JP2021078490A - Area adjustment system - Google Patents

Abstract

To cause a work vehicle to perform work without lowering work efficiency in an area set to a field.SOLUTION: An area adjustment system 99 comprises a position information calculation section 49, a storage section 36, a work vehicle information acquisition section 31, a travel route setup section 34, and an adjustment section 35. The storage section 36 stores information of a field including a central work area and a headland area. Regarding the central work area, when a work assumed area in which execution of the work is assumed becomes smaller than the central work area by an event that a tractor 1 travels on a first work route set by the travel route setup section 34, and an unworked area is generated in the central work area, the adjustment section 35 adjusts the central work area by excluding the unworked area from the central work area, and adjusts the headland area by shifting a first headland area or a second headland area in the headland area toward the central work area side, by the unworked area.SELECTED DRAWING: Figure 3

Description

The present invention relates to a region adjustment system. More specifically, the present invention relates to an area adjustment system capable of adjusting an area set in a field.

Conventionally, there has been known a configuration in which a work vehicle autonomously travels along a preset route. Patent Document 1 and Patent Document 2 each disclose this type of configuration.

The configuration of Patent Document 1 includes a field work machine including a traveling machine that runs on its own in the field and a field working device that is attached to the traveling machine so that its posture can be changed. This field work machine is provided with a route calculation unit. Based on the field information and work device information, and the travel start point and travel end point, the route calculation unit includes a non-work travel route that changes the direction of the traveling machine and a work travel route that performs traveling work by the field work device. Calculate the travel route including. The travel route includes a work travel route, a non-work travel route, and a headland work travel route.

The configuration of Patent Document 2 includes a tractor capable of autonomously traveling as an agricultural work vehicle. This tractor includes a work route creation unit. The work route creation unit is a route connecting a plurality of linear agricultural work routes (straight roads) arranged side by side and the ends of the adjacent agricultural work routes on which the tractor travels while performing agricultural work, and the tractor turns ( Create a turning path (turning direction) and a working path including. At this time, in many cases, since the first work route cannot be generated so that a plurality of agricultural work routes completely fill the work area, an unworked area (agricultural work is performed) having a width less than the work width in the work area. There is no area). Agricultural work can be performed on the unworked area.

Japanese Unexamined Patent Publication No. 2015-112071 JP-A-2017-134527

In the configuration of Patent Document 1, the route calculation unit may calculate a travel route in which an unworked area less than the work width is generated, depending on the positional relationship between the set travel start point and the travel end point. is there. In this case, it becomes necessary to work in the unworked area. In addition, a travel route may be calculated in which the work is performed beyond the expected work area. In such a case, the extra work process is increased, so that the work efficiency is lowered.

In the configuration of Patent Document 2, when an unworked area occurs, if the work is performed on the unworked area, the same work is performed again on a part of the work area that has already been worked. , Inconvenience may occur depending on the work content. For example, when a tractor performs a tilling operation using a cultivator, there is a difference in the soil environment between the area where the same operation is performed again and another area. In addition, when the combine harvests, there is a risk of involving the harvested straw.

The present invention has been made in view of the above circumstances, and an object of the present invention is to allow a work vehicle to perform work in an area set in a field without lowering work efficiency.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

According to the first aspect of the present invention, an area adjustment system having the following configuration is provided. That is, this area adjustment system includes a position information acquisition unit, a storage unit, a work vehicle information acquisition unit, a traveling route setting unit, and an adjustment unit. The position information acquisition unit acquires the position information of the work vehicle. The storage unit stores information on the field including the central work area and the headland area set around the central work area. The work vehicle information acquisition unit acquires vehicle information including the work width of the work vehicle. The travel route setting unit has a first work route for traveling the work vehicle so as to perform work in the central work area, and a second work route for traveling the work vehicle so as to perform work in the headland area. Is set based on the working width of the work vehicle. The adjusting unit can adjust the central working area and the headland area. The headland area extends along the first direction which is the traveling direction of the work vehicle in the first work path, and the first headland area and the second headland area are arranged on both sides of the central work area. Includes area. The work assumed area that is assumed to be worked by traveling on the first work path of the work vehicle becomes smaller than the central work area in the second direction orthogonal to the first direction, and the central work area. When an unworked area is generated in, the adjusting unit adjusts the central work area so as to remove the unworked area from the central work area, and in the second direction, the first headland area or the first headland area or the first 2 The headland area is adjusted so as to shift the headland area toward the central work area side by the amount of the unworked area.

As a result, it is possible to set a traveling route so that an unworked area does not occur between the central working area and the headland area, and to perform the work while traveling the work vehicle along the traveling route. Therefore, work efficiency can be improved. Further, it is possible to reduce the area where the same work is performed again even though the work has already been performed, and it is possible to reduce the inconvenience caused by repeating the same work.

In the area adjustment system, when the work assumption area is larger than the central work area in the second direction, the size of the travel path setting unit in the second direction of the work assumption area is said. It is preferable to delete the first work path at the end of the second direction among the first work paths arranged side by side so as to be smaller than the central work area.

As a result, it is possible to prevent work vehicles traveling on the first work path and the second work path from overlapping work in the same area. In addition, it is possible to prevent a narrow portion from being formed in the headland area.

The region adjustment system preferably has the following configuration. That is, when the work assumption area is larger than the central work area in the second direction, the adjustment unit so that the size of the central work area in the second direction coincides with the work assumption area. The central work area is adjusted, and the headland area is adjusted so that the first headland area or the second headland area is reduced according to the adjustment of the central work area. When a surplus area is generated between the adjusted central work area and the adjusted first headland area or the second headland area, the adjusting unit is adjusted in the second direction. The central work area and the headland area are readjusted so as to shift the first headland area or the second headland area toward the central work area side by the excess area.

As a result, it is possible to prevent work vehicles traveling on the first work path and the second work path from overlapping work in the same area.

According to the second aspect of the present invention, an area adjustment system having the following configuration is provided. That is, this area adjustment system includes a position information acquisition unit, a storage unit, a work vehicle information acquisition unit, a traveling route setting unit, and an adjustment unit. The position information acquisition unit acquires the position information of the work vehicle. The storage unit stores information on the field including the central work area and the headland area set around the central work area. The work vehicle information acquisition unit acquires vehicle information including the work width of the work vehicle. The travel route setting unit has a first work route for traveling the work vehicle so as to perform work in the central work area, and a second work route for traveling the work vehicle so as to perform work in the headland area. Is set based on the working width of the work vehicle. The adjusting unit can adjust the central working area and the headland area. The work assumed area that is assumed to be worked by traveling on the first work path of the work vehicle is in the second direction orthogonal to the first direction, which is the traveling direction of the work vehicle, and is larger than the central work area. When it becomes smaller and an unworked area is generated in the central work area, the adjusting unit adjusts the central work area and the headland area so that the unworked area is included in the headland area.

As a result, even when an unworked area occurs in the central work area, the traveling route of the work vehicle can be appropriately set so that the work vehicle can perform the work without deteriorating the work efficiency.

It is preferable that the area adjustment system includes a virtual boundary line setting unit that sets a virtual boundary line at the boundary between the work assumed area and the unworked area.

As a result, the central work area and the headland area can be smoothly adjusted by using the virtual boundary line setting unit.

In the area adjustment system, when adjusting the central work area and the headland area, it is preferable that the adjustment unit includes a part of the work assumption area in the headland area.

This facilitates the adjustment of the central work area and the headland area.

The region adjustment system preferably has the following configuration. That is, the virtual boundary line setting unit is a straight line passing through the end portion of one side extending in the second direction of the plurality of sides forming the peripheral edge portion of the unworked area, which is closer to the work assumed area. The virtual boundary line, which is a straight line parallel to the outer peripheral portion in the second direction, is set as a part of the headland area that generates the unworked area between the headland area and the work assumed area in the second direction. To do.

