JP2022095324A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of making an inter-farm field movement with a high degree of safety.SOLUTION: A work vehicle 1 includes a positioning device 120 for acquiring position information on a travelling vehicle body 2, and a control device 160 for causing the travelling vehicle body 2 to travel autonomously between farm fields on the basis of farm field information including position information on a plurality of farm fields and position information on the travelling vehicle body. When a farm field of the movement destination is changed while the travelling vehicle body 2 is travelling autonomously between farm fields, the control device 160 causes the travelling vehicle body 2 to move to a farm field of the movement destination before the change.SELECTED DRAWING: Figure 6

Description

The present invention relates to a work vehicle.

Conventionally, there is known a control system that controls a plurality of work vehicles that autonomously travel and work while positioning a position using a positioning satellite system. In such a control system, there is a technique of instructing a work vehicle assigned to each of a plurality of fields to perform a predetermined work and monitoring the work state (see, for example, Patent Document 1).

International Publication No. 2016/129671

However, in the past, it was necessary to manually drive the work vehicle to move between fields. In addition, it is conceivable that the movement of the work vehicle between fields is executed by autonomous driving.

However, when the work vehicle is autonomously traveling between fields and the setting of the destination field is canceled, for example, the work vehicle may stop on the road, and other work vehicles may move. There is a risk of hindrance. In other words, there was room for improvement in terms of moving between fields with high safety.

The present invention has been made in view of the above, and provides a work vehicle capable of highly safe inter-field movement even when the setting of the destination field is canceled. The purpose.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to one aspect of the embodiment includes a positioning device (120) for acquiring position information of a traveling vehicle body (2) and a plurality of fields. A control device (160) for autonomously traveling the traveling vehicle body (2) between fields based on the field information including the position information and the position information of the traveling vehicle body (2) is provided. When the traveling vehicle body (2) is autonomously traveling between fields and the destination field is changed, the control device (160) moves the traveling vehicle body (2) to the destination field before the change.

According to one aspect of the embodiment, even when the setting of the destination field is canceled, it is possible to perform highly safe inter-field movement.

FIG. 1 is an explanatory diagram showing an outline of a work vehicle control system according to an embodiment. FIG. 2 is a block diagram showing a function of the control system of the work vehicle according to the embodiment. FIG. 3 is a block diagram showing an outline of the tablet terminal. FIG. 4 is a block diagram showing the functions of the work control device. FIG. 5 is a diagram showing processing contents when the tractor is moved between fields. FIG. 6 is a flowchart illustrating the inter-field movement process according to the embodiment.

Hereinafter, the work vehicle according to the embodiment of the present invention will be specifically described with reference to the drawings. The components in the following embodiments include those that can be replaced by those skilled in the art, or those that are substantially the same, that is, those having a so-called equal range. Further, the present invention is not limited to the above embodiment, and can be variously modified and implemented without departing from the gist of the present invention.

First, the overall configuration of the work vehicle control system 100 will be described with reference to FIGS. 1 to 4. FIG. 1 is an explanatory diagram showing an outline of a work vehicle control system 100 according to an embodiment. FIG. 2 is a block diagram showing a function of the work vehicle control system 100 according to the embodiment. FIG. 3 is a block diagram showing an outline of the tablet terminal 140. FIG. 4 is a block diagram showing the functions of the work control device 160.

As shown in FIG. 1, the work vehicle control system 100 includes, for example, a tractor 1 as an example of a work vehicle, a positioning device 120 for measuring a positioning point indicating the position of the tractor 1 (that is, the position of the own vehicle), and a tractor. A work control device 160, which is a control unit capable of generating work-related information according to 1, and an information processing device 130 capable of communicating with the work control device 160 are provided. Although FIG. 1 shows one tractor 1, in reality, the control system 100 of the work vehicle controls a plurality of tractors 1.

