JP2022102956A - Control system for work vehicle - Google Patents

Abstract

To provide a control system for a work vehicle capable of improving efficiency of travel to a work start point by enabling setting of a travel path according to operator's preference and improving efficiency of travel.SOLUTION: A traveling vehicle body can travel in a field. A positioning device acquires a self-position P0 of the traveling vehicle body. Azimuth angle acquiring means acquires an azimuth angle of the traveling vehicle body. A control unit controls the traveling vehicle body so as to perform work while autonomously traveling along a work path. A portable terminal device 160 has turning radius information of the traveling vehicle body. The portable terminal device generates a travel path R2 to a work start point based on a circle C1 of a turning radius in contact with a vector V1 of the azimuth angle and the self-position, a circle C2 of the turning radius in contact with a vector V2 of the work path and the work start point P1, and a tangent of the circle of two turning radii. A via turning circle C4 of the turning radius centering on an arbitrary via point P3 is set. A moving path is changed to a path via an arc of the via turning circle.SELECTED DRAWING: Figure 9

Description

The present invention relates to a work vehicle control system.

Conventionally, in a work vehicle such as an agricultural tractor capable of autonomous travel, when a work route for autonomously traveling the work vehicle is set, a candidate is set by a specific unit for specifying an autonomous travel candidate route in which the work vehicle can start autonomous travel. A technique is known in which a specific area is set and a work route included in the candidate specific area can be specified as an autonomous travel candidate route (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-147163

However, in the above-mentioned conventional technique, when the position where the work vehicle starts autonomous traveling (the position where the work is started, hereinafter referred to as the work start point) is predetermined, the work start point is appropriate. Since it was not possible to generate a movement route, it was not possible to improve efficiency when moving to the work start point. Further, for example, even if there is an area (access prohibited area) that the user does not want to enter when moving to the work start point, it is not possible to set an arbitrary movement route that bypasses the entry prohibited area. That is, there is room for further improvement in the above-mentioned conventional technique in terms of improving work efficiency.

The present invention has been made in view of the above, and it is possible to set a movement route according to the preference of the operator, to improve the efficiency of movement to the work start point, and to improve the work efficiency. The purpose is to provide a control system for a work vehicle that can be used.

In order to solve the above-mentioned problems and achieve the object, the control system of the work vehicle according to the embodiment includes a traveling vehicle body capable of traveling in the field, a positioning device for acquiring the self-position of the traveling vehicle body, and the traveling vehicle body. An azimuth angle acquisition means for acquiring the azimuth angle of the vehicle body and a work route including a work start point in the field are generated, and the traveling vehicle body is controlled so as to perform work while autonomously traveling along the generated work route. The mobile terminal device includes a control unit and a portable terminal device having information on the turning radius of the traveling vehicle body when moving in the field in advance, and the portable terminal device includes the azimuth angle vector acquired by the azimuth angle acquisition means and the azimuth angle vector. Based on the circle of the turning radius that touches at the self-position acquired by the positioning device, the circle of the turning radius that touches at the vector of the work path and the work start point, and the tangent line to the two circles of the turning radius. When a movement path from the self-position of the traveling vehicle body to the work start point is generated and an arbitrary waypoint is set from the portable terminal device, a way-turning circle having the turning radius centered on the way-point is formed. It is characterized in that the movement path is set and the path is changed to a path that passes through the arc of the via turning circle.

According to the work vehicle according to the embodiment, the movement route can be set according to the preference of the worker, the efficiency of movement to the work start point can be improved, and the work efficiency can be improved.

FIG. 1 is a schematic left side view showing a work vehicle according to an embodiment. FIG. 2 is a block diagram showing a control system for a work vehicle according to an embodiment. FIG. 3 is an explanatory diagram (No. 1) of autonomous traveling in the field. FIG. 4 is an explanatory diagram (No. 2) of autonomous traveling in the field. FIG. 5 is a flowchart (No. 1) showing the process of setting the movement route. FIG. 6 is a flowchart (No. 2) showing the process of setting the movement route. FIG. 7 is an explanatory diagram of a route pattern of a movement route. FIG. 8 is an explanatory diagram of (a) a route pattern of left turn-right turn-left turn, and (b) an explanatory diagram of a route pattern of right turn-left turn-right turn. FIG. 9 is an explanatory diagram (No. 1) of changing the movement route on the display screen of the mobile terminal device. FIG. 10 is an explanatory diagram (No. 2) of changing the movement route on the display screen of the mobile terminal device. FIG. 11 is an explanatory diagram (No. 3) of changing the movement route on the display screen of the mobile terminal device. FIG. 12 is an explanatory diagram of route selection when (a) a transit circle is set on the right side of the original route, and (b) an explanation of route selection when a transit circle is set on the left side of the original route. It is a figure, (c) is an explanatory diagram of the route selection in the case of setting a transit circle straddling the original route. FIG. 13 is an explanatory diagram (No. 1) of offset setting of the via turning circle. FIG. 14 is an explanatory diagram (No. 2) of the offset setting of the via turning circle.

Hereinafter, embodiments of the work vehicle control system disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

<Overview of work vehicle (tractor)>
First, an outline of the work vehicle 1 according to the embodiment will be described with reference to FIG. FIG. 1 is a schematic left side view showing a work vehicle 1 according to an embodiment. In the following, a tractor will be described as an example of the work vehicle 1. Further, the tractor 1 which is a work vehicle is an agricultural tractor that performs farm work in a field while self-propelled.

