JP2021074007A - Travel route generating method and travel route generating system - Google Patents

Abstract

To grasp easily a positional relation of a first work vehicle or a second work vehicle, and to set easily a travel route.SOLUTION: In a travel route generating method which is a method for generating a travel route where a first work vehicle and a second work vehicle can work while running side by side, combinations in which a work arrangement position of the second work vehicle to the first work vehicle can be arranged are displayed side by side, on a touch-operable screen, and can be selected optionally.SELECTED DRAWING: Figure 7

Description

The present invention relates to a traveling route setting device that generates a traveling route in which a first working vehicle and a second working vehicle can work in parallel.

Conventionally, a technique of displaying a menu screen on a display device provided with a touch panel type display unit and inputting / teaching position data, work contents, work width, display grid line spacing, etc. by touch keys has become known. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2000-14208

In the above technique, simply by pressing the route display key, a traveling / working route with high work efficiency is set and displayed in consideration of the field division, the current position of the vehicle, the field, the work content, and the like. However, since there is only one work vehicle, it is not considered to work with two work vehicles at the same time, and if two work vehicles work at the same time to improve work efficiency, each work vehicle The travel route must be set for each. Moreover, when the travel route of one work vehicle is set, the other work vehicle is not displayed, so that the traveling states of each other are difficult to understand.

The present invention has been made in view of the above situations, and when two work vehicles work at the same time and the setting screen is opened, the two work vehicles are displayed on the screen.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.
That is, claim 1 is a method of generating a traveling route in which the first work vehicle and the second work vehicle can work in parallel, and the work of the second work vehicle with respect to the first work vehicle. The arrangement position can be arbitrarily selected by displaying the arrangementable combinations side by side on the touch-operable screen.

By using the above means, the operator can easily set the work traveling route simply by setting the work positional relationship between the first work vehicle and the second work vehicle, and the work positional relationship is also easy. You will be able to recognize it.

Schematic side view of the first work vehicle and the second work vehicle. Control block diagram. The figure which shows the setting screen. The figure which shows the work machine setting screen. The figure which shows the work machine setting screen of another embodiment. The figure which shows the set running path when the 1st work vehicle and the 2nd work vehicle are arranged diagonally in front, back, left and right, and work. The figure which shows the other set running path when the 1st work vehicle and the 2nd work vehicle are arranged diagonally in front, back, left and right. The figure which shows the other set running path when the 1st work vehicle and the 2nd work vehicle are arranged diagonally in front, back, left and right. The figure which shows the set traveling route when the 2nd working vehicle travels and works behind the 1st working vehicle. The figure which shows the set traveling route when the 2nd work vehicle travels behind the 1st work vehicle, and the work machine is different. The figure which shows the set traveling route when the 1st work vehicle and the 2nd work vehicle are arranged side by side and work. The figure which shows the set running route when the 1st work vehicle and the 2nd work vehicle are arranged side by side and perform different work.

The first work vehicle and the second work vehicle that work while running side by side are considered to be unmanned or manned tractors. First, the first work vehicle, which is a typical combination, is an autonomous traveling work vehicle 1 capable of automatically traveling unmanned, and the second work vehicle accompanies the first work vehicle and is steered by an operator. An embodiment in which the accompanying traveling work vehicle 100 is used will be described. The rotary tillage devices 24 and 224 are mounted as work machines on the autonomous traveling work vehicle 1 which is the first work vehicle and the accompanying traveling work vehicle 100 which is the second work vehicle. However, the first work vehicle and the second work vehicle are not limited to the tractor and may be a combine or the like, and the work machine is not limited to the rotary tiller 24. It may be a machine, a disinfectant, a harvester, or the like.

