 is moved to an arbitrary position on the farm field map MP2 (S85-2). After the movement of the block B10 is completed, the position data of the planned traveling route L1 is changed from the position data of the planned traveling route L1 before the movement to the position data of the planned traveling route L1 after the movement (S85-3).

As described above, according to the travel support device, the work vehicle, and the travel support method, after the planned travel route L1 is set in the field map MP2, the set planned travel route L1 can be moved in any direction. That is, the position of the planned travel route L1 can be arbitrarily changed in the field map MP2. Therefore, in the case of ridge work or the like, the planned traveling route L1 can be set at the end of the field. When the planned travel route L1 is moved in the field map MP2 and the empty area A8 is formed, the planned travel route L1 can be added to the empty area A8 and the automatic travel is performed over the entire field. You can work while doing.

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: Working vehicle (tractor)
50: display unit 61: automatic travel control unit 100: travel support device 105: route creation unit 120: map acquisition unit 250: route moving unit 254: machine acquisition 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;
A route moving unit that moves the planned traveling route created by the route creating unit with respect to the farm field map;
Driving assistance device. A display unit for displaying the farm field map and the planned travel route;
The route moving unit, when the planned traveling route displayed on the display unit is selected, permits movement of the planned traveling route with respect to the field map, and when the permitted planned traveling route is completed, travels. The travel assistance device according to claim 1, wherein the position data of the planned route is changed from the position data of the planned traveling route before the movement to the planned traveling route after the movement. The route creating unit includes a route adding unit that adds a new planned traveling route to an empty area formed in the farm field map by moving the planned traveling route. Driving support device. A machine acquisition unit for acquiring machine identification information for identifying the working device;
The route moving unit moves the planned traveling route with respect to the farm field map when the working device corresponding to the machine identification information acquired by the machine acquisition unit is a working device permitted to change the planned traveling route. The travel support device according to any one of claims 1 to 3, wherein the travel support device is permitted. The route moving unit does not allow the planned traveling route to move with respect to the farm field map when the working device corresponding to the machine identification information is a working device that is not permitted to change the planned traveling route. The driving assistance device according to claim 4. 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. A driving support method for creating a planned travel route of a traveling vehicle to which a work device is connected,
Acquiring a field map for a given field,
Creating a planned travel route in the field map acquired by the map acquisition unit,
A step of moving the created planned travel route with respect to the farm field map;
A driving support method that is equipped with.

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