Further, the tractor 1 which is a work vehicle is centered on a control unit 200 (see FIG. 2), which will be described later, in addition to performing a predetermined work while the operator (also referred to as a worker) is on board and traveling in the field. By controlling each part by the control system, the predetermined work is executed while autonomously traveling in the field.

In the following description, the front-rear direction is the traveling direction when the tractor 1 goes straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the tractor 1 is a direction toward the steering wheel 9 from the cockpit 8 described later when the tractor 1 goes straight.

Further, the left-right direction is a direction horizontally orthogonal to the front-back direction. In the following, left and right are specified toward the "front" side. That is, with the operator seated in the driver's seat 8 and facing forward, the left hand side is "left" and the right hand side is "right". The vertical direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other in three dimensions. Further, in the following description, the tractor 1 or the traveling vehicle body 2 may be referred to as an "airframe".

As shown in FIG. 1, the tractor 1 includes a traveling vehicle body 2 and a working machine 6. The traveling vehicle body 2 can travel in the field and includes a front wheel 3 and a rear wheel 4. The front wheels 3 are steering wheels (steering wheels) provided in pairs on the left and right. The rear wheels 4 are driving wheels (driving wheels) provided in pairs on the left and right. The traveling vehicle body 2 may be provided with a crawler device instead of the wheels (at least one of the front wheels 3 and the rear wheels 4). In this case, the traveling crawler is the drive wheel.

In the rear wheel 4, which is the drive wheel, the rotational power generated by the engine E, which is the drive source housed in the bonnet 5, is transmitted to the transmission (transmission) 121 (transmission) 121 (transmission) 121 (transmission) 121 (transmission) provided in the power transmission device (mission case) 12. (See FIG. 2), the speed is appropriately reduced and transmitted. The rear wheel 4 is driven by the rotational power transmitted from the engine E. The transmission 121 switches the rotational power transmitted from the engine E to any one of a plurality of (for example, 1st to 8th) gears.

The traveling vehicle body 2 is configured to be able to transmit the power generated by the engine E and decelerated by the transmission 121 to the front wheels 3 via the 4WD clutch. In this case, when the 4WD clutch transmits power, the four wheels of the front wheels 3 and the rear wheels 4 are driven by the power transmitted from the engine E. Further, when the 4WD clutch cuts off the transmission of power, the two wheels of only the rear wheels 4 are driven by the power transmitted from the engine E. In this way, the traveling vehicle body 2 is configured to be able to switch between two-wheel drive (2WD) and four-wheel drive (4WD).

At the rear of the traveling vehicle body 2, a working machine 6 that performs work in the field is connected, and a PTO device 7 having a PTO (Power take-off) shaft 71 that transmits power for driving the working machine 6 is provided. A driver's seat 8 is provided at the center of the traveling vehicle body 2 to sit when the operator operates the tractor 1.

A steering wheel 9, which is a steering wheel for the front wheels 3, is provided in front of the cockpit 8. The steering wheel 9, the drive unit that drives the steering wheel, and the like constitute the steering device 122 (see FIG. 2). The steering wheel 9 is provided at the upper end of the steering wheel post 10. Various operation pedals 11 (accelerator pedal, brake pedal, clutch pedal) are provided below the handle post 10 and near the driver's feet when the driver sits on the cockpit 8.

Further, an elevating device 13 for elevating and lowering the working machine 6 is provided at the rear of the traveling vehicle body 2. The elevating device 13 moves the working machine 6 to a non-working position by raising the working machine 6. Further, the elevating device 13 moves the working machine 6 to the ground work position by lowering the working machine 6. The elevating device 13 includes a hydraulic elevating cylinder 131, a lift arm 132, a lift rod 133, a lower link 134, and a top link 135.

When the hydraulic oil is supplied to the elevating cylinder 131, the lift arm 132 rotates so as to raise the working machine 6 around the shaft AX, and when the hydraulic oil is discharged from the elevating cylinder 131, the lift arm 132 works around the shaft AX. It rotates so as to lower the machine 6. A lift arm sensor for detecting the rotation angle of the lift arm 132 is provided at the base of the lift arm 132 (near the axis AX). The height of the working machine 6 is calculated based on the detected value of the lift arm sensor.

Further, the lift arm 132 is connected to the lower link 134 via the lift rod 133. In this way, the elevating device 13 connects the working machine 6 to the traveling vehicle body 2 so as to be able to move up and down by the lower link 134 and the top link 135.

In the example shown in FIG. 1, the case where the working machine 6 is a rotary tiller is illustrated. The rotary tiller cultivates the field scene (soil) by rotating the tiller claw 61 by the power transmitted from the PTO shaft 71 of the PTO device 7.

Further, the tractor 1 includes a control unit 200 (see FIG. 2). The control unit 200 controls the engine E and also controls the traveling speed of the traveling vehicle body 2. Further, the control unit 200 controls the working machine 6.

Further, the tractor 1 includes a positioning device 150. The positioning device 150 is provided on the upper part of the traveling vehicle body 2, measures the position of the traveling vehicle body 2 at a predetermined cycle, and acquires information (for example, latitude and longitude) of the self-position P0 (see FIG. 3) of the traveling vehicle body 2. do. The positioning device 150 is, for example, a GNSS (Global Navigation Satellite System), and can receive radio waves from a navigation satellite S orbiting in the sky for positioning and timing.

Further, the tractor 1 can set various operations in a specific field by the operation of the portable terminal device 160 by the operator. The mobile terminal device 160 is, for example, a tablet terminal, can be connected to a communication network such as the Internet, and can be connected to the work management device via the communication network. In this case, the work management device is a system capable of so-called cloud computing. The mobile terminal device 160 and the work management device are connected by, for example, a wireless LAN (Local Area Network).

