JP2022103654A - Work vehicle control system - Google Patents

Abstract

To move a work vehicle to a target position after it has finished travelling in a work region.SOLUTION: A control system of a work vehicle moves the work vehicle 1 along a moving route 206 along a straight line connecting a work ending position 230 and a travelling ending position 231 when the travelling ending position 231 is located in a first headland region 207A, and when an angle formed by a vector 232 connecting the work ending position 230 and the travelling ending position 231, and a vector 230a in an advancing direction of the work vehicle 1 at the work ending position 230 is within a range θa determined beforehand.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work vehicle control system that controls a work vehicle such as a tractor, a chemical spraying vehicle, and a rice transplanter.

The technique described in Patent Document 1 below is conventionally known as a technique for generating a route for autonomously traveling a work vehicle such as a tractor or a chemical spraying vehicle.

In Patent Document 1 (Japanese Unexamined Patent Publication No. 2018-73050), for the route on which the work vehicle travels, an outer peripheral region for traveling around and a central region located inside the outer peripheral region are set with respect to the outer shape data of the work site. , An inner travel route having a straight route that fills the central area and a U-turn route that connects the straight routes, and a circular travel route that is connected to the inner travel route and fills the outer peripheral region are determined, and the inner travel route is determined from the entrance / exit. A travel route generator that determines the transition route to is described. In the technique described in Patent Document 1, work is performed in the entire work area by traveling in the order of a transition route, an inner travel route, and a circuit traveling route.

Japanese Unexamined Patent Publication No. 2018-73050

(Problems of conventional technology)
In the configuration shown in Patent Document 1, there is disclosed a traveling route that passes through the doorway as it is after performing the work on the inner traveling route, shifting to the orbiting traveling route and finishing the work in the outer peripheral region. However, in the outer peripheral region, stones are more likely to be present, unevenness is more likely to be present in the field scene, and ridges are more likely to be present in the outer peripheral region than in the inner region, so high accuracy is required for work in the outer peripheral region. .. That is, if the automatic running is displaced due to stones, unevenness, etc. and the wheels or the like come into contact with the ridges, the ridges may be destroyed or the vehicle may be damaged. Therefore, it may be more appropriate for the operator to manually travel in the outer peripheral region. However, if the vehicle is stopped at the travel end position of the inner travel path by the technique described in Patent Document 1, the work vehicle is left inside the field, and it is difficult for the worker to get into the work vehicle. May be.

The technical subject of the present invention is to move the work vehicle to a target position after finishing traveling in the work area.

The invention according to claim 1 is to solve the technical problem.
A work vehicle with a work machine and
Positioning means for acquiring the position information of the work vehicle and
A direction acquisition means for acquiring the traveling direction of the work vehicle, and
Based on the information of the field in which the work area where the work is performed and the headland area where the work is not performed are preset, and the information of the work route including the work end position preset in the work area. A control unit that controls the work vehicle to execute work while autonomously traveling along the work route.
Equipped with
The control unit
Of the sides constituting the outer circumference of the work area, the side closer to the work end position among the two sides sharing the apex with the reference side was extended to the field edge with respect to the reference side parallel to the work path. When there is a travel end position at which the autonomous travel of the work vehicle ends in the first headland area surrounded by the first extension line and the outer periphery of the field, the work end position and the travel end position are connected. If the angle formed by the vector and the vector in the direction of travel of the work vehicle at the work end position is within a predetermined range,
The work vehicle is moved along a movement path along a straight line connecting the work end position and the travel end position.
It is a work vehicle control system characterized by this.

The invention according to claim 2 is
When the angle formed by the vector connecting the work end position and the running end position and the vector of the traveling direction of the work vehicle at the work end position is out of the predetermined range,
The control unit
A first movement path having a length along the traveling direction of the work vehicle at the work end position and having a length corresponding to the distance of the turning radius of the work vehicle with respect to the work end position, and the end of the first movement path. A second movement path along a direction intersecting the traveling direction of the work vehicle, and a movement path having the same as the starting point are set.
When the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned and entered into the second movement path.
The work vehicle control system according to claim 1.