The tractor 1 which is a work vehicle is an agricultural tractor, and includes a traveling vehicle body 2 and a work machine 3. The traveling vehicle body 2 is capable of traveling in the field F (FA, FB, FC). The working machine 3 is attached to the rear part of the traveling vehicle body 2, for example, and performs ground work in the field F. The working machine 3 of the tractor 1 is, for example, a rotary tiller, but if the working vehicle is a seedling transplanting machine, it is a seedling planting device, and if the working vehicle is a fertilizing machine, it is a fertilizing device. If the work vehicle is a combine harvester, the work machine 3 is a harvesting device, a threshing device, or the like. The above example is an example, and is not particularly limited as long as it is a working machine for performing agricultural work in the field F.

Further, the field F is provided with an entrance (or entrance) Fin and an exit (or exit) Fout of the tractor 1. The field F may be provided with one entrance / exit Fin and one entrance / exit functioning as an exit / exit Fout.

The traveling vehicle body 2 includes an engine and a power transmission device. The engine is not only a power source for the traveling vehicle body 2 but also a power source for the working machine 3. The engine is a heat engine such as a diesel engine or a gasoline engine. The power transmission device has a clutch that enables the engine and the drive wheels to be connected, and when the clutch is in the engaged state, the power of the engine is transmitted to the drive wheels and the work equipment 3. Further, in the power transmission device, when the clutch is in the neutral state, the connection state between the engine and the drive wheels is released, and the power of the engine is not transmitted to the drive wheels. That is, when the clutch is in the neutral state, the tractor 1 which is a work vehicle decelerates. Further, the traveling vehicle body 2 can freely travel in the farm road R and the field F.

The positioning device 120 measures the position of the tractor 1 as described above. Specifically, the positioning device 120 is, for example, a GNSS (Global Navigation Satellite System) control device (hereinafter, GNSS control device 120) that acquires position information including a positioning point indicating the position of the tractor 1. The GNSS control device 120, which is a positioning device, can receive radio waves from the navigation satellite 123 orbiting the earth to determine the position of the vehicle of the tractor 1 and can measure the time. That is, the position information includes information on the position of the own vehicle, which is a positioning point, and information on the time when the positioning point was measured.

The work control device 160 is an example of a control device that controls automatic running (autonomous running) of the tractor 1 in the field F, and is information processing that can be brought into the tractor 1 in addition to the controller 150 described later mounted on the tractor 1. It is composed of a tablet terminal 140, which is an example of a portable terminal device which is a device. In the work vehicle control system 100 according to the present embodiment, the case where the work control device 160 (control device) is configured to include the controller 150 and the tablet terminal 140 will be described, but the work control device 160 is described. It may be configured to include only one of the controller 150 and the tablet terminal 140.

As shown in FIG. 2, the work vehicle control system 100 is constructed, for example, in a state where a plurality of tractors 1 can be connected to at least one information processing apparatus 130 via a communication network 110. Each tractor 1 is provided with a work control device 160. That is, the work vehicle control system 100 according to the present embodiment is a system capable of so-called cloud computing.

The work control device 160 can generate work-related information including at least travelable area information in which the tractor 1 can automatically travel. Here, the travelable area information is, for example, as shown in FIG. 1, in a predetermined field F (FA to FC), the tractor 1 automatically travels, and effective cultivated land (effective cultivated land in each field F). This is information including a travel route (work route) 300 that allows safe and unmanned travel without deviating from the outermost edge of the work regulation area (described later).

The information processing device 130 includes a processing device such as a CPU (Central Processing Unit), a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and an HDD (Hard Disk Drive), and an input / output device. It is a computer provided.

Here, as the information processing device 130, for example, the agricultural work support server 130a and the personal computer 130b are connected to the work control device 160 (controller 150 and tablet terminal 140) via the communication network 110. In this embodiment, as shown in FIG. 1, one information processing apparatus 130 including a farm work support server 130a or a personal computer 130b is installed in a management building H that manages a plurality of fields F.

The information processing apparatus 130 stores the field map information associated with the field identification information 200a to 200i (see FIG. 3) for each of the plurality of fields F. Further, the information processing device 130 can acquire the work-related information generated by the work control device 160 and store it independently for each field F.

The controller 150 constituting the work control device 160 is configured by a computer in the same manner as the information processing device 130 described above. The controller 150 is connected to various ECUs (Electronic Control Units) 11 (see FIG. 4) that control each system mounted on a work vehicle such as an engine and a traveling device. The details of the controller 150 will be described later with reference to FIG.