As a result, the virtual boundary line can be appropriately set according to the unworked area.

The region adjustment system preferably has the following configuration. That is, when the unworked area has a triangular shape in a plan view, the virtual boundary line setting unit excludes one side adjacent to the assumed work area from the three sides forming the peripheral edge of the unworked area. A straight line that passes through the end of the shorter side of the two sides that is closer to the work assumption area and is parallel to the outer peripheral portion of a part of the headland area is set as the virtual boundary line. To do.

As a result, when the unworked area has a triangular shape in a plan view, an appropriate virtual boundary line corresponding to the unworked area can be obtained.

The region adjustment system preferably has the following configuration. That is, when the unworked area has a square shape excluding a rectangular shape in a plan view, the virtual boundary line setting unit is adjacent to the work assumed area from four sides forming the peripheral edge of the unworked area. A straight line that passes through the end of the longer side of the two sides adjacent to one side and is closer to the work assumed area and is parallel to the outer peripheral portion of a part of the headland area. , Set as the virtual boundary line.

As a result, when the unworked area has a square shape that is not rectangular in a plan view, an appropriate virtual boundary line corresponding to the unworked area can be obtained.

The side view which shows the overall structure of the robot tractor provided in the area adjustment system which concerns on embodiment of this invention. Top view of the robot tractor. The block diagram which shows the main composition of the control system of a robot tractor and a remote control device. The schematic diagram which shows the example of the traveling path set for a tractor. The flowchart which shows the process which the control part performs when the traveling route is set in 1st Embodiment. A partially enlarged schematic view showing a state before adjustment by the adjustment unit. A partially enlarged schematic view showing a state after adjustment by the adjustment unit. The schematic diagram which shows the state which the final traveling path was set. A partially enlarged schematic view showing a state before adjustment by the adjustment unit in another example. The flowchart which shows the process which the control part performs at the time of setting of a traveling route in 2nd Embodiment. A partially enlarged schematic view showing a state after the first stage adjustment by the adjustment unit. A partially enlarged schematic view showing a state after the first stage adjustment by the adjustment unit. The schematic diagram which shows the state which the final traveling path was set in another example. The partially enlarged schematic diagram explaining the adjustment by the adjustment part in 3rd Embodiment. The block diagram which shows the main structure of the control system of the robot tractor and the remote control device in 3rd Embodiment. The partially enlarged schematic diagram explaining the adjustment by the adjustment part in 4th Embodiment. The partially enlarged schematic diagram explaining the adjustment by the adjustment part in 5th Embodiment.

The present invention relates to an area adjustment system capable of adjusting each area when performing agricultural work by autonomously traveling and autonomously performing one or a plurality of work vehicles in a plurality of areas set in a field. In the present embodiment, a tractor will be described as an example of a work vehicle, but the work vehicle includes a tractor, a rice transplanter, a combine harvester, a civil engineering / construction work device, a snowplow, and other passenger-type work machines, as well as a walking-type work machine. Is also included. In the present specification, the autonomous traveling means that the tractor travels along a predetermined route by controlling the configuration related to the traveling included in the tractor by the control unit (ECU) provided in the tractor. The autonomous work means that the configuration related to the work provided by the tractor is controlled by the control unit provided by the tractor, and the tractor performs the work along a predetermined route.

In the following explanation, a tractor that autonomously travels and works autonomously may be referred to as an "unmanned (no) tractor" or a "robot tractor", and a tractor that manually travels and manually operates is referred to as a "manned (of) tractor". There is. If part of the farm work is carried out by an unmanned tractor in the field, the rest of the farm work is carried out by a manned tractor. In the present specification, the difference between the unmanned tractor and the manned tractor is the presence or absence of operation by the user, and it is assumed that each configuration is common. That is, even if it is an unmanned tractor, the user can board (board) and operate it (that is, it can be used as a manned tractor), or even if it is a manned tractor, the user gets off and runs autonomously. It can be made to work autonomously (that is, it can be used as an unmanned tractor).

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing the overall configuration of the robot tractor 1 provided in the area adjustment system 99 according to the embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a block diagram showing a main configuration of a control system of the robot tractor 1 and the remote control device 46.

The area adjustment system 99 wirelessly communicates with the control unit 4 that controls the travel and work of the tractor 1 and the control unit 4, so that the tractor 1 has a predetermined control signal (autonomous travel / autonomous) regarding autonomous travel / autonomous work. It is configured to include a remote control device 46 that outputs a signal related to a work route, an autonomous travel / autonomous work start signal, a stop signal, an end signal, etc.).

First, with respect to the robot tractor (hereinafter, may be simply referred to as "tractor") 1 which is an embodiment of the work vehicle provided in the area adjustment system 99 according to the present invention, mainly refer to FIGS. 1 and 2. I will explain.

The tractor 1 includes a traveling machine body 2 as a vehicle body portion that autonomously travels in a field. The working machine 3 shown in FIGS. 1 and 2 is detachably attached to the traveling machine body 2. As the working machine 3, for example, there are various working machines such as a tiller, a plow, a fertilizer applicator, and a seeding machine. From these, a desired working machine 3 is selected as necessary and mounted on the traveling machine 2. can do. The traveling machine body 2 is configured so that the height and posture of the mounted work machine 3 can be changed.

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

A bonnet 9 is arranged at the front portion of the traveling machine body 2. The engine 10 and the fuel tank (not shown), which are the drive sources of the tractor 1, are housed in the bonnet 9. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Further, an electric motor may be adopted in addition to or instead of the engine 10 as a drive source.

Behind the bonnet 9, a cabin 11 for the user to board is arranged. Inside the cabin 11, a (steering) handle 12 for the user to steer, a seat 13 for the user to sit on, and various operating devices for performing various operations are mainly provided. There is. However, the work vehicle is not limited to the one with the cabin 11, and may not be equipped with the cabin 11.

Examples of the above-mentioned operating device include a monitor device 14, a throttle lever 15, a PTO switch 17, a PTO shift lever 18, a plurality of hydraulic shift levers 16 and the like shown in FIG. These operating devices are arranged near the seat 13 or near the steering wheel 12. The monitoring device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is for setting the rotation speed of the engine 10. The PTO switch 17 is for switching the transmission / cutoff of power to the PTO shaft (power take-off shaft) of the drawing that protrudes from the rear end of the transmission 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work equipment 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 is stopped. The PTO shift lever 18 performs an operation of changing the power input to the work machine 3, and specifically, performs a shift operation of the rotation speed of the PTO shaft. The hydraulic speed change lever 16 can switch and operate the hydraulic external take-out valve (not shown).

Further, on the front portion of the armrest 19 arranged on the right side of the seat 13, operating devices such as a main speed change lever 27 and a work equipment elevating switch 28 are provided.

The main speed change lever 27 is for changing the traveling speed of the tractor 1, and is configured such that when the main speed change lever 27 is tilted forward, the traveling speed increases, and when it is tilted backward, the traveling speed decreases. The main speed change lever 27 is configured to be able to be operated steplessly, and the traveling speed of the tractor 1 is changed steplessly according to the operation amount of the main speed change lever 27.

The work equipment elevating switch 28 is configured as an electric switch that can be operated up and down provided on the main speed change lever 27, and is used when raising and lowering the work equipment 3. When the working machine 3 is configured as a rotary tilling device, the working machine 3 is lowered to start the tilling work by the tilling claw 25 provided in the working machine 3 or raised to finish the tilling work. Can be done. In the present embodiment, the working machine 3 is configured as a rotary tillage device.

As shown in FIG. 1, a chassis 20 of the tractor 1 is provided in the lower part of the traveling machine body 2. The chassis 20 is composed of an airframe frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

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

As shown in FIG. 3, the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). .. The control unit 4 is configured as a computer and includes a CPU, a ROM, a RAM, and the like. A governor device 41, a transmission 42, a steering actuator 43, an elevating actuator 44, and the like are electrically connected to the control unit 4, respectively.