The mobile terminal device 160 includes, for example, a storage unit composed of a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and a display unit and an operation unit composed of a touch panel. In addition, various keys, buttons, and the like may be separately provided as the operation unit. Further, the mobile terminal device 160 may include a processing unit having a CPU (Central Processing Unit) or the like so that each unit can be controlled by electronic control, as in the control unit 200 described later.

The work management device is a processing device having a CPU or the like, a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), or a computer equipped with an input / output device. be.

Further, the tractor 1 includes an azimuth angle acquisition unit 170 (see FIG. 2). The azimuth acquisition means 170 acquires the azimuth angle of the traveling vehicle body. The azimuth acquisition means 170 is, for example, an azimuth sensor. Hereinafter, the azimuth acquisition means 170 is referred to as an azimuth sensor.

The azimuth sensor 170 has, for example, an absolute azimuth angle in the traveling direction of the traveling vehicle body 2 (for example, "north" is 0 ° (360 °), "east" is 90 °, "south" is 180 °, and "west". 270 °) is detected. The azimuth sensor 170 detects the absolute azimuth at regular time intervals and transmits the detected absolute azimuth to the control unit 200 or the like. The azimuth acquisition means 170 includes, for example, a geomagnetic sensor in addition to the azimuth sensor.

<Control system for work vehicle (tractor)>
Next, with reference to FIG. 2, the control system 100 of the work vehicle according to the embodiment, that is, the control system of the work vehicle (tractor) 1 centering on the control unit 200 will be described. FIG. 2 is a block diagram showing a work vehicle control system 100 according to an embodiment. As shown in FIG. 2, the control unit 200 includes an engine ECU (Electronic Control Unit) 201, a traveling system ECU 202, and a working machine elevating system ECU 203.

The engine ECU 201 controls the rotation speed of the engine E. The traveling system ECU 202 controls the traveling speed of the traveling vehicle body 2 (see FIG. 1) by controlling the rotation of the driving wheels (rear wheels 4). The work equipment elevating system ECU 203 controls the elevating device 13 to elevate and drive the work equipment 6.

The control unit 200 can control each unit by electronic control, and includes a processing unit having a CPU (Central Processing Unit) and the like, as well as various programs and scheduled traveling of the traveling vehicle body 2 preset for each field, which will be described later. It is provided with a storage unit composed of, for example, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, which stores necessary data such as a route (hereinafter referred to as a work route) R1.

As shown in FIG. 2, a positioning device (GNSS) 150, an azimuth angle sensor 170, an engine rotation sensor 110, a vehicle speed sensor 111, a speed change sensor 112, a turning angle sensor 113, and the like are connected to the control unit 200. Further, the engine E, the transmission 121, the steering device 122, the elevating device 13, and the like are connected to the control unit 200.

The engine rotation sensor 110 detects the rotation speed of the engine E. The vehicle speed sensor 111 detects the traveling speed (vehicle speed) of the traveling vehicle body 2 (see FIG. 1). The shift sensor 112 detects which shift is among the plurality of shifts in the shift device 121. The turning angle sensor 113 detects the turning angle of the front wheel 3 (see FIG. 1), which is a steering wheel.

The control unit 200 has information on the position (self-position) of the traveling vehicle body 2 in a field or the like from the positioning device 150, the rotation speed of the engine E from the engine rotation sensor 110, the vehicle speed of the traveling vehicle body 2 from the vehicle speed sensor 111, and the current speed change sensor 112. The turning angle of the front wheel 3 is input from the speed change stage and the turning angle sensor 113. When the traveling vehicle body 2 is autonomously driven, the control unit 200 uses the detection value of the steering angle sensor 113 to feed back the steering angle of the front wheel 3 to the steering wheel 9 (see FIG. 1). The steering wheel 9 is steered by controlling the connected steering cylinders.

Further, in the control unit 200, the engine ECU 101 is connected to the engine E, the traveling system ECU 102 is connected to the transmission device 121 and the steering device 122, and the work equipment elevating system ECU 103 is connected to the elevating device 13. The work equipment elevating system ECU 103 raises and lowers the work equipment via the elevating device 13.

Further, in the control unit 200, when the traveling vehicle body 2 is autonomously traveled, a work path R1 (see FIG. 3) according to the work content by the work machine 6 is determined in advance for each field, and is converted into data and stored in the storage unit. Is remembered in. The control unit 200 has the engine E, the transmission unit 121, the steering device 122, and the elevating device 13 so as to perform work while traveling along the work path R1 stored in the storage unit based on the measurement result of the positioning device 150. And so on. The work route R1 is set according to the shape and size of the field, the width, length and number of ridges formed in the field, and the type of crop. Further, the control unit 200 presets the turning radius of the tractor 1 (traveling vehicle body 2) when moving in the field.

Further, as described above, the control unit 200 is wirelessly connected to, for example, a portable terminal device (tablet terminal) 160 that can be carried by an operator. The control unit 200 controls each unit of the tractor 1 based on an instruction signal from the mobile terminal device 160 operated by the operator. The control unit 200 may have an aircraft information database of the tractor 1 and may be configured so that information such as a model can be exchanged from the mobile terminal device 160 or the like.