By cooperating with various ECUs 11, the controller 150 can switch between an automatic driving mode in which the tractor 1 is automatically driven and a manual driving mode in which an operator (driver) is on board and manually drives the tractor 1. It is possible to control the ascending / descending operation of 3, the opening / closing operation of the power transmission switch that controls the engaged state of the clutch, the operation of the traveling drive device, and the like.

In addition, the automatic driving mode waits for switching between a work mode for automatically traveling in the field F, an inter-field movement mode for automatically moving between fields, and an inter-field movement mode at the exit Fout of the field F. The standby mode is included, and these modes are switched according to the instruction of the information processing apparatus 130.

Further, the controller 150 automatically causes the tractor 1 to travel along the pre-registered travel path 300 (see FIG. 1) based on the position information from the GNSS control device 120 which is a positioning device. The controller 150 sets a work area setting mode for setting a work area in which the tractor 1 can automatically travel in the field F, and executes the work area setting mode.

The tablet terminal 140 is also structurally a kind of the above-mentioned computer, and as shown in FIG. 3, a control unit 143, a storage unit 141 connected to the control unit 143, a display unit for displaying various information, and various inputs. It includes a touch panel 142 with an integrated operation unit that accepts operations, and a GNSS antenna 121.

As shown in FIG. 3, the field-related information of the storage unit 141 includes field map information indicating the location of the field F to which the field identification information 200a to 200i are individually assigned, and work-related information associated with the field map information. Is remembered. That is, work-related information regarding a plurality of divided fields A0 to A2, B0 to B3, and C0 to C1 in each of the field F in the area A, the field F in the area B, and the field F in the area C divided by district. Is stored as necessary information in a database and stored in the storage unit 141. In the following, if there is no particular need to distinguish, the plot fields A0 to A2, B0 to B3, and C0 to C1 in each district may also be described as fields FA, FB, and FC. Fields FA, FB, and FC may also be referred to as field F.

Such information is stored in the storage unit of the information processing apparatus 130 via the communication network 110.

In the work vehicle control system 100 having the above configuration, in each of the plurality of fields F visually identifiable by the map information, the work-related information acquired by the tractor 1 is associated with each of the plurality of fields F, for example. , Can be centrally managed by the farm work support server 130a or the like. For this reason, it becomes easier to formulate future agricultural work plans, and convenience is improved.

Further, if work-related information and the like are sequentially uploaded to the farm work support server 130a via the tablet terminal 140, it is possible to create a farm work plan on the farm work support server 130a or the personal computer 130b using cloud computing. Become.

Further, since the information processing device 130 can store even the travelable area information by the automatic traveling, the farming work by the automatic traveling can be performed in any of the plurality of fields F to be worked.

Further, in the work vehicle control system 100 according to the present embodiment, the travelable area information including the travel path 300 (see FIG. 1) for automatically traveling the tractor 1 is generated by the work control device 160. When the tractor 1 is manned (manually run) in the field F, the work control device 160 (at least one of the controller 150 and the tablet terminal 140) acquires the travel path 300 (see FIG. 1) and acquires it. The travelable area information is generated based on the travel route 300.

Here, the work control device 160 automatically operates the first automatic traveling area where the actually manned tractor 1 can automatically travel, and the other tractor 1 which is not the manned tractor 1 and is not manned. A second automatic traveling area, which is a travelable range, is generated. That is, the work control device 160 stores in advance vehicle information including the wheelbase, tread, tire width, and various other specifications regarding the tractor 1 (working vehicle) including the own vehicle and other vehicles working in the field F. Will be done.

In this way, in the field F in which one tractor 1 has traveled manned, not only the tractor 1 that has traveled manned but also the other tractors 1 that have not traveled manned can perform predetermined work by automatic traveling. It can be done in the specified area 202. In this case, the tractor 1 that is not manned, that is, the tractor 1 that automatically travels can safely travel without departing from the work regulation area in the field F (see FIG. 1).