The invention according to claim 3 is
The predetermined running end position is the first extension line, the reference side or the second extension line extending the opposite side of the reference side to the field edge, the reference side or the opposite side, and the outer circumference of the field. If it is in the second headland area surrounded by
The control unit
A first movement path along the traveling direction of the work vehicle at the work end position, a second moving path along the direction intersecting the traveling direction starting from the end of the first moving path, and the second moving path. A movement route having a third movement route along the traveling direction starting from the end of the movement route is set.
The first movement path is set to a length corresponding to the distance of the turning radius of the work vehicle with respect to the work end position.
The second movement path is set at a position separated from the work end position by a distance of the turning radius of the work vehicle.
When the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned to enter the second movement path.
When the work vehicle is traveling on the second movement path and the distance from the third movement path reaches the turning radius, the work vehicle is turned and entered into the third movement path.
The work vehicle control system according to claim 1 or 2.

The invention according to claim 4 is
The predetermined running end position is farther from the work end position of the two second extension lines extending the reference side and the opposite side of the reference side to the field edge and the two sides sharing the apex with the reference side. If it is in a third headland area surrounded by one side and the outer circumference of the field,
The control unit
A first movement path along the traveling direction of the work vehicle at the work end position, a second moving path along the direction intersecting the traveling direction starting from the end of the first moving path, and the second moving path. A movement path having a third movement path along the traveling direction starting from the end of the moving path and a fourth moving path along the direction intersecting the traveling direction starting from the end of the third moving path. And set
The first movement path is set to a length corresponding to the distance of the turning radius of the work vehicle with respect to the work end position.
The second movement path is set at a position separated from the work end position by a distance of the turning radius of the work vehicle.
The third movement path is set at a position separated by a distance from the turning radius of the work vehicle with respect to the closer side of the reference side and the opposite side.
When the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned to enter the second movement path.
When the work vehicle is traveling on the second movement path and the distance from the third movement path reaches the turning radius, the work vehicle is turned to enter the third movement path.
When the work vehicle is traveling on the third movement path and the distance from the fourth movement path reaches the turning radius, the work vehicle is turned and entered into the fourth movement path.
The work vehicle control system according to any one of claims 1 to 3.

According to the first aspect of the invention, the travel end position is in the first headland area, the vector connecting the work end position and the travel end position, the vector in the traveling direction of the work vehicle at the work end position, and the vector. When the angle formed by is within a predetermined range, the work vehicle is moved along the movement path along the straight line connecting the work end position and the travel end position, so that the travel in the work area is completed. Later, the work vehicle can be moved to the desired position, which is the end of travel position.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, the travel end position is in the first headland region, and the vector connecting the work end position and the travel end position. And, when the angle formed by the vector of the traveling direction of the work vehicle at the work end position is out of the predetermined range, the movement path having the first movement path and the second movement path is traveled. Then, the work vehicle can be moved to the running end position. Further, when the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned and moved into the second movement path. The route can be moved smoothly.

According to the third aspect of the present invention, in addition to the effect of the invention according to the first or second aspect, when the traveling end position is in the second headland area, the first movement path to the third. By traveling the travel route having the travel route of, the work vehicle can be moved to the travel end position. Further, when the distance to the next movement path reaches the turning radius, the work vehicle is turned to enter the next movement path, so that the movement path can be smoothly moved.

According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, when the traveling end position is in the third headland area, the first movement route is obtained. By traveling the travel path having the fourth travel path, the work vehicle can be moved to the travel end position. Further, when the distance to the next movement path reaches the turning radius, the work vehicle is turned to enter the next movement path, so that the movement path can be smoothly moved.

FIG. 1 is an explanatory diagram of a control system for a work vehicle according to the present embodiment. FIG. 2 is a functional block diagram of the control system of the work vehicle according to the present embodiment. FIG. 3 is an explanatory diagram of a work area, a headland area, and a work route according to the embodiment. FIG. 4 is an explanatory diagram of an example of a movement route in the embodiment. FIG. 5 is an explanatory diagram of an example of a movement route when the travel end position is in the first headland area and the initial angle is outside the set range. FIG. 6 is an explanatory diagram of an example of a movement route when the travel end position is in the second headland area. FIG. 7 is an explanatory diagram of an example of a movement route when the travel end position is in the third headland area.