The governor device 41 adjusts the rotation speed of the engine 10. By controlling the governor device 41 by the control unit 4 and appropriately adjusting the rack position, the rotation speed of the engine 10 can be set to a desired rotation speed.

Specifically, the transmission 42 is, for example, a movable sloping plate type hydraulic continuously variable transmission, which is provided in the transmission 22. By controlling the transmission 42 by the control unit 4 and appropriately adjusting the angle of the swash plate shown in the drawing, the transmission ratio of the transmission 22 can be set to a desired ratio.

The elevating actuator 44, for example, operates a three-point link mechanism that connects the work machine 3 to the traveling machine body 2 to move the work machine 3 to a retracted position (position where farm work is not performed) or a work position (position where farm work is performed). It is to raise or lower to either. In this embodiment, the farming work by the working machine 3 means the tilling work. By controlling the elevating actuator 44 by the control unit 4 and appropriately elevating and lowering the working machine 3, the working machine 3 can perform agricultural work at a desired height.

The tractor 1 provided with the control unit 4 as described above controls each part of the tractor 1 (traveling machine 2, working machine 3, etc.) by the control unit 4 when the user gets in the cabin 11 and performs various operations. Therefore, it is configured so that farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be autonomously driven and autonomously operated based on a predetermined control signal output by the remote control device 46 without the user boarding the tractor 1. ..

Specifically, as shown in FIG. 3 and the like, the tractor 1 has various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 has a configuration such as a positioning antenna 6 necessary for acquiring position information of itself (traveling aircraft 2) based on a positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel and work autonomously on the field.

Next, the configuration provided in the tractor 1 to enable autonomous traveling and autonomous work will be described in detail. Specifically, the tractor 1 of the present embodiment includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a sensor group 53 including a vehicle speed sensor, and a storage unit 55. In addition to these, the tractor 1 may be provided with an inertial measurement unit (IMU) capable of specifying the posture (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

The steering actuator 43 shown in FIG. 3 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering wheel 12 and adjusts the rotation angle (steering angle) of the steering wheel 12. When the tractor 1 travels on a predetermined route as an unmanned tractor, the control unit 4 calculates an appropriate rotation angle of the handle 12 so that the tractor 1 travels along the route, and the calculated rotation angle is calculated. The steering actuator 43 is controlled so that the handle 12 is rotated.

The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is arranged on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit (position information acquisition unit) 49 shown in FIG. 3, and the position information calculation unit 49 causes the tractor 1 (strictly speaking, the positioning antenna 6). ) Is calculated as, for example, latitude / longitude information. The position information calculated by the position information calculation unit 49 is input to the control unit 4 and used for autonomous traveling.

In this embodiment, a high-precision satellite positioning system using the GNSS-RTK method is used, but the present invention is not limited to this, and other positioning systems are used as long as high-precision position coordinates can be obtained. You may. For example, if highly accurate position coordinates can be obtained in a relative positioning method (DGPS), a geostationary satellite navigation augmentation system (SBAS), or the like, these can be used.

The wireless communication antenna 48 receives a signal from the remote control device 46 operated by the user, and transmits a signal to the remote control device 46. As shown in FIG. 1, the wireless communication antenna 48 is arranged on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The signal from the remote control device 46 received by the wireless communication antenna 48 is signal-processed by the wireless communication unit 40 shown in FIG. 3 and input to the control unit 4. Further, the signal transmitted from the control unit 4 to the remote control device 46 is signal-processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the remote control device 46.

The storage unit 55 records the route for autonomously traveling the tractor 1 in the field. Further, the storage unit 55 stores the position information (traveling locus) of the tractor 1 during autonomous traveling, and stores the posture information of the traveling aircraft 2 associated with the position information. In addition, the storage unit 55 stores various information necessary for the tractor 1 to autonomously travel and work autonomously.

As shown in FIGS. 1 and 3, the remote control device 46 is configured as a tablet-type personal computer provided with a touch panel 39. The user can refer to and confirm the information displayed on the display 37 of the remote control device 46. Further, the user operates the touch panel 39, the hardware key 38 arranged in the vicinity of the display 37, or the like, and gives the control unit 4 of the tractor 1 a control signal for controlling the tractor 1 (for example, an emergency). (Stop signal, etc.) can be transmitted. The remote control device 46 is not limited to the tablet-type personal computer, and instead, it can be configured by, for example, a notebook-type personal computer.

The tractor 1 configured in this way can perform farm work by the work machine 3 while traveling along a route set in the field based on the instruction of the user using the remote control device 46.

Specifically, the user makes various settings using the remote control device 46 to connect the linear first work path (straight path) P1 for performing agricultural work and the end of the work path to each other. (In the present embodiment, it is possible to generate a path in which the arc-shaped turning circuit in which the tractor 1 turns is alternately connected with P2). Further, the user can generate a second work path P3 for performing agricultural work around the first work path P1 by making the same settings. The traveling route (path) P0 includes a series of routes in which the first working route P1 and the connecting route P2 are alternately connected, and the second working route P3.

An example of this traveling path P0 is shown in FIG. FIG. 4 is a schematic diagram showing an example of a traveling path P0 set for the tractor 1. As shown in FIG. 4, when the traveling path P0 is generated, the central work area 81 and the headland area 82 arranged around the central work area 81 are set in the field 80. The headland area 82 includes a first headland area 84A and a second headland area 84B. The first headland area 84A and the second headland area 84B are each elongated so as to extend along the first direction, which is the traveling direction of the tractor 1 in the first work path P1. The first headland area 84A and the second headland area 84B are located on both sides of the central work area 81 in the second direction orthogonal to the first direction. A plurality of first work paths P1, P1, ... Are arranged side by side at equal intervals in the central work area 81. The connection paths P2, P2, ... Are set in the headland area 82 so as to connect the adjacent first work paths P1, P1. A route in which the first work path P1 and the connection path P2 are alternately connected is set in the central work area 81 so as to connect the work start position S and the work end position E designated in advance. The second work path P3 is set in the headland area 82.

Then, by inputting the information of the traveling path P0 into the control unit 4 and performing a predetermined operation, the control unit 4 controls the tractor 1 and causes the tractor 1 to autonomously travel along the traveling path P0. However, it is possible to cause the tractor 1 to perform farm work (autonomous work) using the work machine 3.

Hereinafter, the configuration of the remote control device 46 provided in the area adjustment system 99 according to the embodiment of the present invention will be described in more detail with reference to FIG.

In addition to the display 37, the hardware key 38, and the touch panel 39, the remote control device 46 of the present embodiment has a work vehicle information acquisition unit 31, a field shape acquisition unit 32, and an area as main configurations as shown in FIG. It includes a setting unit 33, a traveling route setting unit 34, an adjustment unit 35, and a storage unit 36.

Specifically, as described above, the remote control device 46 is configured as a computer and includes a CPU, ROM, RAM, and the like (not shown). Further, a control application for controlling the tractor 1 is pre-installed in the remote control device 46. Then, by the cooperation of the hardware and software described above, the remote control device 46 is used as a work vehicle information acquisition unit 31, a field shape acquisition unit 32, an area setting unit 33, a travel route setting unit 34, an adjustment unit 35, and a storage unit. It can be operated as 36 mag.

The work vehicle information acquisition unit 31 acquires work vehicle information related to the tractor 1. The work vehicle information includes information on W1 (see FIG. 4) of the tractor 1 by the work machine 3 mounted on the traveling machine body 2. The work vehicle information acquired by the work vehicle information acquisition unit 31 is stored in the storage unit 36.