Here, the work control device 160 will be described. The tractor 1 in the control system 100 of the work vehicle can control each part by electronic control. As shown in FIG. 4, the tractor 1 is provided with a controller 150 on the traveling vehicle body 2 (see FIG. 1). Further, the tablet terminal 140 constituting the work control device 160 together with the controller 150 can be carried into the traveling vehicle body 2 or can be attached to and detached from the traveling vehicle body 2. The tablet terminal 140 and the controller 150 can be connected by a short-range wireless communication standard such as Bluetooth (registered trademark). The tablet terminal 140 and the controller 150 may be configured to be connectable by wire.

Similar to the information processing device 130 described above, the controller 150 is provided with a processing device having a CPU and the like, a storage device such as a ROM, a RAM, and an HDD, and an input / output device. It should be noted that the devices are connected to each other and can exchange signals with each other.

Further, various ECUs 11, operation mode selection switches 12, various actuators 170, cameras 171 and various sensors 172, automatic steering devices 180, and GNSS control devices 120 are connected to the controller 150. Further, a communication unit 151 for communicating with the tablet terminal 140 is connected to the controller 150.

The operation mode selection switch 12 is a switch for switching between an automatic operation mode in which the tractor 1 is automatically operated (automatic operation) and a manual operation mode in which the operator manually operates (manual operation), for example. It is provided on the traveling vehicle body 2.

The various actuators 170 include, for example, various cylinders such as an elevating cylinder that raises and lowers the work equipment 3, a motor that rotates a water depth sensor that detects the water depth of the field F (see FIG. 1), and an intake amount of the engine. There are various motors such as electric motors such as throttle motors that adjust the speed.

The various sensors 172 include the above-mentioned water depth sensor, a soil depth sensor that detects the soil depth of the field F, a fertility sensor that detects the fertilizer concentration of the field F, and the weight of the paddy that is the harvested product. Various sensors such as a weight sensor such as a load cell that detects the weight of seedlings, a rotation sensor that detects the number of rotations of the rear wheels, a tilt sensor that detects the tilt of the traveling vehicle body 2, a work clutch sensor, a temperature sensor, etc. There is.

A plurality of cameras 171 are provided at appropriate locations on the traveling vehicle body 2. The image data captured by the camera 171 can be confirmed, for example, via the information processing device 130 installed in the management building H shown in FIG. In addition, the work control device 160 can also determine the growth status and work status of the crop from the image pickup data obtained by the camera 171.

The GNSS control device 120 that acquires position information including a positioning point indicating the position of the own vehicle of the tractor 1 is a positioning device including a receiving antenna 122 provided on the traveling vehicle body 2 and a GNSS antenna 121 provided on the tablet terminal 140. Functions as. The GNSS control device 120 receives radio waves from the navigation satellite 123 by the GNSS antenna 121 and the receiving antenna 122, and acquires GNSS coordinates at predetermined time intervals to obtain position information (positioning points) on the earth at predetermined intervals. Can be obtained.

The controller 150 uses the position information acquired by the GNSS control device 120 and the work-related information for each position as the field map information indicating the locations of the fields FA, FB, and FC (see FIG. 1). The field-related information (see FIG. 3) recorded in association with each other is generated as independent information for each field FA, FB, and FC. The generated independent information is sent to the information processing apparatus 130 via the communication network 110 (see FIG. 2).

The automatic steering device 180 is controlled by the controller 150 based on the position information acquired by the GNSS control device 120 when the automatic driving mode is selected via the operation mode selection switch 12. That is, the controller 150 automatically operates the steering wheel provided on the traveling vehicle body 2, and the traveling vehicle body 2 is automatically driven. As shown in FIG. 4, the automatic steering device 180 includes a steering motor 181 that applies an arbitrary rotational force to rotate the steering handle, and a handle potentiometer 182 that detects the rotation angle of the steering handle.

Although not shown, it is also possible to use an unmanned aerial vehicle called a so-called drone as the control system 100 for the work vehicle. For example, the unmanned aircraft may be equipped with an image pickup device similar to the camera 171 provided in the tractor 1 and an antenna capable of constructing a part of the GNSS control device 120.