Next, an embodiment which is a specific example of the embodiment of the present invention will be described with reference to the drawings, but the present invention is not limited to the following examples.
In the description of the embodiment, the left and right directions are referred to as left and right, respectively, with respect to the forward direction of the aircraft, and the forward direction is referred to as forward and the reverse direction is referred to as rear.
In addition, in the explanation using the following drawings, the illustrations other than the members necessary for the explanation are omitted as appropriate for the sake of easy understanding.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram of a control system for a work vehicle according to the present embodiment.
In FIG. 1, the work vehicle control system S of the present embodiment has an agricultural machine tractor 1 as an example of the work vehicle. The tractor 1 has a working machine 2 at the rear. As the working machine 2, conventionally known working machines such as a tiller, a plow, a fertilization device, and a seeding machine can be used depending on the work to be performed in the field. Further, although the tractor 1 is exemplified as the work vehicle, the tractor 1 is not limited to this, and the tractor 1 can be applied to any work vehicle such as a chemical spraying vehicle, a rice transplanter, a combine harvester, and a seedling transplanter.

In FIG. 1, the work vehicle control system S of the embodiment has a server 101 as an example of an information processing device. The server 101 is configured to be able to send and receive information to and from the tractor 1 via an internetwork N as an example of a communication line. The tractor 1 of the embodiment is configured to be able to communicate with the server 101 via the network N by wireless communication.
Further, the work vehicle control system S of the embodiment has a tablet terminal TAB as an example of a terminal used by an operator and as an example of an instruction device. The tablet terminal TAB is configured to be capable of transmitting and receiving information by wireless communication with the tractor 1.

(Explanation of functional block diagram)
FIG. 2 is a functional block diagram of the control system of the work vehicle according to the present embodiment.
In FIG. 2, the work vehicle control system S of the present embodiment includes a control unit CA of the tractor 1, a control unit CB of the tablet terminal TAB, a control unit (not shown) of the server 101, and the like. Each control unit CA, CB needs an input / output interface (I / O) for inputting / outputting signals to and from the outside, a ROM (read-only memory) for storing programs and information for performing necessary processing, and the like. A small information processing device having a RAM (random access memory) for temporarily storing various data, a CPU (central processing unit) that performs processing according to a program stored in a ROM or the like, and an oscillator or the like, so-called It is composed of a microcomputer (an example of a computer device), and various functions can be realized by executing a program stored in a storage member such as a ROM, a RAM, or a non-volatile memory.

(Control unit of tablet terminal)
In FIG. 2, the control unit CB of the tablet terminal TAB is composed of a touch panel TAB1 as an example of an input unit, an input button TAB2 such as a power button and a volume change button, and a signal output element such as a communication module TAB3 as an example of a communication unit. Output signal is input. Therefore, information and signals can be input to the control unit CB of the tablet terminal TAB from the control unit CA of the tractor 1 and the server 101 via the communication module TAB3.

The control unit CB of the tablet terminal TAB is connected to a touch panel TAB1 as an example of a display, a speaker (not shown), a communication module TAB3, and other control elements (not shown), and a control signal is sent to each control element. It is outputting. Therefore, information and signals can be output to the control unit CA of the tractor 1 and the server 101 via the communication module TAB3.

The control unit CB of the tablet terminal TAB has a function of executing processing according to an input signal from the touch panel TAB1 and outputting a control signal to each of the control elements. The control unit CB of the tablet terminal TAB of the present embodiment is an operating system OS as an example of basic software, a processing software AP1 as an example of processing means of application software, and other application software (not shown). Has (Internet browser, document creation software, etc.). The processing software AP1 has the following control means.

The information display means CB1 displays an image for setting a work route, information such as the set work route and the operating status of the tractor 1 on the touch panel TAB1.

FIG. 3 is an explanatory diagram of a work area, a headland area, and a work route according to the embodiment.
The work route generation means CB2 generates a work route according to the setting of the work area of the user. In FIG. 3, the work path generation means CB2, as an example, sets the area (outer frame) of the work area 202 and the work start position 203a for the field 201, and the tractor 1 is predetermined. The work path 203, the turn path (non-work path) 204, and the work end position 230 where the work is completed are automatically generated according to the turning radius of the work machine and the work width of the work machine. As for the generation of the work path 203 itself, various conventionally known configurations (for example, the method of generating the inner traveling path of Patent Document 1) can be adopted, and therefore detailed description thereof will be omitted.