The field shape acquisition unit 32 acquires the shape of the field as field information by, for example, rotating the tractor 1 once along the outer circumference of the field and recording the transition of the position information of the positioning antenna 6 at that time. To do. The shape of the field acquired by the field shape acquisition unit 32 is stored in the storage unit 36. However, the method of acquiring the shape of the field is not limited to this. For example, instead of this, the position information of the corner of the field is recorded so that the line segments connecting the recorded points do not intersect each other, so-called closed circuit. The polygon specified by the graph may be acquired as the shape of the field.

The area setting unit 33 sets the central area and the headland area in the field. The area setting unit 33 connects the designated points when, for example, the user specifies the shape of the field acquired by the field shape acquisition unit 32 on the display 37 by selecting a plurality of points. The inner region of the polygon specified by the so-called cycle graph is set as the central region so that the line segments do not intersect, and the circumference of the central region in the field is set as the headland region. The central area and the headland area set by the area setting unit 33 are stored in the storage unit 36. However, the method of setting the central region is not limited to this. For example, instead of this, the shape of the central region is formed by setting the position inside the outer circumference of the field by a predetermined distance as the position of the outer circumference of the central region. May be acquired automatically.

The travel route setting unit 34 sets a route to be input (transmitted) to the tractor 1. The travel route setting unit 34 of the present embodiment sets a travel route P0 for autonomously traveling the tractor 1 in the field. The travel route setting unit 34 relates to the work vehicle information acquired by the work vehicle information acquisition unit 31 and each area of the field set by the area setting unit 33 when a predetermined operation is performed by the remote control device 46. The traveling route P0 is automatically set based on the information or the like. The travel path P0 set by the travel route setting unit 34 is stored in the storage unit 36.

The adjusting unit 35 can adjust each of the area set by the area setting unit 33, that is, the central area and the headland area. The adjusting unit 35 adjusts the sizes and shapes of the central region and the headland region according to the traveling route P0 after the traveling route setting unit 34 sets the traveling route P0 as the first candidate. .. The adjusted central region and headland region adjusted by the adjusting unit 35 are stored in the storage unit 36. The configuration of the adjusting unit 35 will be described later.

The storage unit 36 is configured to include a non-volatile memory (for example, a flash ROM), and can store various types of information such as work vehicle information. Here, the storage unit 36 can store information about the travel path P0 each time the travel route P0 is set by the travel route setting unit 34.

Next, with reference to FIGS. 5 to 9, the control performed when the traveling path P0 is set by the control unit 4 will be described. FIG. 5 is a flowchart showing a process performed by the control unit 4 when the travel path P0 is set. FIG. 6 is a partially enlarged schematic view showing a state before adjustment by the adjustment unit 35. FIG. 7 is a partially enlarged schematic view showing a state after adjustment by the adjusting unit 35. FIG. 8 is a schematic view showing a state in which the final travel path P0 is set. FIG. 9 is a partially enlarged schematic view showing a state before adjustment by the adjustment unit 35 in another example. In the following, an example of control performed during work in the field 80 shown in FIG. 4 will be described.

First, the control unit 4 (travel path setting unit 34) is a first candidate based on the respective sizes and shapes of the central work area 81 and the headland area 82 of the field 80 and the work width W1 of the tractor 1. The traveling path P0 is set (step S101). The travel path P0, which is the first candidate, is displayed on the display 37 of the remote control device 46. In this traveling path P0, a route connecting the first work path P1 and the connection path P2 alternately is arranged so as to reach the work end position E from the work start position S set by the user. However, even if an error occurs between the start point and the end point of the above route with respect to the work start position S and the work end position E, it is permissible as long as the error does not exceed a predetermined magnitude. In the traveling path P0, the first working path P1 which is a straight path is arranged in the central working area 81 so as to be arranged as much as possible as long as the work is not duplicated. Further, in the headland area 82, the second work path P3 is set so as to fit in the field 80.

Subsequently, in the control unit 4, the size of the area where the work is assumed to be executed by the traveling of the first work path P1 of the tractor 1 (hereinafter, may be referred to as a work assumed area) is set in the second direction. It is determined whether or not the size of the central work area 81 is smaller than the size of the central work area 81 (step S102). The work assumption area means an area in which the work is completed if the tractor 1 travels on all the first work paths P1 and works. As described above, the first direction is the traveling direction of the tractor 1 in the first working path P1 of the traveling path P0. The second direction is a direction orthogonal to the first direction.

In step S102, when it is determined that the size of the assumed work area is smaller than the size of the central work area 81 in the second direction (steps S102, Yes), as shown in FIG. 6, no work is performed and no work is performed. The area 86 will be generated in the central work area 81. The unworked area 86 has a width W2 in the second direction.

Next, the control unit 4 (adjustment unit 35) adjusts the central work area 81 and the headland area 82 (step S103). As the adjustment of the headland area 82, the first headland area 84A or the second headland area 84B is adjusted. For example, when the second headland area 84B is adjusted, the adjusting unit 35 adjusts the central work area 81 and the second headland area 84B so as to change from the state of FIG. 6 to the state of FIG. 7. Specifically, the adjusting unit 35 changes the size and shape of the central work area 81 so as to remove the unworked area 86 from the central work area 81. As a result, the central work area 81 is shrunk in the second direction. After that, the adjusting unit 35 shifts the second headland area 84B toward the central work area 81 side by the unworked area 81 minutes (width W2 of the unworked area 86) in the second direction. The shape of the region 84B is changed. As a result, a region 87 having a width equivalent to the width W2 of the unworked region 86 is generated in the vicinity of the outer peripheral portion 80a in the second direction of the field 80. In this area 87, the traveling path P0 is not set. Here, the width W3 of the second headland area 84B in the second direction is maintained at a predetermined value so as not to change before and after the adjustment. This width W3 is set to an integral multiple of the working width W1 of the tractor 1.

Next, the control unit 4 (travel route setting unit 34) sets the travel route P0 as the second candidate according to the adjustment by the adjustment unit 35 (step S104). The control unit 4 (travel route setting unit 34) resets the travel route P0 according to the adjusted second headland area 84B. The second candidate travel path P0 is displayed on the display 37 of the remote control device 46. When the operator performs an operation to consent to the travel path P0 by the remote control device 46, the control unit 4 adopts the second candidate travel path P0 as the final travel route P0. Therefore, as shown in FIG. 8, when the tractor 1 performs autonomous traveling and autonomous work, the traveling path P0 can be set so that an unworked area does not occur within the traveling range of the tractor 1. ..

Further, in step S102, when it is determined that the size of the work assumption area is not smaller than the size of the central work area 81 in the second direction (steps S102, No), the control unit 4 determines the work assumption area. It is determined whether or not the size is larger than the size of the central work area 81 in the second direction (step S105). When it is determined that the size of the assumed work area is not larger than the size of the central work area 81 in the second direction (steps S105, No), the size of the assumed work area and the size of the central work area 81 are the same. Therefore, the control unit 4 ends the process.

When it is determined that the size of the assumed work area is larger than the size of the central work area 81 in the second direction (steps S105, Yes), as shown in FIG. 9, the central work area 81 and the headland area 82 Overlapping areas 85 will be generated where the work will be duplicated. The overlapping region 85 has a width W4 in the second direction. In this case, the control unit 4 (travel route setting unit 34) sets the final route of the first work route P1 from the current final route P1a to the current final route so that the work assumption area is smaller than the central work area 81. Change to the route P1b immediately before P1a (step S106). In other words, among the plurality of first work paths P1 arranged side by side, the first work path P1 located at the end in the second direction is deleted. As a result, an unworked area 86 is generated in the central work area 81. After that, the control unit 4 performs the same processing as described above.