In this case, the unmanned vehicle and the tablet terminal 140 are configured to be communicable, and the touch panel 142 is used to perform a predetermined operation so that the operator remotely controls all operations of the unmanned vehicle including the operation of the image pickup device. be able to. With such a system, it would be beneficial for crop growth if the growth state of the crop planted in the field F (see FIG. 1) was imaged from the sky and the imaged position was associated with the agricultural work information by the GNSS control device 120. It can be field-related information.

As described above, the tablet terminal 140 constituting the work control device 160 together with the controller 150 includes a control unit 143, a storage unit 141, a touch panel 142, and a GNSS antenna 121. Further, the tablet terminal 140 includes a terminal communication unit 144 corresponding to the communication unit 151 on the traveling vehicle body 2 side.

The control unit 143 acquires various information. For example, the control unit 143 sequentially receives the information detected by the various sensors 172 included in the tractor 1, determines whether the received information is the field information related to the field itself or the work itself, and responds to the determination result. The information is stored in the field database 1411 or the work database 1412.

Further, the control unit 143 acquires the position information acquired by the GNSS control device 120. Specifically, the control unit 143 indicates the shape of the field F and acquires the positioning point included in the position information as the shape information.

Further, the control unit 143 sets a work rule area in which the tractor 1 can automatically travel based on the shape information, and sets a travel route (work route) 300 in which the tractor 1 automatically travels based on the set work rule area. Generate.

Further, the control unit 143 controls the field work of the tractor 1 and the automatic traveling in the movement between fields according to the instruction from the information processing device 130. Specifically, the control unit 143 switches between the work mode, the inter-field movement mode, and the standby mode in the automatic traveling mode according to the instruction of the information processing apparatus 130. Further, the control unit 143 may switch the work mode, the inter-field movement mode, and the standby mode in the automatic traveling mode based on the operation of the operator or the like.

Further, the control unit 143 cooperates with the controller 150 of the tractor 1 provided with the GNSS control device 120, and based on the position information and the work-related information included in the field-related information, the tractor 1 can automatically travel the travel route information. That is, the travelable area information can be automatically generated. The generated travelable area information is stored in the route database 1413 in a one-to-one correspondence with each of the plot fields A0 to A2, B0 to B3, and C0 to C1 (see FIG. 3).

The storage unit 141 of the tablet terminal 140 stores various information in addition to various programs required for control processing by the control unit 143. That is, the storage unit 141 generates a field database 1411, a work database 1412, a route database 1413, and a program unit 1414 in which various programs are stored.

In the storage unit 141, work-related information is associated with the field map information indicating the locations of the fields FA, FB, and FC (see FIG. 1) to which the field identification information 200a to 200i are individually assigned. , It is stored as field-related information which is independent information for each of a plurality of fields FA, FB, and FC. That is, in each of the fields FA, FB, and FC divided by district, necessary information such as steering-related information regarding a plurality of divided fields A0 to A2, B0 to B3, and C0 to C1 is provided. , A database is created and stored in the storage unit 141. The work-related information includes field-related information related to fields FA, FB, and FC.

For example, the field database 1411 includes position information, a name, management information of the owner, etc. of the field F, shape information indicating the shape of the field F, and the like. The work database 1412 contains information about the work process in the field F. For example, the work database 1412 contains information about field work performed in the past and field work planned to be performed in the future. The route database 1413 includes information about the work rule area and the travel route 300 (work route) set in the work rule area.

Further, for example, the storage unit 141 may store the shape of the field F, the work rule area, and the reference line in association with each other. As a result, when the same field work is performed in the same field F in the next fiscal year or later, the setting work does not have to be performed, so that the troublesomeness of the operator can be reduced. Further, as the shape of the field F, for example, the center of gravity or the center of the polygon may be stored as a representative point of the field F.

Further, each database stored in the storage unit 141 can be sorted according to a predetermined sorting method. For example, when the past field F is selected, the list is displayed in order from the field F closest to the current position (for example, a representative point). Alternatively, it is also possible to display in the order in which the field work was carried out last year. Further, the field F may be displayed in the order of registration.

The program unit 1414 includes, for example, a work route generation program for generating work route information when the tractor 1 is automatically traveled, an automatic steering program for automatically traveling the tractor 1 according to the generated work route information, and the like. A computer program that controls the overall operation of 1 is stored. Various computer programs including a work route generation program, an automatic steering program, and the like may be stored in the storage unit of the controller 150 mounted on the traveling vehicle body 2.