The traveling end position setting means CB3 sets the traveling end position 231 in which the tractor 1 autonomously travels on the headland area 207 outside the work area 202 and stops after the work in the work area 202 of the tractor 1 is completed. .. The traveling end position setting means CB3 of the embodiment sets the position manually input by the operator from the touch panel TAB1 to the traveling end position 231.
The work start instruction means (autonomous travel start instruction means) CB4 transmits the work start, that is, the autonomous travel start instruction information to the tractor 1 in response to the operator's input to the touch panel TAB1.

(Control unit of tractor 1)
In FIG. 2, the control unit CA of the tractor 1 includes a communication module 111 as an example of a communication unit, a GPS device 112 as an example of a positioning device, a gyro sensor 113 as an example of a direction acquisition device, and various other sensors (not shown). The output signal from the signal output element such as is input. Therefore, information and signals can be input to the control unit CA of the tractor 1 from the control unit CB of the tablet terminal TAB or the server 101 via the communication module 111.

The control unit CA of the tractor 1 is connected to a traveling system such as an engine and a clutch, a steering system such as a steering wheel, a communication module 111, and other control elements (not shown), and outputs a control signal to each control element. ..

The control unit CA of the tractor 1 has a function of executing processing according to an input signal from each signal output element and outputting a control signal to each of the control elements. The control unit CA of the tractor 1 of the present embodiment has the following control means.
The positioning means CA1 acquires the position information of the current position of the tractor 1 based on the signal from the GPS device 112.

The direction acquisition means CA2 acquires the traveling direction (forward direction) of the tractor 1 based on the signal from the gyro sensor 113. The method for measuring the direction is not limited to the gyro sensor, and any method that can measure the direction, such as a compass, can be adopted.
The work route information acquisition means CA3 acquires the information of the work route 203. The work route information acquisition means CA3 of the embodiment has communication with the tablet terminal TAB, such as the position information of the field 201, the information of the work area 202, the information of the work route 203 and the work start position 203a, and the turning route 204. Acquires and stores information including the information of.

FIG. 4 is an explanatory diagram of an example of a movement route in the embodiment.
The movement route generation means CA4 has a headland area determination means CA4a and an initial direction setting range determination means CA4b, and generates a movement route 206 from the work end position 230 of the tractor 1 to the travel end position 231. ..

In FIG. 4, the headland area determination means CA4a determines where the travel end position 231 is in the headland area 207. The CA4a for determining the headland area of the embodiment has two sides 207b, which share an apex with the reference side 207a with respect to the reference side 207a parallel to the work path 203 in one side constituting the outer circumference of the work area 202. Of the 207c, the first extension line 208 in which the side near the work end position 230 (near the end position) 207b is extended to the end of the field 201, and the reference side 207a and the opposite side 207e of the reference side 207a are far from the work start position 203a. A second extension line 209 extending in the direction is derived.

Then, in this embodiment, the area surrounded by the end position vicinity 207b, the first extension line 208, and the outer circumference of the field 201 is referred to as the first headland area 207A. Further, a region surrounded by the first extension line 208, the reference side 207a, the second extension line 209, and the outer circumference of the field 201, the first extension line 208, the opposite side 207e, and the second extension line 209. The area surrounded by the outer periphery of the field 201 and the outer circumference of the field 201 is referred to as a second headland area 207B. Then, the area surrounded by the far side 207c of the end position, the two second extension lines 209, and the outer circumference of the field 201 is referred to as the third headland area 207C. That is, the first headland area 207A is the area in front of the traveling direction 230a of the tractor 1 at the work end position 230, the second headland area 207B is the lateral area, and the third headland area 207C is. , The area on the opposite side (rear side) of the work area 202.
The headland region discriminating means CA4a of the embodiment determines which region of the three headland regions 207A to 207C the traveling end position 231 belongs to.