As described above, the area adjustment system 99 of the present embodiment includes a position information calculation unit 49, a storage unit 36, a work vehicle information acquisition unit 31, a travel route setting unit 34, and an adjustment unit 35. Be prepared. The position information calculation unit 49 acquires the position information of the tractor 1. The storage unit 36 stores information on the field 80 including the central work area 81 and the headland area 82 set around the central work area 81. The work vehicle information acquisition unit 31 acquires vehicle information including the work width W1 of the tractor 1. The travel path setting unit 34 has a first work path P1 for traveling the tractor 1 so as to perform work in the central work area 81, and a second work path P3 for traveling the tractor 1 so as to perform work in the headland area 82. Is set based on the working width W1 of the tractor 1. The adjusting unit 35 can adjust the central work area 81 and the headland area 82. The headland area 82 extends along the first direction, which is the traveling direction of the tractor 1 in the first work path P1, and is arranged on both sides of the central work area 81. The first headland area 84A and the second headland area 84A and the second headland. Includes region 84B. The work assumed area that is assumed to be worked by traveling on the first work path P1 of the tractor 1 is smaller than the central work area 81 in the second direction orthogonal to the first direction, and is not in the central work area 81. When the work area 86 is generated, the adjusting unit 35 adjusts the central work area 81 so as to remove the unworked area 86 from the central work area 81, and in the second direction, the first headland area 84A or the second pillow. The headland area 82 is adjusted so that the ground area 84B is displaced toward the central work area 81 by the amount of the unworked area.

As a result, it is possible to set the traveling path P0 so that an unworked area does not occur between the central working area 81 and the headland area 82, and to perform the work while traveling the tractor 1 along the traveling path P0. It becomes. Therefore, work efficiency can be improved. Further, it is possible to reduce the area where the same work is performed again even though the work has already been performed, and it is possible to reduce the inconvenience caused by repeating the same work.

In the area adjustment system 99 of the present embodiment, when the work assumption area is larger than the central work area 81 in the second direction, the size of the travel path setting unit 34 in the second direction of the work assumption area is the central work area. Of the first working paths P1 arranged side by side so as to be smaller than 81, the first working path P1 at the end in the second direction is deleted.

As a result, it is possible to prevent the tractor 1 traveling on the first work path P1 and the second work path P3 from performing work on the same area in duplicate. Further, it is possible to prevent a narrow portion from being formed in the headland area 82.

Next, the second embodiment will be described. FIG. 10 is a flowchart showing a process performed by the control unit 4 when the travel path P0 is set in the present embodiment. FIG. 11 is a partially enlarged schematic view showing a state after the first stage adjustment by the adjustment unit 35. FIG. 12 is a partially enlarged schematic view showing a state after the first stage adjustment by the adjustment unit 35. FIG. 13 is a schematic diagram showing a state in which the final travel path P0 is set in another example. In the following, an example of control performed during work in the field 80 shown in FIG. 4 will be described. In the description of this embodiment, the same or similar members as those in the above-described embodiment may be designated by the same reference numerals in the drawings, and the description may be omitted.

This embodiment is different from the first embodiment with respect to the processing after the control unit 4 determines that the work assumption area becomes larger than the central area in step S105 described above.

That is, in step S105 shown in FIG. 10, when the control unit 4 determines that the work assumed area is larger than the central area, when the user allows it, or when the unworked area 86 satisfies a predetermined condition, the control unit 4 (adjustment unit 35) adjusts the central work area 81 (step S201). Specifically, as shown in FIG. 11, in the control unit 4 (adjustment unit 35), the central work area 81 includes the overlapping area 85 shown in FIG. 9 and substantially coincides with the work assumed area of the tractor 1 in the second direction. As such, the central work area 81 is expanded. That is, in FIG. 11, the control unit 4 (adjustment unit 35) indicates the outer peripheral portion of the central work area 81 adjacent to the second headland area 84B in the second direction from the position 81a indicated by the alternate long and short dash line to the position indicated by the solid line. Move to 81b.

Next, the control unit 4 (adjustment unit 35) adjusts the headland area 82 according to the adjustment of the central work area 81 (step S202). As the adjustment of the headland area 82, the second headland area 84B, or the first headland area 84A and the second headland area 84B are adjusted. For example, when the second headland area 84B is adjusted, the control unit 4 (adjustment unit 35) reduces the second headland area 84B so that it fits in the field 80. At this time, the width W5 of the second headland area 84B in the second direction is changed so as to be smaller than the width W3 of the central work area 81 before adjustment, but this width W5 is the work width W1 of the tractor 1. It is kept as an integral multiple of. For example, when the width W3 of the second headland area 84B in the second direction before the adjustment of the central work area 81 is N times the working width W1 of the tractor 1 (N is 2 or more), the width W3 is N−. The width is changed to W5, which is 1 times.

In this case, since the width W3 of the second headland area 84B was set to N times the working width W1 of the tractor 1, as shown in FIG. 11, the adjusted central working area 81 and the adjusted second second. A surplus area 88 will be generated between the headland area 84B and the headland area 84B. The surplus region 88 has a width W6 in the second direction.

Next, the control unit 4 (adjustment unit 35) readjusts the headland area 82 (step S203). In the above example, when the second headland area 84B is adjusted, the adjusting unit 35 adjusts the second headland area 84B from the state of FIG. 11 to the state of FIG. 12. Specifically, the adjusting unit 35 removes the surplus area 88 from between the adjusted central work area 81 and the adjusted second headland area 84B, and the second headland area 84B is the central work area. The shape of the second headland area 84B is changed so as to be displaced toward the 81 side by 88 minutes of the surplus area (width W6 of the surplus area 88). As a result, a region 89 having a width equivalent to the width W6 of the surplus region 88 is generated in the vicinity of the outer peripheral portion 80a in the second direction of the field 80. Since the traveling path P0 is not set in this area 89, the autonomous traveling and the autonomous work of the tractor 1 are not performed. Here, the width W5 of the second headland area 84B in the second direction is maintained at a predetermined value so as not to change before and after the readjustment.

Next, the control unit 4 (travel route setting unit 34) sets the travel route P0, which is a second candidate for the travel route P0, according to the adjustment by the adjustment unit 35 (step S204). The control unit 4 (travel route setting unit 34) resets the travel route P0 according to the second headland area 84B after readjustment. The reset travel path P0 is displayed on the display 37 of the remote control device 46. When the operator performs an operation to consent to the travel path P0 by the remote control device 46, the control unit 4 adopts the reset travel path P0 as the final travel path P0.

As described above, in the area adjustment system 99 of the present embodiment, when the work assumption area is larger than the central work area 81 in the second direction, the adjustment unit 35 moves the central work area 81 in the second direction. The central work area 81 is adjusted so that the size matches the assumed work area, and the headland area 82 is reduced so that the first headland area 84A or the second headland area 84B is reduced according to the adjustment of the central work area 81. To adjust. When a surplus area 88 is generated between the adjusted central work area 81 and the adjusted first headland area 84A or the second headland area 84B, the adjusting unit 35 is adjusted in the second direction. The central work area 81 and the headland area 82 are readjusted so as to shift the first headland area 84A or the second headland area 84B toward the central work area 81 by 88 minutes.

As a result, it is possible to prevent the tractor 1 traveling on the first work path P1 and the second work path P3 from overlapping the work in the same area.

Next, the third embodiment will be described. FIG. 14 is a partially enlarged schematic view illustrating adjustment by the adjustment unit 35 in the present embodiment. FIG. 15 is a block diagram showing a main configuration of a control system of the tractor 1 and the remote control device 46 in the present embodiment. In the description of this embodiment, the same or similar members as those in the above-described embodiment may be designated by the same reference numerals in the drawings, and the description may be omitted.

This embodiment is different from the first embodiment with respect to the adjustment of the central work area 81 and the headland area 82 in the above-mentioned step S103 and the processing after the adjustment. Here, as the adjustment of the headland area 82, a case where the second headland area 84B extending in the first direction is adjusted will be described as an example.

In the present embodiment, it is assumed that the unworked area 86 generated in the central work area 81 has a polygonal shape having five or more sides in a plan view. In the example of FIG. 14, the unworked area 86 has a hexagonal shape in a plan view. The unworked area 86 includes a first side 201, a second side 202, a third side 203, and a side group 204 as a plurality of sides that define the shape of the polygon.