In FIGS. 1 and 2, the overall configuration of the tractor serving as the autonomous traveling work vehicle 1 will be described. The engine 3 is installed in the bonnet 2, the dashboard 14 is provided in the cabin 11 at the rear of the bonnet 2, and the steering handle 4 serving as a steering operation means is provided on the dashboard 14. The rotation of the steering handle 4 rotates the directions of the front wheels 9.9 via the steering device. The steering direction of the autonomous traveling work vehicle 1 is detected by the steering sensor 20. The steering sensor 20 includes an angle sensor such as a rotary encoder, and is arranged at a rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited as long as it recognizes the steering direction, and may detect the rotation of the steering handle 4 or the operating amount of the power steering. The detected value obtained by the steering sensor 20 is input to the control device 30. The control device 30 includes a CPU (central processing unit), a storage device 30m such as RAM and ROM, an interface, and the like, and the storage device 30m stores programs, data, and the like for operating the autonomous traveling work vehicle 1.

The driver's seat 5 is arranged behind the steering wheel 4, and the mission case 6 is arranged below the driver's seat 5. Rear axle cases 8 and 8 are connected to the left and right sides of the mission case 6, and rear wheels 10 and 10 are supported on the rear axle cases 8 and 8 via axles. The power from the engine 3 is changed by the transmission (main transmission and auxiliary transmission) in the transmission case 6, and the rear wheels 10 and 10 can be driven. The transmission is composed of, for example, a hydraulic continuously variable transmission, and the movable swash plate of the variable displacement hydraulic pump is operated by a transmission means 44 such as a motor to enable shifting. The speed change means 44 is connected to the control device 30. The rotation speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and input to the control device 30 as the traveling speed. However, the vehicle speed detection method and the arrangement position of the vehicle speed sensor 27 are not limited.

A PTO clutch and a PTO transmission are housed in the mission case 6, the PTO clutch is turned on and off by the PTO on / off means 45, the PTO on / off means 45 is connected to the control device 30, and power is disconnected and disconnected from the PTO shaft. It is controllable.

A front axle case 7 is supported on the front frame 13 that supports the engine 3, front wheels 9.9 are supported on both sides of the front axle case 7, and power from the mission case 6 can be transmitted to the front wheels 9.9. It is configured in. The front wheels 9 and 9 are steering wheels, which can be rotated by rotating the steering handle 4, and the front wheels 9 and 9 are steered left and right by a steering actuator 40 composed of a power steering cylinder which is a driving means of the steering device. It is rotatable. The steering actuator 40 is connected to the control device 30 and is controlled and driven by the automatic traveling means.

An engine controller 60, which is an engine rotation control means, is connected to the control device 30, and an engine rotation speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like are connected to the engine controller 60 so that the state of the engine can be detected. The engine controller 60 detects the load from the set rotation speed and the actual rotation speed, controls the load so as not to cause an overload, and transmits the state of the engine 3 to the remote control device 112, which will be described later, so that the display device 113 can display the state. ing.

Further, a level sensor 29 for detecting the fuel level is arranged in the fuel tank 15 arranged below the step and connected to the control device 30, and the display means 49 provided on the dashboard of the autonomous traveling work vehicle 1 is used for fuel. A fuel gauge that displays the remaining amount is provided and connected to the control device 30. Then, the control device 30 transmits information on the remaining fuel amount to the remote control device 112, and the display device 113 of the remote control device 112 can display the remaining fuel amount and the workable time.

On the dashboard 14, an engine tachometer, a fuel gauge, a monitor indicating an abnormality, a monitor indicating an abnormality, and a display means 49 for displaying a set value and the like are arranged.

Further, a rotary tillage device 24 is mounted on the rear side of the tractor body as a work machine via a work machine mounting device 23 so as to be able to move up and down. An elevating cylinder 26 is provided on the mission case 6, and by expanding and contracting the elevating cylinder 26, the elevating arm constituting the work equipment mounting device 23 can be rotated to raise and lower the rotary tillage device 24. The elevating cylinder 26 is expanded and contracted by the operation of the elevating actuator 25, and the elevating actuator 25 is connected to the control device 30.