<Autonomous driving in the field>
Next, autonomous traveling of the work vehicle (tractor) 1 in the field F1 will be described with reference to FIGS. 3 to 8. 3 and 4 are explanatory views of autonomous driving in the field F1 and are schematic views from above the field. Note that FIG. 3 shows a case where the distance between the circle C1 having a turning radius when the traveling vehicle body 2 starts moving and the circle C2 having a turning radius when entering the work path R1 is a predetermined distance (for example, 10 m) or more. FIG. 4 shows a case where the distance between the circle C1 having a turning radius when the traveling vehicle body 2 starts moving and the circle C2 having a turning radius when entering the work path R1 is less than a predetermined distance. ..

5 and 6 are flowcharts showing the process of setting the movement path R2. Of these, FIG. 6 shows the process of setting the movement route R2 that does not deviate from the deviation prohibited area A2. FIG. 7 is an explanatory diagram (table) of the route pattern of the movement route R2. FIG. 8 is an explanatory diagram of (a) a route pattern of left turn-right turn-left turn, and (b) an explanatory diagram of a route pattern of right turn-left turn-right turn.

For example, in the case of cultivating work by the tractor 1 that performs the work while autonomously traveling, the control unit 200 (see FIG. 2) has, for example, the total length, the total width, the tread, the capacity of the working machine 6 (see FIG. 1), and the field. Based on information including the shape and area of F1, a work path R1 in which an appropriate turning position, cultivation depth, etc. are defined is generated.

The worker H can also operate the mobile terminal device 160 from the ridge F2 or the like to remotely send an instruction to the tractor 1.

As shown in FIGS. 3 and 4, the tractor 1 enters the field F1 from the entrance / exit of the field F1 along the work path R1 and appropriately turns and travels in the work area A1 set in the field F1. Tilling work is done automatically. Depending on the program, the tractor 1 can be controlled to go out of the field F1 from the entrance / exit of the field F1 and stop at a predetermined place after the tilling work.

The tractor 1 (traveling vehicle body 2) performs ground work while orbiting in the headland area, for example, with a predetermined area inside the ridge F2, that is, inside from the end of the field F1 as the headland area. In the work area A1 inside the headland area, the tractor 1 works on the ground (cultivation) while repeating straight movement and turning along the work path R1 from the preset work start point P1 to the work end point P2. I do.

<Setting the movement route to the work start point>
Further, in the present embodiment, as shown in FIGS. 3 and 4, the movement route of the tractor 1 (traveling vehicle body 2) is such that when the tractor 1 starts the work, the tractor 1 can move to the work start point P1 by an appropriate route. Set R2.

In this case, as shown in FIGS. 3 and 4, the control unit 200 forms a circle C1 having a turning radius that is in contact with the azimuth vector V1 acquired by the azimuth acquisition means 170 and the self-position P0 acquired by the positioning device 150. The circle C2 having a turning radius that is in contact with the vector V2 of the work path R1 and the work start point P1 is set. Further, the control unit 200 sets a tangent line L1 with respect to the circles C1 and C2 having two turning radii. The control unit 200 generates a plurality of paths based on the circles C1 and C2 having two turning radii and the tangent line L1.

Here, the circle C1 having a turning radius that is in contact with the vector V1 of the azimuth angle and the self-position P0 is the left turn movement start circle C1 _L in which the traveling vehicle body 2 starts moving when the traveling vehicle body 2 turns left, and the traveling vehicle body 2 starts moving when the traveling vehicle body 2 turns right. There are two, right turn movement start circle C1 _R. Further, the circle C2 having a turning radius that is in contact with the vector V2 of the work path R1 and the work start point P1 is a left turn approach circle C2 _L in which the traveling vehicle body 2 enters the work path R1 by turning left, and the traveling vehicle body 2 enters the work path R1. There are two types, the right turn approach circle C2 _R , which enters by turning right.

Then, the control unit 200 selects a circle C1 (C1 _L , C1 _R ) having a turning radius on either the left or right side of the traveling vehicle body 2, and a circle C2 (C2 _L ) having a turning radius on either the left or right side of the work start point P1. , C2 _R ) is selected, and the shortest route from the self-position P0 to the work start point P1 is set as the movement route R2 from among these plurality (4) routes. The control unit 200 displays the set movement path R2 on the display screen of the mobile terminal device 160.

When setting the movement path R2, the control unit 200 generates a plurality of paths based on the circles C1 and C2 having two turning radii and the tangent line L1 as shown in FIG. 5 (step S101).

Next, the control unit 200 selects the shortest route from the self-position P0 to the work start point P1 from the plurality of routes (step S102). Next, the control unit 200 sets the selected shortest route as the movement route R2 (step S103), and ends the process.

According to such a configuration, in the autonomous traveling of the tractor 1, the self-position P0 of the traveling vehicle body 2 and the work start point P1 are smoothly connected to generate a movable route, which is the shortest of the generated routes. Since the vehicle can be moved by the route (movement route) R2, the efficiency of movement to the work start point P1 can be improved, and the work can be started smoothly. This makes it possible to improve work efficiency.

Further, as shown in FIGS. 3 and 4, the control unit 200 sets a deviation prohibition area A2 that prohibits the deviation of the traveling vehicle body 2 outside the work area A1. Therefore, the traveling vehicle body 2 can travel (move) inside the deviation prohibition region A2. When the shortest route between the self-position P0 and the work start point P1 includes a partial route deviating from the deviation prohibition region A2 in a plurality of routes, the control unit 200 excludes the route including the partial route. That is, when the deviation component (partial route) from the deviation prohibition region A2 is included in the route, the route is excluded.