The work route generation program includes, for example, a self-position acquisition process for acquiring information indicating the position of the own vehicle positioned by the GNSS control device 120, which is a positioning device, the acquired self-position information, and field map information stored in advance. Based on this, at least a travel route generation step of generating a travel route 300 (see FIG. 1) including travelable area information in which the tractor 1 which is the own vehicle can automatically travel is included. Further, a transmission step of generating various work-related information in addition to the traveling route 300 and transmitting the generated information to the information processing apparatus 130 is included.

Further, the field-related information shown in FIG. 3 is stored in the field database 1411 of the storage unit 141. As the field-related information, for example, the field identification information 200a to 200i that identifies the field F is associated with the field map information consisting of image data indicating the position of the field F on the map, work-related information, and the like, and the work control device 160. Generated by.

The tractor 1 can automatically travel (autonomously travel) between fields when the automatic traveling mode is the inter-field movement mode or the standby mode. When the destination field is set for the tractor 1, the traveling route to the destination field is set. The destination field is set based on the signal received from the information processing apparatus 130. Further, the travel route may be generated by the information processing device 130 or may be generated by the work control device 160.

Next, with reference to FIG. 5, the processing content when the tractor 1 is moved between fields will be described. FIG. 5 is a diagram showing the processing contents of the tractor 1 when moving between fields. In FIG. 5, it is assumed that a plurality of tractors 1a and 1b are automatically traveling and working in a plurality of fields FA to FF. Further, in FIG. 5, it is assumed that the inlet Fin and the outlet Fout of the fields FA to FF are at the same position.

For example, in FIG. 5, the tractor 1a in the inter-field movement mode is traveling on a predetermined travel route from the field FC to the field FD, and the tractor 1b in the standby mode is at the exit Fout of the field FA. Suppose you are waiting. Further, when the tractor 1b is switched to the inter-field movement mode, it is determined that the tractor 1b moves between fields from field FA to field FF.

The information processing apparatus 130 may notify which field F each tractor 1 works in which order before the start of work, and at the end of the work of each field F, determines the field F to be worked on next and the tractor. You may notify 1.

The information processing apparatus 130 switches from the standby mode to the inter-field movement mode when a predetermined condition is satisfied for the tractor 1b which is the standby mode. Specifically, the information processing apparatus 130 is scheduled to travel when the first travel route (solid line) on which the tractor 1b in the inter-field movement mode travels and the tractor 1b in the standby mode switches to the inter-field movement mode. When the second traveling route (broken line) overlaps, the tractor 1b is switched from the standby mode to the inter-field movement mode after the tractor 1a moves to the field FD.

That is, the information processing apparatus 130 can prevent the tractors 1 from coming into contact with each other or passing each other on a narrow farm road when the traveling routes overlap in the plurality of tractors 1.

Further, the information processing apparatus 130 can change the field to which the tractor 1 is moved. That is, in the tractor 1 that automatically travels between fields, the destination field may be changed.

Changing the destination field includes canceling the destination. That is, the change of the destination field includes the cancellation of the work in the destination field. The tractor 1 can flexibly respond to changes in the field to be moved by automatic traveling. For example, the tractor 1 can cope with a sudden work change during the work.

For example, the destination of the tractor 1a that automatically travels along the first travel route toward the fields FD in the inter-field movement mode may be canceled. In such a case, if the tractor 1a stops in the middle of the first traveling route, the tractor 1a becomes an obstacle, so that the tractor 1b cannot be switched from the standby mode to the inter-field movement mode. That is, the tractor 1b cannot move from the field FA to the field FF by automatic traveling. Further, for example, turning the tractor 1a on a narrow farm road is dangerous and may reduce safety.

Therefore, in such a case, the tractor 1a according to the embodiment is decided to move to the destination field before the change.

As a result, when the tractor 1b automatically travels from the field FA toward the field FF, the tractor 1a does not interfere with the automatic traveling of the tractor 1b. Therefore, the tractor 1b can automatically travel from the field FA to the field FF. Specifically, after the tractor 1a moves to the field FD, the tractor 1b is switched from the standby mode to the inter-field movement mode and automatically travels along the second traveling route.