A mobile communication device 33 constituting a satellite positioning system is connected to the control device 30. A mobile GPS antenna 34 and a data receiving antenna 38 are connected to the mobile communication device 33, and the mobile GPS antenna 34 and the data receiving antenna 38 are provided on the cabin 11. The mobile communication device 33 is provided with a position calculation means to transmit latitude and longitude to the control device 30 so that the current position can be grasped. In addition to GPS (USA), satellite positioning systems (GNSS) such as the Quasi-Zenith Satellite (Japan) and Glonass Satellite (Russia) can be used for highly accurate positioning. However, in this embodiment, GPS is used. explain.

The autonomous traveling work vehicle 1 is provided with a gyro sensor 31 for obtaining posture change information of the machine body and an orientation sensor 32 for detecting the traveling direction, and is connected to the control device 30. However, since the traveling direction can be calculated from the GPS position measurement, the directional sensor 32 can be omitted. The gyro sensor 31 detects the angular velocity of the tilt (pitch) of the autonomous traveling work vehicle 1 in the front-rear direction of the machine body, the angular velocity of the tilt (roll) in the left-right direction of the machine body, and the angular velocity of the turn (yaw). By integrating and calculating the three angular velocities, it is possible to obtain the tilt angle and the turning angle of the body of the autonomous traveling work vehicle 1 in the front-rear direction and the left-right direction. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid type gyro sensor, a vibration type gyro sensor, and the like. The gyro sensor 31 is connected to the control device 30, and inputs information related to the three angular velocities to the control device 30.

The directional sensor 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. Specific examples of the directional sensor 32 include a magnetic directional sensor and the like. The azimuth sensor 32 is connected to the control device 30 and inputs information related to the orientation of the aircraft to the control device 30.

In this way, the control device 30 calculates the signals acquired from the gyro sensor 31 and the direction sensor 32 by the attitude / direction calculation means, and the attitude (direction, inclination in the front-rear direction and the left-right direction of the machine, and turning direction) of the autonomous traveling work vehicle 1. ).

Next, a method of acquiring the position information of the autonomous traveling work vehicle 1 by using GPS (Global Positioning System) will be described. GPS is a system originally developed for navigation support for aircraft, ships, etc., and has 24 GPS satellites (4 each on six orbital planes) and GPS satellites that orbit about 20,000 kilometers above the sky. It consists of a control station that tracks and controls the satellite, and a user's communication device that performs positioning. Examples of the positioning method using GPS include various methods such as independent positioning, relative positioning, DGPS (differential GPS) positioning, and RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in the present embodiment, the RTK-GPS positioning method having high measurement accuracy is adopted, and this method will be described with reference to FIGS. 1 and 2.

In RTK-GPS (Real-time Kinematic-GPS) positioning, GPS observation is performed simultaneously by a reference station whose position is known and a mobile station that seeks the position, and the data observed by the reference station is used as a mobile station by radio or other means. This is a method of transmitting to the GPS in real time and finding the position of the mobile station in real time based on the position result of the reference station.

In the present embodiment, the mobile communication device 33, the mobile GPS antenna 34, and the data reception antenna 38, which are mobile stations, are arranged on the autonomous traveling work vehicle 1, and the fixed communication device 35, the fixed GPS antenna 36, and the data transmission antenna, which are reference stations, are arranged. 39 is arranged in a predetermined position that does not interfere with the work in the field. In the RTK-GPS (real-time kinematic-GPS) positioning of the present embodiment, the phase is measured (relative positioning) by both the reference station and the mobile station, and the data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39. It transmits to the data receiving antenna 38.

The mobile GPS antenna 34 arranged in the autonomous traveling work vehicle 1 receives signals from GPS satellites 37, 37, .... This signal is transmitted to the mobile communication device 33 for positioning. At the same time, the fixed GPS antenna 36, which serves as a reference station, receives signals from GPS satellites 37, 37, ..., Positions them with the fixed communication device 35, transmits them to the mobile communication device 33, analyzes the observed data, and moves. Determine the location of the station. The position information thus obtained is transmitted to the control device 30.