The first side 201 and the second side 202 are arranged so as to face each other with a predetermined interval in the first direction, and extend in the second direction, respectively. The third side 203 extends in the first direction while being adjacent to the work assumption area so as to connect one ends (the ends on the side closer to the work assumption area side) of the first side 201 and the second side 202. There is. The first side 201 and the third side 203 intersect at the intersection C1. The side group 204 is arranged in a polygonal line so as to be lined up in the first direction. Each side belonging to the side group 204 is arranged at a distance in the second direction with respect to the third side 203, and extends substantially in the first direction. However, the side group 204 includes a side extending diagonally with respect to the first direction (first work path P1).

Consider a case where the size of the assumed work area becomes smaller than the size of the central work area 81 in the second direction, and an unworked area 86 having the above-mentioned shape occurs in the central work area 81. In the present embodiment, the central work area 81 and the headland area 82 are adjusted by the adjusting unit 35 so that the unworked area 86 is included in the headland area 82 instead of being included in the central work area 81.

As shown in FIG. 15, the remote control device 46 includes a virtual boundary line setting unit 211. In the present embodiment, the remote control device 46 can be operated as the virtual boundary line setting unit 211. The virtual boundary line setting unit 211 sets the virtual boundary line 215 at the boundary between the work assumed area and the unworked area 86. The virtual boundary line 215 is determined according to the shape of the unworked area 86 in a plan view. The shape of the unworked area 86 in a plan view is estimated based on the shape of the field 80 in a plan view stored in advance in the storage unit 36 of the remote control device 46.

In such a configuration, in principle, the processing is performed in the same manner as in the first embodiment in the present embodiment. However, in step S103 shown in FIG. 5, the adjustment by the adjusting unit 35 is performed as follows. That is, after the start of the adjustment, the adjustment unit 35 first acquires the shape of the field 80 in a plan view. Based on this acquisition result, the adjusting unit 35 estimates the shape of the unworked area 86 generated in the central work area 81 in a plan view. In the present embodiment, the shape of the unworked area 86 is estimated to be a hexagonal shape in a plan view as shown in FIG.

Next, the virtual boundary line setting unit 211 sets the virtual boundary line 215 at the boundary between the work assumed area and the unworked area 86. The virtual boundary line 215 passes through the above-mentioned intersection C1 and becomes a straight line extending in parallel with the first working path P1.

Subsequently, the adjusting unit 35 changes the central working area 81 and the second headland area 84B with respect to the virtual boundary line 215, respectively. Specifically, the adjusting unit 35 has a central work area so that the position of the outer peripheral portion of the central work area 81 and the position of the inner peripheral portion of the second headland area 84B coincide with the virtual boundary line 215, respectively. Adjust 81 and the second headland area 84B. As a result, in FIG. 14, the position of the outer peripheral portion of the central work area 81 and the position of the inner peripheral portion of the second headland region 84B move from the position 81c shown by the solid line to the virtual boundary line 215.

Specifically, the adjusting unit 35 changes the size and shape of the central work area 81 so as to remove the unworked area 86 from the central work area 81. At the same time, the adjusting unit 35 changes the size and shape of the second headland area 84B so that the unworked area 86 removed from the central work area 81 is added to the second headland area 84B. Therefore, in the field 80, the central work area 81 is reduced by the amount of the unworked area 86, while the second headland area 84B is expanded as compared with the initial stage (before adjustment).

When the adjustment by the adjusting unit 35 is completed, the same processing as in step S104 shown in FIG. 5 is performed. That is, the control unit 4 (travel route setting unit 34) resets the travel route P0 according to the adjusted second headland area 84B, and sets the travel route P0 as the second candidate.

As described above, the area adjustment system 99 of the present embodiment includes a position information calculation unit 49, a storage unit 36, a work vehicle information acquisition unit 31, a travel route setting unit 34, and an adjustment unit 35. Be prepared. The position information calculation unit 49 acquires the position information of the tractor 1. The storage unit 36 stores information on the field 80 including the central work area 81 and the headland area 82 set around the central work area 81. The work vehicle information acquisition unit 31 acquires vehicle information including the work width W1 of the tractor 1. The travel path setting unit 34 has a first work path P1 for traveling the tractor 1 so as to perform work in the central work area 81, and a second work path P3 for traveling the tractor 1 so as to perform work in the headland area 82. Is set based on the working width W1 of the tractor 1. The adjusting unit 35 can adjust the central work area 81 and the headland area 82. The work assumed area assumed to be worked by traveling on the first work path P1 of the tractor 1 is smaller than the central work area 81 in the second direction orthogonal to the first direction which is the traveling direction of the tractor 1. When an unworked area 86 occurs in the central work area 81, the adjusting unit 35 determines the central work area 81 and the headland so that the unworked area 86 is included in the headland area 82 (second headland area 84B). Adjust region 82.

As a result, even when an unworked area 86 occurs in the central work area 81, the traveling path P0 of the tractor 1 is appropriately set so that the tractor 1 can perform the work without deteriorating the work efficiency. Can be done.

Further, the area adjustment system 99 of the present embodiment includes a virtual boundary line setting unit 211 that sets a virtual boundary line 215 at the boundary between the work assumed area and the unworked area 86.

As a result, the central work area 81 and the headland area 82 can be smoothly adjusted by using the virtual boundary line setting unit 211.

When the shape of the unworked area 86 in a plan view is rectangular as in the first embodiment and the second embodiment, the adjusting unit is similar to the case where it is polygonal as in this embodiment. The adjustment according to 35 can be performed.

Next, the fourth embodiment will be described. FIG. 16 is a partially enlarged schematic view illustrating adjustment by the adjustment unit 35 in the present embodiment. In the description of this embodiment, the same or similar members as those in the above-described embodiment may be designated by the same reference numerals in the drawings, and the description may be omitted.

This embodiment is different from the first embodiment with respect to the adjustment of the central work area 81 and the headland area 82 in the above-mentioned step S103 and the processing after the adjustment. Here, as the adjustment of the headland area 82, a case where the second headland area 84B extending in the first direction is adjusted will be described as an example.

In the present embodiment, as shown in FIG. 16, it is assumed that the unworked area 86 generated in the central work area 81 has a triangular shape in a plan view. The unworked area 86 includes a fifth side 225, a sixth side 226, and a seventh side 227 as three sides that define the triangle.

The fifth side 225 extends in the second direction. The sixth side 226 extends in the first direction from the end of the fifth side 225 while being adjacent to the work assumption area. The fifth side 225 and the sixth side 226 intersect at the intersection C2. The seventh side 227 extends obliquely with respect to the first work path P1 so as to connect the end of the fifth side 225 and the end of the sixth side 226.

Consider a case where the size of the assumed work area becomes smaller than the size of the central work area 81 in the second direction, and an unworked area 86 having the above-mentioned shape occurs in the central work area 81. In the present embodiment, the central work area 81 and the headland area 82 are adjusted by the adjusting unit 35 of the remote control device 46 so that the unworked area 86 is included in the headland area 82 instead of being included in the central work area 81. Is done.

The remote control device 46 includes a virtual boundary line setting unit 211 as in the third embodiment.

In such a configuration, in principle, the processing is performed in the same manner as in the first embodiment in the present embodiment. However, in step S103 shown in FIG. 5, the adjustment by the adjusting unit 35 is performed as follows. That is, after the start of the adjustment, the adjustment unit 35 first acquires the shape of the field 80 in a plan view. Based on this acquisition result, the adjusting unit 35 estimates the shape of the unworked area 86 generated in the central work area 81 in a plan view. In the present embodiment, the shape of the unworked area 86 is estimated to be a triangular shape in a plan view as shown in FIG.