The setting range determination means CA4b in the initial direction is an angle (initial angle) formed by the vector 232 connecting the work end position 230 of the tractor 1 and the travel end position 231 and the vector 230a in the traveling direction at the work end position 230 of the tractor 1. It is determined whether or not θ1 is within a predetermined range (first set range) θa. As an example, the first setting range θa is set to a range of ± 45 degrees with the traveling direction 230a as 0 degree. That is, in the embodiment, the range in which the right-angled movement path does not need to be set (that is, turning is not required) and the field can be moved to the traveling end position 231 without disturbing the field so much only by steering is set in the first setting range θa. It is set. The specific numerical range is not limited to the exemplified numerical values, and can be appropriately changed according to the design, specifications, and the like.
Further, unless otherwise specified, in the following description, "turning" is not a direction change (large turn) only by the steering wheel, but a large turn by stopping the rotation of the inner wheel or reverse rotation in addition to the direction change by the steering wheel. It is used to mean turning with a smaller turning radius (small turning, turning mode).

In FIG. 4, the moving path generating means CA4 of the embodiment is a case where the traveling end position 231 is located in the first headland region 207A, and the initial angle θ1 is within the range of the first setting range θa. In this case, a movement path 206 along a straight line connecting the work end position 230 and the travel end position 231 is generated.

FIG. 5 is an explanatory diagram of an example of a movement route when the travel end position is in the first headland area and the initial angle is outside the set range.
When the traveling end position 231 is in the first headland area 207A and the initial angle θ1 is outside the range of the first set range θa, the moving path generating means CA4 of the embodiment is used. As shown in FIG. 5, the length along the traveling direction 230a of the tractor 1 at the work end position 230 and according to the distance of the turning radius r1 of the tractor 1 with respect to the work ending position 230 (from the turning radius r1 in the embodiment). An extended movement path (first movement path) 206a having a large predetermined length) and a first right-angled movement path (first right-angled movement path) along a direction intersecting the traveling direction 230a starting from the end of the extended movement path 206a. (2) The movement path 206b and the movement path 206 having the movement path 206b are generated. The length of the extended movement path 206a is not limited to the distance exemplified in the embodiment, and can be set to an arbitrary distance such as the same distance as the turning radius r1. The same applies to the subsequent first right-angle movement path 206b, parallel movement path 206c, and second right-angle movement path 206d.

FIG. 6 is an explanatory diagram of an example of a movement route when the travel end position is in the second headland area.
In FIG. 6, the moving path generating means CA4 of the embodiment includes an extended moving path 206a and a first right-angled moving path 206b when the running end position 231 is located in the second headland area 207B. A movement path 206 having a parallel movement path (third movement path) 206c along the traveling direction 230a starting from the end of the first right-angled movement path 206b is generated. In the movement path 206 shown in FIG. 6, the extension movement path 206a is set to a length corresponding to the distance of the turning radius r1 of the tractor 1 with respect to the work end position 230. Further, the first right-angled movement path 206b is set at a position separated from the work end position 230 by the turning radius r1 of the tractor 1.

FIG. 7 is an explanatory diagram of an example of a movement route when the travel end position is in the third headland area.
In FIG. 7, the moving path generating means CA4 of the embodiment is parallel to the extended moving path 206a and the first right-angled moving path 206b when the traveling end position 231 is located in the third headland region 207C. A movement path 206 having a movement path 206c and a second right-angled movement path (fourth movement path) 206d along a direction intersecting the traveling direction 230a starting from the end of the parallel movement path 206c is generated. In the movement path 206 shown in FIG. 7, the extension movement path 206a is set to a length corresponding to the distance of the turning radius r1 of the tractor 1 with respect to the work end position 230. Further, the first right-angled movement path 206b is set at a position separated from the work end position 230 by the turning radius r1 of the tractor 1. Further, the translation path 206c is set at a position separated by a distance of the turning radius r1 of the tractor 1 with respect to the closer side of the reference side 207a or the opposite side 207e.

The traveling control means CA5 has a turning radius determining means CA5a, and controls the traveling (forward, reverse, stop, steering, turning) of the tractor 1. The travel control means CA5 travels the tractor 1 along the work path 203 and the turning path 204 in the work area 202, and travels the tractor 1 along the generated movement path 206 in the headland areas 207A to 207C. ..