In this way, the control device 30 in the autonomous traveling work vehicle 1 is provided with the automatic traveling means for automatically traveling, and the automatic traveling means receives the radio waves transmitted from the GPS satellites 37, 37 ... And sets them in the mobile communication device 33. The position information of the aircraft is obtained at time intervals, the displacement information and orientation information of the aircraft are obtained from the gyro sensor 31 and the orientation sensor 32, and the aircraft follows a preset path R set in advance based on the position information, the displacement information and the orientation information. The steering actuator 40, the speed change means 44, the elevating actuator 25, the PTO on / off means 45, the engine controller 60, and the like are controlled so that the vehicle can automatically travel and work automatically. The position information of the outer circumference of the field H, which is the work range, is also set in advance by a well-known method and stored in the storage device 30 m.

Further, an obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and is connected to the control device 30 so as not to come into contact with the obstacle. For example, the obstacle sensor 41 is composed of a laser sensor and an ultrasonic sensor, is arranged at the front, side, and rear of the airframe and is connected to the control device 30, and there are obstacles in front, side, and rear of the airframe. It detects whether or not, and controls to stop running when an obstacle approaches within the set distance.

Further, the autonomous traveling work vehicle 1 is equipped with a camera 42F for photographing the front, a work machine behind, and a camera 42R for photographing the state after the work, and is connected to the control device 30. In the present embodiment, the cameras 42F and 42R are arranged on the front part and the rear part of the roof of the cabin 11, but the arrangement position is not limited, and the cameras 42F and 42R are arranged on the front part and the rear part in the cabin 11 or one camera. The 42 may be arranged at the center of the airframe and rotated around the vertical axis to photograph the surroundings, or a plurality of cameras 42 may be arranged at the four corners of the airframe to photograph the surroundings of the airframe. The images taken by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided in the accompanying traveling work vehicle 100.

The remote control device 112 sets a travel path R of the autonomous traveling work vehicle 1, remotely controls the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operating state of the working machine, and so on. It stores work data, and includes a control device (CPU and memory) 119, a communication device 111, a display device 113, and the like.

The accompanying traveling work vehicle 100, which is a manned traveling vehicle, is operated by an operator, and the accompanying traveling work vehicle 100 is equipped with a remote control device 112 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the accompanying traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description thereof will be omitted. The accompanying traveling work vehicle 100 (or the remote control device 112) may be provided with a mobile communication device 233 for GPS, a mobile GPS antenna 234, and a data receiving antenna 238. Further, the steering sensor 120, the angle sensor 121, the shift position detecting means 122, the engine speed detecting means 123, the PTO on / off detecting means 124, the elevating actuator 125, the vehicle speed sensor 127, the traveling stop means 143, the shifting means 144, and the PTO on. It is also possible to provide the cutting means 245 and the like so as to automatically travel.

The remote control device 112 can be attached to and detached from an operation unit such as a dashboard of the accompanying traveling work vehicle 100 and the autonomous traveling work vehicle 1. The remote control device 112 can be operated while being attached to the dashboard of the accompanying traveling work vehicle 100, can be taken out of the accompanying traveling work vehicle 100 and operated by being carried, or can be attached to the dashboard of the autonomous traveling work vehicle 1. It is possible to operate. The remote control device 112 can be configured by, for example, a notebook type or tablet type personal computer. In this embodiment, it is composed of a tablet-type computer.

Further, the remote control device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote control device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. Further, the remote control device 112 enables communication with the control device 130 of the accompanying traveling work vehicle 100 via the communication devices 133 and 111. The communication device 111 is integrally configured with the remote control device 112. The communication means is configured to be able to communicate with each other by a wireless LAN such as WiFi. The remote control device 112 is provided with a display device 113 on the surface of the housing, which is a touch panel type operation screen that can be operated by touching the screen, and a communication device 111, a CPU, a storage device, a battery, and the like are housed in the housing.

The travel route setting device includes the remote control device 112, the display means 49 of the autonomous travel work vehicle 1 serving as the first work vehicle, and / or the display means 149 of the accompanying traveling work vehicle 100 serving as the second work vehicle. The setting screen can be displayed on the display device 113 of the remote control device 112, the display means 49 of the autonomous traveling work vehicle 1, and / or the display means 149 of the accompanying traveling work vehicle 100. Since the setting method on the setting screen is the same, a method of setting by the display device 113 of the remote control device 112 will be described below.