Next, the virtual boundary line setting unit 211 sets the virtual boundary line 215 at the boundary between the work assumed area and the unworked area 86. Specifically, from the three sides of the unworked area 86, one side (sixth side 226) adjacent to the work assumed area is removed, and the shorter side of the remaining two sides is considered. In the example of FIG. 16, such a side is the fifth side 225. The virtual boundary line setting unit 211 selects the fifth side 225. Then, the virtual boundary line setting unit 211 sets a straight line parallel to the outer peripheral portion 84Ba in the second direction of the second headland area 84B as the virtual boundary line 215. The virtual boundary line 215 is defined so as to pass through the end portion (intersection point C2 described above) on the selected side (fifth side 225) near the work assumed area. The outer peripheral portion 84Ba of the second headland region 84B in the second direction extends substantially parallel to the seventh side 227, which is the longer side of the above two sides.

Subsequently, the adjusting unit 35 changes the central working area 81 and the second headland area 84B with respect to the virtual boundary line 215, respectively. Specifically, the adjusting unit 35 has a central work area so that the position of the outer peripheral portion of the central work area 81 and the position of the inner peripheral portion of the second headland area 84B coincide with the virtual boundary line 215, respectively. Adjust 81 and the second headland area 84B. As a result, in FIG. 16, the position of the outer peripheral portion of the central work area 81 and the position of the inner peripheral portion of the second headland region 84B move from the position 81d shown by the solid line to the virtual boundary line 215.

Specifically, the adjusting unit 35 excludes the unworked area 86 from the central work area 81, and further, a part of the work assumed area (a part located on the second headland area 84B side of the virtual boundary line 215). The size and shape of the central work area 81 are changed so as to exclude 228. On the other hand, the adjusting unit 35 of the second headland area 84B so that the unworked area 86 excluded from the central work area 81 and a part 228 of the above-mentioned work assumption area are added to the second headland area 84B. Change the size and shape.

Therefore, in the field 80, the central work area 81 is reduced by the amount of the unworked area 86 and a part 228 of the work assumed area, while the second headland area 84B is expanded as compared with the initial stage (before adjustment). It will be.

When the adjustment by the adjusting unit 35 is completed, the same processing as in step S104 shown in FIG. 5 is performed. That is, the control unit 4 (travel route setting unit 34) resets the travel route P0 according to the adjusted second headland area 84B, and sets the travel route P0 as the second candidate.

As described above, in the area adjustment system 99 of the present embodiment, when the adjustment unit 35 adjusts the central work area 81 and the headland area 82, a part of the work assumption area is set in the second headland area 84B. include.

This facilitates the adjustment of the central work area 81 and the headland area 82.

In the area adjustment system 99 of the present embodiment, the virtual boundary line setting unit 211 sets the virtual boundary line 215. The virtual boundary line 215 passes through one end (intersection point C2) on the side closer to the work assumed area on one side (fifth side 225) extending in the second direction among the plurality of sides forming the peripheral edge of the unworked area 86. It is a straight line. Considering the second headland area 84B, which is a part of the headland area 82 that generates an unworked area 86 with the work assumed area in the second direction, the virtual boundary line 215 is the second headland. It is parallel to the outer peripheral portion 84Ba in the second direction of the region 84B.

As a result, the virtual boundary line 215 can be appropriately set according to the unworked area 86.

In the area adjustment system 99 of the present embodiment, when the unworked area 86 has a triangular shape in a plan view, the virtual boundary line setting unit 211 sets the work assumed area from the three sides forming the peripheral edge of the unworked area 86. It passes through the end point (intersection point C1) of the shorter side (fifth side 225) of the two sides excluding the adjacent one side (sixth side 226), which is closer to the work assumed area, and is the second. A straight line parallel to the outer peripheral portion 84Ba in the second direction of the headland region 84B is set as the virtual boundary line 215.

As a result, when the unworked area 86 has a triangular shape in a plan view, an appropriate virtual boundary line 215 corresponding to the unworked area 86 can be obtained.

Next, a fifth embodiment will be described. FIG. 17 is a partially enlarged schematic view illustrating adjustment by the adjustment unit 35 in the present embodiment. In the description of this embodiment, the same or similar members as those in the above-described embodiment may be designated by the same reference numerals in the drawings, and the description may be omitted.

This embodiment is different from the first embodiment with respect to the adjustment of the central work area 81 and the headland area 82 in the above-mentioned step S103 and the processing after the adjustment. Here, as the adjustment of the headland area 82, a case where the second headland area 84B extending in the first direction is adjusted will be described as an example.

In the present embodiment, it is assumed that the unworked area 86 generated in the central work area 81 has a square shape (however, excluding a rectangle). In the example of FIG. 17, the unworked area 86 has a trapezoidal shape in a plan view. The unworked area 86 includes an eighth side 238, a ninth side 239, a tenth side 240, and an eleventh side 241 as four sides defining the quadrangle.

The eighth side 238 and the ninth side 239 are arranged so as to face each other with a predetermined interval in the first direction, and extend in the second direction, respectively. The tenth side 240 extends in the first direction while being adjacent to the work assumption area so as to connect one ends (the ends on the side closer to the work assumption area) of the eighth side 238 and the ninth side 239. .. The eighth side 238 and the tenth side 240 intersect at the intersection C3. The eleventh side 241 is arranged at intervals in the second direction with respect to the tenth side 240, and extends obliquely with respect to the first direction (first work path P1).

Consider a case where the size of the assumed work area becomes smaller than the size of the central work area 81 in the second direction, and an unworked area 86 having the above-mentioned shape occurs in the central work area 81. In the present embodiment, the central work area 81 and the headland area 82 are adjusted by the adjusting unit 35 so that the unworked area 86 is included in the headland area 82 instead of being included in the central work area 81.

Further, the remote control device 46 includes a virtual boundary line setting unit 211 as in the third embodiment.

In such a configuration, in principle, the processing is performed in the same manner as in the first embodiment in the present embodiment. However, in step S103 shown in FIG. 5, the adjustment by the adjusting unit 35 is performed as follows. That is, after the start of the adjustment, the adjustment unit 35 first acquires the shape of the field 80 in a plan view. Based on this acquisition result, the adjusting unit 35 estimates the shape of the unworked area 86 generated in the central work area 81 in a plan view. In the present embodiment, the shape of the unworked area 86 is estimated to be trapezoidal in a plan view as shown in FIG.

Next, the virtual boundary line setting unit 211 sets the virtual boundary line 215 at the boundary between the work assumed area and the unworked area 86. The virtual boundary line setting unit 211 specifies one side adjacent to the work assumed area among the four sides forming the peripheral edge portion of the unworked area 86 in a plan view. In the example of FIG. 17, such a side is the tenth side 240. Next, the virtual boundary line setting unit 211 identifies two sides adjacent to this side on both sides. In the example of FIG. 17, such sides are the eighth side 238 and the ninth side 239. After that, the virtual boundary line setting unit 211 selects the longer side (eighth side 238) of the two sides. The virtual boundary line setting unit 211 sets a straight line parallel to the outer peripheral portion 84Ba in the second direction of the second headland area 84B as the virtual boundary line 215. The virtual boundary line 215 is defined so as to pass through the end portion (intersection point C3) on the selected side (eighth side 238) near the work assumption area. The side facing the tenth side 240, which is one side, is the eleventh side 241. However, the outer peripheral portion 84Ba in the second direction of the second headland region 84B extends substantially parallel to the eleventh side 241. There is.

Subsequently, the adjusting unit 35 changes the central working area 81 and the second headland area 84B with respect to the virtual boundary line 215, respectively. Specifically, the adjusting unit 35 has a central work area so that the position of the outer peripheral portion of the central work area 81 and the position of the inner peripheral portion of the second headland area 84B coincide with the virtual boundary line 215, respectively. Adjust 81 and the second headland area 84B. As a result, in FIG. 17, the position of the outer peripheral portion of the central work area 81 and the position of the inner peripheral portion of the second headland region 84B move from the position 81e shown by the solid line to the virtual boundary line 215.