Next, the inter-field movement process according to the embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating the inter-field movement process according to the embodiment. The inter-field movement process is performed for each tractor 1. Further, it is assumed that the tractor 1 is in the standby mode.

The work control device 160 determines whether or not to switch the automatic traveling mode from the standby mode to the inter-field movement mode (S100). Specifically, the work control device 160 determines whether or not a signal for switching the automatic traveling mode from the standby mode to the inter-field movement mode has been received from the information processing device 130.

When the automatic traveling mode is not switched from the standby mode to the inter-field movement mode (S100: No), the work control device 160 ends the current process. That is, when the work control device 160 has not received the signal for switching the automatic traveling mode from the standby mode to the inter-field movement mode, the work control device 160 ends the current process.

When the automatic traveling mode is switched from the standby mode to the inter-field movement mode (S100: Yes), the work control device 160 switches the automatic traveling mode to the inter-field movement mode (S101), and shifts to the set destination field. Start automatic driving toward.

The work control device 160 determines whether or not a change signal has been received for the change of the destination field (S102). Specifically, the work control device 160 determines whether or not the change signal changed by the destination field is received from the information processing device 130.

If the work control device 160 has not received the change signal (S102: No), the work control device 160 continues the automatic traveling (S103).

When the work control device 160 receives the change signal (S102: Yes), the work control device 160 automatically travels toward the field before the change while storing information on the change of the destination field based on the change signal (S104). (S103). That is, even if the destination field is changed, the tractor 1 continues to automatically travel toward the field before the change.

The work control device 160 determines whether or not the vehicle has arrived at the destination field (S105). If the work control device 160 has not arrived at the destination field (S105: No), the work control device 160 returns to step S102 and repeats the above process.

When the work control device 160 arrives at the destination field (S105: Yes), the process ends.

When the tractor 1 arriving at the destination field receives the change signal, the tractor 1 changes direction in the destination field and automatically travels toward the new destination field based on the change signal. Make preparations. In this way, the tractor 1 changes direction in the destination field and prepares for automatic driving toward the new destination field. For example, the tractor 1 arriving at the destination field changes direction, sets the automatic driving mode to the inter-field movement mode, sets the traveling route of the new destination field, checks the remaining amount of fuel, and newly changes the direction. Automatically travels toward the destination field.

Specifically, when the remaining amount of fuel is larger than the refueling threshold value, the tractor 1 automatically travels toward the new destination field. When the remaining amount of fuel is equal to or less than the refueling threshold value, the tractor 1 goes into, for example, a standby mode and does not automatically travel toward a new field.

Further, the tractor 1 arriving at the destination field is in the standby mode when the remaining amount of fuel is equal to or less than the refueling threshold value and all the work in the section for inter-field movement has been completed.

The tractor 1 in which the new destination field is set may be preferentially moved toward the field, and may move toward the new destination field after waiting for the movement of the other tractor 1. You may. When waiting for the movement of another tractor 1, the automatic traveling mode of the tractor 1 in which the field of the new movement destination is set is switched to the standby mode.

When the destination field is changed during the standby mode, the tractor 1 sets a traveling route for the changed field and stands by.

The tractor 1 changes direction in the field before the change when the new field is set after the field to be moved is canceled and the field is moved to the field before the change.

In this way, the tractor 1 can automatically travel based on the information of the changed field.

Next, the effect of the tractor 1 according to the embodiment will be described.

The tractor 1 includes a positioning device 120 and a work control device 160. The positioning device 120 acquires the position information of the traveling vehicle body 2. The work control device 160 automatically causes the traveling vehicle body 2 to travel between the fields based on the field information including the position information of the plurality of fields and the position information of the traveling vehicle body 2. Further, when the traveling vehicle body 2 is automatically traveling between fields and the destination field is changed, the work control device 160 moves the traveling vehicle body 2 to the destination field before the change.