The display device 113 of the remote control device 112 is provided with a setting button or the like so that the setting screen can be easily displayed by touch operation. However, the remote control device 112 itself may be provided with a setting button. After specifying the field on the setting screen, the traveling route setting screen is displayed. As shown in FIG. 3, the traveling route setting screen 315 includes a first / second work vehicle arrangement setting screen 315a, a manned / unmanned setting screen 315b, and a work machine setting screen 315c, and the first / second work vehicle arrangement is provided. By selecting the work mode and work machine to be actually performed on the selection screens displayed on the setting screen 315a, the manned / unmanned setting screen 315b, and the work machine setting screen 315c, the workable travel route is automatically displayed. If there are multiple possible travel routes, you can select from them. In addition, map data (information) is referred to for determining the position of the field H, traveling using the satellite positioning system, and setting the traveling route R, and this map data is available on the Internet. Published map data, map data distributed by map makers, car navigation map data, etc. are used.

On the first and second work vehicle arrangement setting screens 315a, four arrangement patterns of the first work vehicle and the second work vehicle are displayed and can be selected by touching them. That is, on the first and second work vehicle arrangement setting screens 315a, the first work vehicle is diagonally front-arranged 315a1, the first work vehicle is diagonally rear-arranged 315a2, and the first and second work vehicles are arranged front and rear 315a3. -The second work vehicle left and right arrangement 315a4 is displayed side by side, and each screen is provided with a left and right turning direction setting button 316 on the headland, and when you touch and select it, you can see the selection result by lighting or blinking etc. I am trying to do it.

However, the first and second work vehicle arrangement setting screens 315a are not limited to the above screens, and may be the screen shown in FIG. That is, on the first and second work vehicle arrangement setting screens 315a of the embodiment shown in FIG. 5, a schematic picture showing the autonomous traveling work vehicle 1 as the first work vehicle is arranged in the center, and the second work vehicle is arranged in eight directions around it. (Ii) A schematic picture of the accompanying traveling work vehicle 100 to be the work vehicle is displayed, and the position where the accompanying traveling work vehicle 100 performs the work with respect to the autonomous traveling work vehicle 1 can be arbitrarily selected. The selection operation can be performed by touching the screen on which the accompanying traveling work vehicle 100 is located, and the setting can be understood by lighting or the like.

Further, on the traveling route setting screen 315, it is possible to select whether the first working vehicle and the second working vehicle are manned (manual driving operation) or unmanned (autopilot), respectively. That is, as shown in FIG. 3, on the manned / unmanned setting screen 315b, manned and unmanned can be selected for the first work vehicle, and manned and unmanned can be selected for the second work vehicle. .. This selection can be selected by touching it, and it lights up when selected.

Further, the traveling route setting screen 315 is provided with a screen for selecting a work machine to be mounted on the first work vehicle and the second work vehicle, respectively. That is, as shown in FIG. 3, when the button of the first work vehicle is touched on the work machine setting screen 315c, the screen is switched to the screen of FIG. 4, and the work machine selection screen 113s and the length setting screen 113g are displayed. On the work machine selection screen 113s, work machines that can be attached to the tractor or work machines owned by the user are displayed side by side and can be selected by touching them. The length setting screen 113g allows the width and front-rear length of the work machine and the overlapping length of the work machines of the first work vehicle and the second work vehicle to be set. This setting may directly input a number or increase or decrease the number, and the input method is not limited. Further, when the button of the second work vehicle on the work machine setting screen 315c is touched, a screen similar to that of the first work vehicle is displayed, and the work machine to be mounted on the second work vehicle can be selected. However, the screen configuration of the work machine setting screen 315c is not limited, and when the button of the first work vehicle is touched, a scroll portion in which the types of work machines are displayed side by side appears, and when the button is touched, a selection may be made. .. When the decision button 318 is pressed on the work machine setting screen 315c to complete the work machine setting, the screen returns to the screen of FIG. When the work machine is set on the work machine setting screen 315c, the screen displayed thereafter is displayed as a schematic diagram imitating the shape of the selected work machine so that the set work machine can be visually confirmed.