Then, the control unit 200 sets the shortest route from the self-position P0 to the work start point P1 as the movement route R2 from the remaining route excluding the route including the deviation component. In this case, even if the route including the deviation component is the shortest route, such a route is not set as the movement route R2. Even if the next shortest route includes a deviation component, it is not set as the movement route R2. Repeat until the route that does not contain the deviation component becomes the shortest route. Further, the control unit 200 does not set the movement route R2 when all the routes include deviation components, and displays, for example, that the movement route R2 cannot be set on the display screen of the mobile terminal device 160.

When setting the movement path R2 that does not deviate from the deviation prohibition region A2, the control unit 200 generates a plurality of paths based on the circles C1 and C2 having two turning radii and the tangent line L1 as shown in FIG. (Step S201).

Next, the control unit 200 selects the shortest route from the self-position P0 to the work start point P1 from the plurality of routes (step S202). Next, the control unit 200 determines whether or not the shortest route includes a partial route deviating from the deviation prohibition region A2 (step S203).

When the control unit 200 determines that the shortest route includes a partial route deviating from the deviation prohibited area A2 (step S203: Yes), the control unit 200 reselects the shortest route from other than the route including the deviating partial route. The shortest route selected again is set as the movement route R2 (step S204), and the process ends.

Further, when the control unit 200 determines that the shortest route does not include a partial route deviating from the deviation prohibition region A2 (step S203: No), the control unit 200 uses the selected shortest route as the movement route R2. (Step S103), and the process ends. In addition, in the processing of step S203 and step S204, the control unit 200 determines whether or not the shortest route selected again includes a partial route deviating from the deviation prohibition area A2, and also determines from the deviation prohibition area A2. It may be repeated until it is determined that the deviant partial route is not included.

According to such a configuration, it is possible to move on the shortest route (movement route) R2 while preventing deviation from the field F1 and contact with the ridge F2, so that the movement to the work start point P1 can be performed while ensuring safety. Efficiency can be improved.

Further, here, FIGS. 7 and 8 show a case where the distance between the circle C1 having a turning radius when the traveling vehicle body 2 starts moving and the circle C2 having a turning radius when entering the work path R1 is less than a predetermined distance. Will be further described with reference to.

As shown in FIG. 7, when the distance between the circle C1 having a turning radius when the traveling vehicle body 2 starts moving and the circle C2 having a turning radius when entering the work path R1 is equal to or longer than a predetermined distance, the control unit 200 , Left turn-straight line-left turn route, left turn-straight line-right turn route, right turn-straight line-left turn route, right turn-straight line-right turn route, and set the movement route R2 from four route patterns.

Further, when the distance between the circle C1 having a turning radius when the traveling vehicle body 2 starts moving and the circle C2 having a turning radius when entering the work path R1 is less than a predetermined distance, the control unit 200 turns left-goes straight-. There are four route patterns: left turn route, left turn-straight line-right turn route, right turn-straight line-left turn route, right turn-straight line-right turn route, left turn-right turn-left turn route, and right turn-left turn-right turn route. The movement route R2 is set from the addition of the two route patterns of.

As shown in FIG. 8A, the control unit 200 further sets a connecting circle C3 having a turning radius tangent to the circles C1 and C2 having two turning radii when setting the route of left turn-right turn-left turn. Further, as shown in FIG. 8B, when the control unit 200 sets the right turn-left turn-right turn route, the control unit 200 also makes a connection circle C3 having a turning radius tangent to the circles C1 and C2 having two turning radii. Set further.

According to such a configuration, even if the distance between the circle C1 having a turning radius when the traveling vehicle body 2 starts moving and the circle C2 having a turning radius when entering the work path R1 is short, the movement becomes the shortest path. Since the route R2 can be set, it is possible to improve the efficiency of movement to the work start point P1.

Further, the operator can remotely instruct the start of movement of the traveling vehicle body 2 by using the portable terminal device 160. In this case, the control unit 200 has its own position P0 at the time when the mobile terminal device 160 instructs the start of movement of the traveling vehicle body 2, that is, when the control unit 200 receives the instruction signal for the start of movement from the mobile terminal device 160. And the azimuth, the movement path R2 is set. Then, the control unit 200 moves the traveling vehicle body 2 along the set movement path R2.

According to such a configuration, from the point where the movement start instruction is given from the mobile terminal device 160, that is, from the point where the control unit 200 receives the movement start instruction signal from the mobile terminal device 160 to the work start point P1. Since it is possible to set a reasonable route, it is possible to improve the efficiency of movement to the work start point P1.

<Operation to change the movement route>
Next, the operation of changing the movement path R2 on the display screen 161 of the mobile terminal device 160 will be described with reference to FIGS. 9 to 11. 9 to 11 are explanatory views of the movement path R2 change operation on the display screen 161 of the mobile terminal device 160, and show the display of each operation on the display screen 161.

As described above, the mobile terminal device 160 is, for example, a tablet terminal. The mobile terminal device 160 has information on the turning radius of the traveling vehicle body 2 when moving in the field F1 in advance. Further, the mobile terminal device 160 can generate the movement path R2 which is the shortest route to the work start point P1 as in the control unit 200 (see FIG. 2). The mobile terminal device 160 can execute various processes including generation of the movement path R2 in cooperation with the mobile terminal device 160 alone or the control unit 200.

That is, the mobile terminal device 160 has the azimuth angle vector V1 acquired by the azimuth angle acquisition means 170 (see FIG. 2) and the circle C1 having a turning radius tangent at the self-position P0 acquired by the positioning device 150 (see FIG. 2). , The self-position P0 of the traveling vehicle body 2 based on the circle C2 having a turning radius tangent to the vector of the work path R1 and the work start point P1 and the tangent line L1 (see FIG. 3) to the circles C1 and C2 having two turning radii. The movement path R2 from the work start point P1 to the work start point P1 is generated.