As a result, the tractor 1 does not stop on the farm road between the fields. Therefore, for example, the tractor 1 can move between fields with high safety without interfering with the automatic traveling of the other tractor 1. In addition, the tractor 1 is a farm road between fields and does not change direction for moving to a new field. Therefore, for example, the tractor 1 does not make a U-turn on the farm road between fields, and the safety in automatic traveling between fields can be improved.

The work control device 160 makes the traveling vehicle body 2 stand by after the traveling vehicle body 2 has moved to the destination field before the change.

As a result, the tractor 1 does not stop on the farm road between the fields, and it is possible to prevent the tractor 1 from interfering with the automatic traveling of the other tractors 1. Therefore, the tractor 1 can move between fields with high safety.

The work control device 160 changes the direction of the traveling vehicle body 2 in the moving destination field before the change after the traveling vehicle body 2 moves to the moving destination field before the change.

As a result, the tractor 1 can suppress the tractor 1 from turning on the farm road and improve the safety.

The work vehicle control system 100 according to the modified example may have a sign for limiting the movement section in the movement section between fields. The sign is, for example, a sign that can acquire position information in the information processing device 130 and the work control device 160. The sign is, for example, a GNSS control device that acquires position information including a positioning point indicating the position of the sign, and transmits the acquired position information to the information processing device 130 and the work control device 160.

For example, the information processing apparatus 130 acquires the position information of the sign and limits the moving section. Therefore, when the sign is moved, the movement section is changed. Therefore, it becomes easy to limit (change) the moving section.

For example, a field that excludes movement between fields due to automatic driving can be excluded from the movement section by setting the above-mentioned sign.

The setting of the movement section limit starts when the sign is recognized. The tractor 1 that automatically travels between fields in the inter-field movement mode stops when the sign is recognized.

The setting of the restriction of the movement section by the sign is completed when the position of the sign does not change for a certain period of time or more. When the sign is recognized and the stopped tractor 1 is set to limit the movement section, the automatic traveling is resumed. The tractor 1 whose movement of the field to the destination is restricted by the restriction of the movement section by the sign is maintained in the stopped state.

The tractor 1 in the standby mode re-searches the travel route to the destination field when the setting of the restriction of the movement section by the sign is completed.

When the restriction of the moving area by the sign is released and the original moving area is returned, for example, the sign is moved to the outside of the entrance Fin of the restricted field, and the driving route to the restricted field is secured. Then, it becomes possible to automatically drive to the restricted field.

The removal of the movement zone restriction begins with the movement of the sign. The tractor 1 that automatically travels between fields in the inter-field movement mode stops when the sign is recognized. The release of the restriction on the movement section is completed when the position of the sign does not change for a certain period of time or longer. The stopped tractor 1 resumes automatic traveling when the restriction on the moving section is released. For example, the tractor 1 resumes automatic traveling toward a field that was scheduled to be moved before the restriction on the moving section was lifted.

When the release of the moving section by the sign is completed, the tractor 1 in the standby mode re-searches the traveling route to the destination field.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments described and described above. Thus, various modifications can be made without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents.

1 tractor 2 traveling vehicle body 3 work equipment 100 control system 110 communication network 120 positioning device 121 GNSS antenna 122 receiving antenna 123 navigation satellite 130 information processing device 130a agricultural work support server 140 tablet terminal 150 controller 160 work control device (control device)
F field

Claims (4)

A positioning device that acquires the position information of the traveling vehicle body, and
It is equipped with a field information including position information of a plurality of fields and a control device for autonomously traveling the traveling vehicle body between fields based on the position information of the traveling vehicle body.
The control device is characterized in that when the traveling vehicle body is autonomously traveling between fields and the destination field is changed, the traveling vehicle body is moved to the destination field before the change. vehicle. The work vehicle according to claim 1, wherein the control device causes the traveling vehicle body to stand by after the traveling vehicle body has moved to the field to which the traveling vehicle body has not been changed. The work vehicle according to claim 2, wherein the control device changes the direction of the traveling vehicle body in the destination field before the change after the traveling vehicle body has moved to the destination field before the change. When the control device receives information about a new destination field after the destination field is canceled and the traveling vehicle body moves to the new destination field, the control device receives information about the new destination field. The work vehicle according to claim 2 or 3, wherein the traveling vehicle body is changed in direction.

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