In this way, the arrangement of the first work vehicle and the second work vehicle, the manned and unmanned of the first work vehicle and the second work vehicle, and the type of the work machine are selected and set, and when the enter button 318 is pressed, the most The work travel route that enables efficient work is automatically calculated and displayed. In other words, if the arrangement of the first work vehicle and the second work vehicle, the type of work machine, the width of the work machine, the front-rear length, and the overlapping length are set, the traveling route is inevitably set for the field where the work is performed. Since it is determined, a workable travel path pattern is displayed from a plurality of travel patterns stored in the storage device 30 m in advance. From among them, touch the travel route that matches the actual work to determine. By the selection by this touch operation, the work travel paths of the autonomous traveling work vehicle 1 and the accompanying traveling work vehicle 100 are displayed. If the displayed route is acceptable, the travel route is determined by touching the enter button 318. If you want to set a different travel route, press the reset button 317 and manually set the travel route. This manual setting can be set by selecting from a plurality of traveling routes that can be automatically traveled. The travel route can be easily set by such a simple operation.

Next, a specific example of setting the traveling route will be described. The setting screen 315 is displayed on the display device 113 of the remote control device 112. In the setting screen 315, an embodiment of setting a manned / unmanned work machine and a traveling route will be described, but in addition, a field, a work speed, a work rotation speed, and the like can be set, and the settings are other. It can be set on the screen, and detailed explanation is omitted.

First, on the first / second work vehicle arrangement setting screen 315a of the setting screen 315, the arrangement (positional relationship) of the first work vehicle and the second work vehicle at the time of work is selected by a touch operation. In this embodiment, as shown in FIG. 3, when the first work vehicle is arranged diagonally in front and the second work vehicle is arranged diagonally to the right rear, the first work vehicle touches the diagonally forward arrangement 315a1 button. Then, the left / right turning direction setting button 316 is used to select which direction to proceed with the work. The touch operation turns on the screen (or blinks or turns off others) so that the selection result can be easily understood.

Next, from the manned / unmanned setting screen 315b, it is selected whether the first work vehicle and the second work vehicle are manned (manual operation) or unmanned (autopilot), respectively. When you touch and select unmanned or manned, it lights up. In this embodiment, the first work vehicle is set to be unmanned and the second work vehicle is set to be manned.

Next, on the work machine setting screen 215c, the types of the first work vehicle and the work machine mounted on the second work vehicle are selected. In the case of this embodiment, the work machine of the first work vehicle is a rotary tiller, and the work machine of the second work vehicle is also a rotary tiller. Then, the required lengths are input on the work machine selection screen 113s and the length setting screen 113g shown in FIG. It is assumed that once the input is made on the manned / unmanned setting screen 315b and the working machine setting screen 315c, the previous setting is stored, and if they are the same, the setting can be omitted.

As described above, as shown in FIG. 3, the arrangement of the first work vehicle and the second work vehicle is a case where the first work vehicle selects the diagonal front arrangement 315a1 and the work proceeds to the left on the headland. When the first work vehicle is an unmanned autonomous traveling work vehicle 1, the second work vehicle is a manned accompanying traveling work vehicle 100, both work machines are set as rotary tillage devices, and the enter button 318 is pressed, FIG. The set travel route of the first work vehicle and the second work vehicle is displayed. If the route is acceptable, press the confirm button 319. If you want to use a different travel route, press the reset button 317. In the case of FIG. 6, since the work machine of the first work vehicle and the work machine of the second work vehicle perform the reciprocating work in the same manner, the work can be performed with substantially twice the efficiency. Further, the same traveling route is set for a seeder other than the rotary tiller, a fertilizer applicator, a mower, a pest control machine, and the like.