As shown in FIG. 9, when an arbitrary waypoint P3 is set from the mobile terminal device 160 by an operation of an operator or the like, the mobile terminal device 160 is centered on the waypoint P3 based on the information of the turning radius. The via turning circle C4 of the turning radius to be set is set. When the via swivel circle C4 is set, the mobile terminal device 160 changes the movement path R2 to a path via the arc of the via swivel circle C4.

In this case, the operator looks at the route information displayed on the display screen (for example, the touch panel screen) 161 of the mobile terminal device 160 and the guidance display 162 prompting the tap, and at a desired position (even at an arbitrary position) on the display screen 161. By tapping (there) with a finger or the like, the route is changed to the route via the waypoint P3 (via turning circle C4). The display screen 161 has, for example, a touch panel (single touch) type, but may be, for example, a so-called multi-touch type that enables more complicated operations by tapping a plurality of positions at the same time. ..

The field area may be further displayed on the display screen 161 in order to show the boundary between the field F1 (see FIG. 3) and the ridge F2 (see FIG. 3) outside the deviation prohibition area A2.

Further, as shown in FIG. 9, a waypoint P3 and a way-around circle C4 are set at the apex p1 of the work area A1, and the movement path R2 is changed to bypass the work area A1. The route R2 includes a route deviating from the deviation prohibited area A2. That is, in the example shown in FIG. 9, there is an inappropriate part (such as deviation) in the movement path R2. Therefore, on the display screen 161 the setting completion button 163 is inoperable so that the setting completion operation cannot be performed. In this case, the setting completion button 163 may be further darkened so as not to be conspicuous.

As shown in FIG. 10, when an arbitrary waypoint P3 is further set so as not to include a path entering the deviation prohibition area A3 by an operation of an operator or the like, a way turn with a turning radius centered on the way point P3 is made. The circle C4 is additionally set. When the added way-turning circle C4 is set, the mobile terminal device 160 changes the movement path R2 to a path passing through the arc of the way-turning circle C4. Further, in the changed route, since the movement route R2 does not include the route deviating from the deviation prohibited area A2, the movement route R2 can be set. Therefore, the setting completion button 163 can be operated on the display screen 161. If the setting completion button 163 is darkened, the darkening display is canceled so that the setting completion button 163 stands out.

In the mobile terminal device 160, when the arc of the circle C1 having the turning radius (the size of the circle C1 having the turning radius) in contact with the azimuth vector V1 and the self-position P0 is changed, the circle C1 having the turning radius is changed. The movement path R2 is changed so as to follow the arc. Further, in the mobile terminal device 160, when the arc of the circle C2 having a turning radius (the size of the circle C2 having a turning radius) in contact with the vector V2 of the work path R1 and the work start point P1 is changed, the circle C2 having a turning radius is changed. The movement path R2 is changed so as to follow the changed arc of.

Further, as shown in FIG. 11, when the arc of the via swivel circle C4 (the size of the via swivel circle C4) is changed, the mobile terminal device 160 moves along the changed arc of the via swivel circle C4. Change the route R2.

Further, since the mobile terminal device 160 has information on the minimum value of the turning radius, when the arc of the circle C1 of the turning radius, the arc of the circle C2 of the turning radius, or the arc of the via turning circle C4 is changed, In order to prevent the traveling vehicle body 2 from deviating from the moving path R2 when moving, it is prohibited to change the turning radius (arc) below the minimum value. When the value is less than the minimum value of the turning radius, the mobile terminal device 160 may be configured to prohibit the change and display (warning) on the display screen 161 that the allowable range is exceeded. It should be noted that the same processing may be performed even when the maximum value of the turning radius is exceeded.

According to the above configuration, in autonomous driving, the self-position P0 of the traveling vehicle body 2 and the work start point P1 are smoothly connected to generate a movable route, and the operator H smoothly connects the mobile terminal device 160 to the mobile terminal device 160. By setting an arbitrary waypoint P3 that can be moved to, the movement path R2 can be set according to the preference of the worker H, so that the efficiency of movement to the work start point P1 can be improved. .. This makes it possible to improve work efficiency.

Further, when the traveling vehicle body 2 is to be turned gently because the traveling vehicle body 2 is not to be disturbed by the turning of the traveling vehicle body 2, the traveling vehicle body 2 can be smoothly moved by changing the turning radius. The route R2 can be set to efficiently move to the work start point.

Further, if the turning radius is set to be equal to or less than the minimum value, the traveling vehicle body 2 may deviate from the moving path R2. Therefore, by prohibiting the change of the turning radius to the minimum value or less, the moving vehicle body 2 is moved. Deviation from R2 can be prevented, and the efficiency of movement to the work start point P1 can be improved while ensuring safety.

The operation of changing the movement path R2 on the display screen 161 of the mobile terminal device 160 will be further described with reference to FIG. FIG. 12 is an explanatory diagram of route selection when (a) a transit circle C4 is set on the right side of the original route, and (b) route selection when a transit circle C4 is set on the left side of the original route. It is an explanatory diagram of (c) the route selection in the case where the transit circle C4 is set across the original route.

As shown in FIG. 12A, when the set transit circle C4 is on the right side with respect to the nearest portion of the movement path R2 before the change, the mobile terminal device 160 turns the transit circle C4 to the left. The movement route R2 is changed so as to be performed. Further, as shown in FIG. 12B, when the set via turning circle C4 is on the left side with respect to the nearest portion of the movement path R2 before the change, the mobile terminal device 160 uses the via turning circle C4. Change the movement path R2 so that it turns to the right.