Specifically, the adjusting unit 35 excludes the unworked area 86 from the central work area 81, and further, a part of the work assumed area (a part located on the second headland area 84B side of the virtual boundary line 215). The size and shape of the central work area 81 are changed so as to exclude 248. On the other hand, the adjusting unit 35 of the second headland area 84B so that the unworked area 86 excluded from the central work area 81 and a part 248 of the above-mentioned work assumption area are added to the second headland area 84B. Change the size and shape.

Therefore, in the field 80, the central work area 81 is reduced by the amount of the unworked area 86 and a part of the assumed work area 248, while the second headland area 84B is expanded as compared with the initial stage (before adjustment). It will be.

When the adjustment by the adjusting unit 35 is completed, the same processing as in step S104 shown in FIG. 5 is performed. That is, the control unit 4 (travel route setting unit 34) resets the travel route P0 according to the adjusted second headland area 84B, and sets the travel route P0 as the second candidate.

As described above, in the area adjustment system 99 of the present embodiment, when the unworked area 86 has a square shape in a plan view (however, the unworked area 86 is not rectangular), the virtual boundary line setting unit 211 sets the virtual boundary line 215 as follows. That is, of the four sides forming the peripheral edge of the unworked area 86, the one side (10th side 240) adjacent to the assumed work area is focused on, and the longer of the two sides adjacent to the one side of interest is the longer one. Consider an edge (8th edge 238). The virtual boundary line setting unit 211 passes through the end point (intersection point C3) on the eighth side 238 near the work assumption area, and is parallel to the outer peripheral portion 84Ba in the second direction of the second headland area 84B. The straight line is set as the virtual boundary line 215.

As a result, when the unworked area 86 has a square shape in a plan view, an appropriate virtual boundary line 215 corresponding to the unworked area 86 can be obtained.

Although the preferred embodiment of the present invention has been described above, the above configuration can be changed as follows, for example.

As the working machine 3 in the tractor 1, for example, a mower can be adopted. In this case, the working machine 3 is mounted on the traveling machine 2 in a state of being offset in the left-right direction with respect to the traveling machine 2 of the tractor 1. Then, for example, in the central work area 81, when the end position of the autonomous traveling of the tractor 1 is set to the center of the central work area 81, the first work path P1 and the connection path P2 are at the center as shown in FIG. It is a circular traveling path that orbits the work area 81 from the outside to the inside in a square spiral shape. Even with this configuration, it is possible to prevent an unworked area from being generated within the traveling range of the tractor 1 when the tractor 1 performs autonomous traveling and autonomous work.

In the above embodiment, the configuration in which the second headland area 84B is adjusted in order to adjust the headland area 82 by the adjusting unit 35 is given as an example, but instead of this, the first headland area It may be configured to adjust 84A.

Considering the above teachings, it is clear that the present invention can take many modified and modified forms. Therefore, it should be understood that the present invention may be practiced in a manner other than that described herein, within the scope of the appended claims.

1 Tractor 31 Work vehicle information acquisition unit 34 Travel route setting unit 35 Adjustment unit 36 Storage unit 49 Position information calculation unit (position information acquisition unit)
80 Field 81 Central work area 82 Headland area 84A 1st headland area 84B 2nd headland area 86 Unworked area 88 Surplus area 99 Area adjustment system P1 1st work route P3 2nd work route W1 Work width

Claims (9)

The position information acquisition unit that acquires the position information of the work vehicle, and
A storage unit that stores information on the central work area and the field including the headland area set around the central work area.
A work vehicle information acquisition unit that acquires vehicle information including the work width of the work vehicle, and
The work of the work vehicle is defined as a first work route for traveling the work vehicle so as to perform work in the central work area and a second work route for traveling the work vehicle so as to perform work in the headland area. A travel route setting unit that sets based on the width,
An adjustment unit that can adjust the central work area and the headland area,
With
The headland area extends along the first direction which is the traveling direction of the work vehicle in the first work path, and the first headland area and the second headland area are arranged on both sides of the central work area. Including the area
The work assumed area that is assumed to be worked by traveling on the first work path of the work vehicle becomes smaller than the central work area in the second direction orthogonal to the first direction, and the central work area. When an unworked area is generated in, the adjusting unit adjusts the central work area so as to remove the unworked area from the central work area, and in the second direction, the first headland area or the first headland area or the first 2 An area adjustment system characterized in that the headland area is adjusted so as to shift the headland area toward the central work area side by the amount of the unworked area. The area adjustment system according to claim 1.
When the work assumption area is larger than the central work area in the second direction, the travel path setting unit is set so that the size of the work assumption area in the second direction is smaller than the central work area. A region adjustment system, characterized in that, among the first working paths arranged side by side, the first working path at the end of the second direction is deleted. The area adjustment system according to claim 1.
When the work assumption area is larger than the central work area in the second direction, the adjustment unit is centered so that the size of the central work area in the second direction matches the work assumption area. The work area is adjusted, and the headland area is adjusted so that the first headland area or the second headland area is reduced according to the adjustment of the central work area.
When a surplus area is generated between the adjusted central work area and the adjusted first headland area or the second headland area, the adjusting unit is adjusted in the second direction. The central work area and the headland area are readjusted so as to shift the first headland area or the second headland area toward the central work area side by the excess area. Area adjustment system. The position information acquisition unit that acquires the position information of the work vehicle, and
A storage unit that stores information on the central work area and the field including the headland area set around the central work area.
A work vehicle information acquisition unit that acquires vehicle information including the work width of the work vehicle, and
The work of the work vehicle is defined as a first work route for traveling the work vehicle so as to perform work in the central work area and a second work route for traveling the work vehicle so as to perform work in the headland area. A travel route setting unit that sets based on the width,
An adjustment unit that can adjust the central work area and the headland area,
With
The work assumed area that is assumed to be worked by traveling on the first work path of the work vehicle is in the second direction orthogonal to the first direction, which is the traveling direction of the work vehicle, and is larger than the central work area. When it becomes smaller and an unworked area is generated in the central work area, the adjusting unit adjusts the central work area and the headland area so that the unworked area is included in the headland area. Characterized area adjustment system. The area adjustment system according to claim 4.
An area adjustment system including a virtual boundary line setting unit for setting a virtual boundary line at a boundary between the work assumed area and the unworked area. The area adjustment system according to claim 5.
The area adjustment system is characterized in that, when adjusting the central work area and the headland area, the adjusting unit includes a part of the work assumed area in the headland area. The area adjustment system according to claim 5 or 6.
The virtual boundary line setting unit is a straight line that passes through the end portion of one side extending in the second direction of the plurality of sides forming the peripheral edge portion of the unworked area and which is closer to the work assumed area. To set the virtual boundary line which is a straight line parallel to the outer peripheral portion in the second direction of a part of the headland area that generates the unworked area with the work assumed area in the second direction. Area adjustment system featuring. The area adjustment system according to claim 7.
The virtual boundary line setting unit is
When the unworked area has a triangular shape in a plan view, the shorter side of the two sides excluding the one adjacent to the assumed work area from the three sides forming the peripheral edge of the unworked area. An area adjustment system characterized in that a straight line passing through an end portion on a side close to the work assumption region and parallel to the outer peripheral portion in a part of the headland region is set as the virtual boundary line. The area adjustment system according to claim 7.
The virtual boundary line setting unit is
When the unworked area has a square shape excluding a rectangular shape in a plan view, two sides adjacent to one side adjacent to the work assumed area from the four sides forming the peripheral edge portion of the unworked area. A straight line that passes through the end of the longer side near the work assumption area and is parallel to the outer peripheral portion in a part of the headland area is set as the virtual boundary line. Characterized area adjustment system.

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