In the case where the first work vehicle is diagonally forward-arranged 315a1, when the work machine of the first work vehicle and the work machine of the second work vehicle are different, for example, the first work vehicle 1 is equipped with a grass collecting device, and the first work vehicle (Ii) When a baler is attached to the work vehicle 100 and the work machine is set on the work machine setting screen 315c, a traveling route as shown in FIG. 7 is displayed. In this case, since the work machine is mounted eccentrically with respect to the center of the machine body, the reciprocating work cannot be performed and the work is rotated. If the route is acceptable, the confirmation button 319 is pressed, and if a different travel route is desired, the reset button 317 is pressed, and the desired travel route is selected from a plurality of patterns.

Further, in the case where the first work vehicle diagonally rearward arrangement 315a2 is selected on the first / second work vehicle arrangement setting screen 315a and the work proceeds to the left on the headland, the first work vehicle (accompanying traveling work vehicle 100). Is manned, the second work vehicle (autonomous traveling work vehicle 1) is unmanned, and when both work machines are set as rotary tillage devices and the enter button 318 is pressed, the traveling route is displayed as shown in FIG. To. This travel route is located at a line where the first work vehicle skips one line diagonally behind the second work vehicle after the first work vehicle 1 makes a reciprocating work. Therefore, the work machine has the same travel route regardless of whether the first work vehicle and the second work vehicle are the same or different. The first work vehicle travels with a marker protruding from the second work vehicle as a target, but may travel along a travel route using a satellite positioning system.

In addition, on the 1st and 2nd work vehicle arrangement setting screen 315a, select the 1st and 2nd work vehicle front-rear arrangement 315a3 and set the work to proceed to the left on the headland, and both work machines are rotary tillers. When the decision button 318 is pressed, as shown in FIG. 9, a traveling route in which the second working vehicle travels behind the first working vehicle while performing the work is displayed. In this work, the first work vehicle is used for rough plowing, and the second work vehicle is used for re-cultivation and ridges. In such a work machine, when the work machine is turned to an adjacent line and reciprocated, the work widths are partially overlapped, so that the work machines interfere with each other. Therefore, the work route is set by skipping one line.

Further, on the first and second work vehicle arrangement setting screens 315a, the first and second work vehicle front-rear arrangements 315a3 are selected, and the work is set to proceed to the left, and on the work machine setting screen 315c, the first work vehicle is set. When a work machine having different work machines for the work machine and the work machine for the second work vehicle is installed, for example, when the first work vehicle is a rotary tiller and the second work vehicle is a seeder, pressing the enter button 318 is shown in the figure. It is a traveling route that goes back and forth between adjacent strips as shown in 10. In this case, even if the first work vehicle turns to the adjacent strip and travels from the opposite direction to perform the work, the work machine of the second work vehicle is narrow and does not interfere with the work.

In addition, on the first and second work vehicle arrangement setting screen 315a, select the first and second work vehicle left and right arrangement 315a4, set the work to proceed to the left on the headland, and on the work machine setting screen 315c, the vehicle. When a work machine narrower than the width, for example, a seeder, a fertilizer applicator, a subsoiler, or the like is selected and the enter button 318 is pressed, a round-trip work route for skipping one row is set as shown in FIG. If both the work machines of the first work vehicle and the work machine of the second work vehicle are set as the rotary tillage device on the work machine setting screen 315c and the enter button 318 is pressed, the rotary tillage device will be hit in duplicate. , Is displayed as impossible, prompting you to change the settings. In this case, if the overlapping length is set to minus on the length setting screen 113g, the traveling route is displayed.

Further, on the first / second work vehicle arrangement setting screen 315a, the first / second work vehicle left / right arrangement 315a4 is selected, and on the work machine setting screen 315c, the work machine of the first work vehicle is the harvester and the second work. When the work machine of the vehicle is used as a baler and the enter button 318 is pressed, a round-trip travel route as shown in FIG. 11 is displayed. Alternatively, the traveling route of the turning work as shown in FIG. 7 is displayed.