According to such a configuration, the traveling vehicle body 2 can travel smoothly, and when the transit circle C4 is set, the movement path R2 can be smoothly changed without waste, so that the efficiency of movement to the work start point P1 is achieved. Can be achieved.

Further, as shown in FIG. 12 (c), when the set via turning circle C4 straddles the moving path R2 before the change, the mobile terminal device 160 sets the moving path R2 on the arc of the passing turning circle C4. The display screen 161 is displayed so that the operator or the like can select whether to change to turn right or to turn left.

According to such a configuration, when the set transit circle C4 straddles the movement path R2 before the change, the movement path R2 can be smoothly changed without waste regardless of whether the movement path R2 is turned right or left. It is possible to set an arbitrary movement route R2 according to the preference of the worker H by selecting the user H, and it is possible to improve the efficiency of movement to the work start point P1.

Further, the mobile terminal device 160 can set the offset of the via turning circle C4. 13 and 14 are explanatory views of the offset setting of the via swivel circle C4. As shown in FIG. 13, the via swirl circle C4 can be offset inward or outward. For example, if the movement path R2 is changed (changed to inward or outward) by changing the size of the via turning circle C4, the steering angle (turning angle) at the time of turning of the traveling vehicle body also changes. Therefore, by offsetting the via turning circle C4, the steering angle can be fixed and the movement path R2 can be changed.

Further, as shown in FIG. 14, the mobile terminal device 160 offsets the via turning circle C4 inward even when the requested transit turning circle C4 is less than the minimum value of the turning radius of the traveling vehicle body 2. If you want to turn inward of the corner to avoid contact with the ridge F2 (see FIG. 3), reducing the arc of the via turning circle C4 may cause it to fall below the minimum value, but by offsetting it inward, The route can be set inward without falling below the minimum value.

The offset via swirl circle C4 is preferably located on a straight line connecting the apex p1 of the work area A1 (see FIG. 9) and the apex of the field area. Further, it is preferable that the offset via swivel circle C4 is located at a position where the internal angle of the apex p1 of the work area A1 is bisected. In addition, an upper limit is set for the offset amount.

Further, the turning radius of the traveling vehicle body 2 may be configured to be changed by the left-right width of the working machine 6 (see FIG. 1). Further, even if the setting of the turning radius is changed depending on whether the working machine 6 is swung out of the field area and swiveled, or when the working machine 6 is swiveled while being contained in the work area A1. good.

Further, the drive of the front wheel 3 (see FIG. 1), that is, the turning radius may be changed according to the front wheel drive setting.

Further, in the mobile terminal device 160, it is also possible to cancel the transit circle C4 or the like displayed on the display screen 161 by tapping again. The operator can freely add or cancel such a via turning circle C4. Further, in the mobile terminal device 160, when the entry prohibition area for prohibiting the traveling of the traveling vehicle body 2 is set in the field F1, it is also possible to generate the movement route R2 not including the route for entering the entry prohibition area. Is.

According to the above-described embodiment, the following work vehicle control system 100 is realized.

(1) A traveling vehicle body 2 capable of traveling in the field F1, a positioning device 150 for acquiring the self-position P0 of the traveling vehicle body 2, an azimuth angle acquisition means 170 for acquiring the azimuth angle of the traveling vehicle body 2, and the field F1. When the control unit 200 that generates the work path R1 including the work start point P1 and controls the traveling vehicle body 2 to perform the work while autonomously traveling along the generated work path R1, and the traveling vehicle body 2 in the field F1. The portable terminal device 160 includes a portable terminal device 160 having information on the turning radius of the above, and the mobile terminal device 160 has a turning radius that is in contact with the azimuth angle vector V1 acquired by the azimuth angle acquiring means 170 and the self-position P0 acquired by the positioning device 150. Work starts from the self-position P0 of the traveling vehicle body 2 based on the circle C1, the circle C2 having a turning radius tangent to the vector of the work path R1 and the work start point P1, and the tangent line L1 to the circles C1 and C2 having two turning radii. When a movement path R2 to the point P1 is generated and an arbitrary way point P3 is set from the mobile terminal device 160, a way turning circle C4 having a turning radius centered on the way point P3 is set and via the moving path R2. A work vehicle control system 100 that changes the path to a path that passes through the arc of the turning circle C4.

According to such a work vehicle control system 100, in autonomous driving, the self-position P0 of the traveling vehicle body 2 and the work start point P1 are smoothly connected to generate a movable route, and the mobile terminal is generated by the worker H. By setting an arbitrary waypoint P3 that can be smoothly moved from the device 160, the movement path R2 can be set according to the preference of the worker H, so that the efficiency of movement to the work start point P1 can be improved. Can be planned. This makes it possible to improve work efficiency.

(2) In the above (1), the portable terminal device 160 has an arc of a circle C1 having a turning radius that touches the vector V1 of the azimuth angle and the self-position P0, or a turning radius that touches the vector V2 of the work path R1 and the work start point P1. When the arc of the circle C2 or the arc of the via turning circle C4 is changed, the work vehicle control system 100 changes the movement path R2 so as to follow the changed arc.

According to such a work vehicle control system 100, in addition to the effect of (1) above, when the traveling vehicle body 2 is to be turned gently because the field F1 is not disturbed by the turning of the traveling vehicle body 2, the traveling vehicle body 2 is turned. By changing the radius, it is possible to set an arbitrary movement path R2 capable of smooth movement of the traveling vehicle body 2 and efficiently move to the work start point. This makes it possible to improve the efficiency of moving to the work start point P1.