As described above, by touching the placement positions of the first work vehicle and the second work vehicle, the traveling route is set, and when the unmanned work vehicle is placed at the work start position, the own vehicle is used by using the satellite positioning system. The position of the vehicle is determined, and the work is performed while traveling along the traveling route. The manned work vehicle works while traveling along with the unmanned work vehicle. This manned work vehicle can also use the satellite positioning system to position the position of the own vehicle, display the set travel route on the display device 149, and travel while looking at the guide. Alternatively, positioning may be performed by a satellite positioning system so that the vehicle automatically travels along a preset travel route. Further, even when both the first work vehicle and the second work vehicle are unmanned, the work can be performed by using the same traveling route as described above.

As described above, it is a travel route setting device for performing work while traveling in parallel by the first work vehicle and the second work vehicle, and the travel route setting device is a touch panel type display device 113 provided in the remote control device 112. After the first work vehicle and / or the second work vehicle and the remote control device 112 can communicate with each other via the communication device and the field is specified on the setting screen 315 of the travel route setting device, the first work vehicle and / or the remote control device 112 is configured. When the work arrangement position of the second work vehicle with respect to the first work vehicle is set, the travel route for performing the work of the first work vehicle and the second work vehicle is set and displayed, so that the operator touches a predetermined screen. The positional relationship between the first work vehicle and the second work vehicle can be easily grasped, the traveling route is automatically set, and the setting work can be easily performed.

Further, since the work arrangement position of the second work vehicle with respect to the first work vehicle is configured so that the combinations that can be arranged are displayed side by side and can be arbitrarily selected, the operator can display the screen of the arrangement that matches the arrangement of the actual work. All you have to do is select it, you can reduce the number of operations for setting, and you can reduce setting mistakes.

Further, since the setting screen 315 is provided with a screen for selecting whether the first work vehicle and the second work vehicle are manned or unmanned, respectively, the first work vehicle and the second work vehicle traveling forward and backward or left and right are provided. Manned and unmanned work vehicles can be easily set.

Since the setting screen 315 is provided with a screen for selecting a work machine to be mounted on the first work vehicle and the second work vehicle, respectively, the screen is provided according to the work machine to be mounted on the first work vehicle and the second work vehicle. The optimum travel route is set, and the work route is not set so that the work machines of the first work vehicle and the second work vehicle interfere with each other.

1 Autonomous traveling work vehicle 30 Control device 110/111 Communication device 112 Remote control device 113 Display device 315 Travel route setting screen 315a First and second work vehicle layout setting screen 315b Manned / unmanned setting screen 315c Work equipment setting screen

Claims (6)

It is a method of generating a traveling route that allows the first working vehicle and the second working vehicle to run side by side and work.
A traveling route generation method in which the work arrangement position of the second work vehicle with respect to the first work vehicle is displayed side by side on a touch-operable screen, and the combinations that can be arranged are displayed side by side and can be arbitrarily selected. On the screen, when the work arrangement positions of the first work vehicle and the second work vehicle are set, a travel route on which the first work vehicle and the second work vehicle can run side by side is displayed. The traveling route setting method according to claim 1. The travel route setting method according to claim 1 or 2, wherein on the screen, a work machine mounted on the first work vehicle and the second work vehicle can be selected, respectively. It is a system that generates a travel route that allows the first work vehicle and the second work vehicle to run side by side and work.
An arrangement position setting unit for setting the work arrangement positions of the first work vehicle and the second work vehicle, and
A display unit for displaying a screen for setting the traveling route is provided.
The display unit can be touch-operated.
A travel route generation system in which arrangementable combinations of the first work vehicle and the second work vehicle are displayed side by side on the display unit, and a selected arrangement position is set by the arrangement setting unit. When the arrangement of the first work vehicle and the second work vehicle is set by the arrangement position setting unit, the display unit can perform the parallel running work of the first work vehicle and the second work vehicle. The travel route generation system according to claim 4, wherein the travel route is displayed. It is provided with a work machine setting unit mounted on the first work vehicle and the second work vehicle, respectively.
The travel route generation system according to claim 4 or 5, wherein a work machine mounted on each of the first work vehicle and the second work vehicle is selectively displayed on the display unit.

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