(3) In the above (2), the mobile terminal device 160 has information on the minimum value of the turning radius, and is a work vehicle control system 100 that prohibits the change of the turning radius to the minimum value or less.

According to such a work vehicle control system 100, in addition to the effect of (2) above, if the turning radius is equal to or less than the minimum value, there is a possibility of deviating from the movement path R2 when the traveling vehicle body 2 moves, but the minimum value. By prohibiting the change of the turning radius to the following, it is possible to prevent deviation from the movement path R2 when the traveling vehicle body 2 moves, and it is possible to improve the efficiency of movement to the work start point P1 while ensuring safety. can.

(4) In any one of the above (1) to (3), when the set via turning circle C4 is on the right side with respect to the nearest portion of the movement path R2 before the change, the mobile terminal device 160 is via. The movement path R2 is changed so as to turn the turning circle C4 to the left, and when the set via turning circle C4 is on the left side with respect to the nearest part of the moving path R2 before the change, the via turning circle C4 is turned to the right. A work vehicle control system 100 that changes the movement path R2 so as to be such.

According to such a work vehicle control system 100, in addition to the effect of any one of (1) to (3) above, when the transit circle C4 is set, the movement path R2 can be smoothly changed without waste. Therefore, it is possible to improve the efficiency of moving to the work start point P1.

(5) In any one of the above (1) to (4), when the set via turning circle C4 straddles the moving path R2 before the change, the mobile terminal device 160 sets the moving path R2 to the passing turning circle C4. A work vehicle control system 100 that displays a choice between turning left and turning right on the arc.

According to such a work vehicle control system 100, in addition to the effect of any one of (1) to (4) above, when the set via turning circle C4 straddles the movement path R2 before the change, it turns left. Since the movement path R2 can be smoothly changed without waste even if it is turned or turned to the right, it is possible to set an arbitrary movement path R2 according to the preference of the worker H by letting the worker H select it, and the work is started. It is possible to improve the efficiency of movement to the point P1.

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 Work vehicle (tractor)
2 Driving body 3 Front wheels 4 Rear wheels 5 Bonnet 6 Work equipment 7 PTO device 8 Cockpit 9 Steering wheel 10 Steering wheel 10 Handle post 11 Operation pedal 12 Power transmission device (mission case)
13 Lifting device 61 Tillage claw 71 PTO axis 131 Lifting cylinder 132 Lift arm 133 Lift rod 134 Lower link 135 Top link 100 Work vehicle control system 110 Engine rotation sensor 111 Vehicle speed sensor 112 Speed change sensor 113 Off-angle sensor 121 Speed change device 122 Steering device 150 Positioning device (GNSS)
160 Mobile terminal device (tablet terminal)
161 Display screen (touch panel screen)
162 Guidance display 163 Setting complete button 170 Azimuth acquisition means (azimuth sensor)
200 Control unit 201 Engine ECU
202 Driving system ECU
203 Work equipment elevating system ECU
AX axis A1 work area A2 deviation prohibition area C1 circle of turning radius C2 circle of turning radius C3 connection circle turning circle via C4 E engine F1 field F2 ridge H worker L1 tangent P0 self-position P1 work start point P2 work end point P3 Point p1 Apex R1 Working path R2 Travel path S Navigation satellite V1 vector V2 vector

Claims (5)

A running vehicle that can run in the field and
A positioning device that acquires the self-position of the traveling vehicle body, and
The azimuth acquisition means for acquiring the azimuth angle of the traveling vehicle body and
A control unit that generates a work route including a work start point in the field and controls the traveling vehicle body so as to perform work while autonomously traveling along the generated work route.
A mobile terminal device having information on the turning radius of the traveling vehicle body when moving in the field is provided in advance.
The mobile terminal device is
The azimuth angle vector acquired by the azimuth angle acquisition means, the turning radius circle tangent at the self-position acquired by the positioning device, the work path vector, and the turning radius circle tangent at the work start point. Based on the two tangents to the circle of the turning radius, a movement path from the self-position of the traveling vehicle body to the work start point is generated.
When an arbitrary waypoint is set from the mobile terminal device, a waying circle having the turning radius centered on the waying point is set, and the moving path is changed to a path passing through the arc of the waying circle. A work vehicle control system that features that. The mobile terminal device is
The arc of the circle of the turning radius that touches the vector of the azimuth angle and the self-position, or the arc of the circle of the turning radius that touches the vector of the work path and the work start point, or the arc of the circle of the via turning circle is changed. Then, the control system of the work vehicle according to claim 1, wherein the movement path is changed so as to follow the changed arc. The mobile terminal device is
The work vehicle control system according to claim 2, further comprising information on the minimum value of the turning radius and prohibiting the change of the turning radius to a value equal to or less than the minimum value. The mobile terminal device is
When the set via turning circle is on the right side with respect to the closest part of the moving path before the change, the moving path is changed so as to turn the via turning circle to the left.
Claim 1 is characterized in that when the set via turning circle is on the left side with respect to the closest portion of the moving path before the change, the moving path is changed so as to turn the via turning circle to the right. The work vehicle control system according to any one of 3 to 3. The mobile terminal device is
When the set via turning circle straddles the moving path before the change, the user is allowed to select whether to change the moving path to turn left or turn right on the arc of the passing circle. The work vehicle control system according to any one of claims 1 to 4, wherein the display is performed.

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