The turning radius determining means CA5a determines whether or not it is time (timing) to make a turn when moving toward the traveling end position 231 along the moving path 206.
When the movement path 206 shown in FIG. 4 is generated (set), the turning radius determining means CA5a enters the linear movement path 206 toward the travel end position 231 when starting travel from the work end position 230. The turning of the tractor 1 is started so as to be caused.

When the moving path 206 shown in FIG. 5 is set, the turning radius determining means CA5a sets the distance to the first right-angled moving path 206b to the distance of the turning radius r1 while the tractor 1 is traveling on the extended moving path 206a. When it reaches, the turning of the tractor 1 is started so as to enter the first right-angled movement path 206b.

When the movement path 206 shown in FIG. 6 is set, the turning radius determining means CA5a determines and controls the turning as in the case of FIG. 5 until the approach to the first right-angled moving path 206b. Then, when the tractor 1 is traveling on the first right-angled movement path 206b and the distance to the parallel movement path 206c reaches the distance of the turning radius r1, the tractor 1 so as to enter the parallel movement path 206c. Start turning.

When the movement path 206 shown in FIG. 7 is set, the turning radius determining means CA5a determines and controls the turning as in the case of FIG. 6 until the entry into the parallel movement path 206c. Then, when the tractor 1 is traveling on the parallel movement path 206c and the distance to the second right-angle movement path 206d reaches the distance of the turning radius r1, the tractor 1 enters the second right-angle movement path 206d. The turning of the tractor 1 is started.

The control means CA6 of the work machine controls the operation (operation, stop) of the work machine 2. The control means CA6 of the working machine according to the embodiment stops and raises the working machine 2 while the tractor 1 is moving along the moving path 206 or the turning path 204, and operates the working machine 2 while the tractor 1 is moving along the working path 203. , Lower.

(Action of embodiment)
In the control system S of the tractor 1 of the embodiment having the above configuration, when the travel end position 231 is set in the headland area 207 outside the work area 202, the movement path 206 from the work end position 230 is automatically set. Is generated in. Then, the tractor 1 autonomously travels from the work end position 230 along the generated movement path 206, and stops autonomous travel when it reaches the travel end position 231.
Therefore, in the tractor control system S of the embodiment, the work is not performed in the headland area 207, and the tractor 1 can be autonomously traveled to the travel end position 231 designated by the operator. Therefore, the tractor 1 can be moved to a target position such as a position where the operator can safely and easily get into the tractor 1, and the work is performed in the headland area 207 where careful work is required due to ridges and the like. A person can operate the tractor 1 to perform work. Therefore, it can be expected that the destruction of the ridges and the damage of the tractor 1 will be reduced.

In the tractor control system S of the embodiment, a configuration in which the work path 203 and the like are generated by the tablet terminal TAB and the movement path 206 is generated by the tractor 1 is exemplified, but the present invention is not limited to this. It is possible to generate the routes 203, 204, and 206 with the tablet terminal TAB, the tractor 1, and the server 101. At this time, centralized processing can be performed by a specific device, but distributed processing can also be performed by a plurality of devices.
Further, in the headland area 207 as in the present embodiment, the headland manual mode in which the worker moves to the running end position and manually runs the work without performing the work, and the pillow as in Patent Document 1. It is also possible to make it possible to switch between the automatic headland mode in which work is performed while autonomously traveling the ground area.

1 ... Work vehicle,
2 ... Working machine,
201 ... field,
202 ... Work area,
203 ... work route,
206 ... Movement route,
206a ... First movement route,
206b ... Second movement route,
206c ... Third movement route,
206d ... Fourth movement route,
207 ... Headland area,
207a ... Reference side,
207b ... The side closer to the work end position,
207c ... The side farther from the work end position,
207e ... The opposite side of the reference side,
207A ... First headland area,
207B ... Second headland area,
207C ... Third headland area,
208 ... the first extension,
209 ... Second extension,
230 ... Work end position,
230a ... Vector of the traveling direction of the work vehicle at the work end position,
231 ... Running end position,
232 ... A vector connecting the work end position and the running end position,
CA, CB ... Control unit,
CA1 ... Positioning means,
CA2 ... Direction acquisition means,
r1 ... turning radius,
S ... Work vehicle control system,
θ1 ... Subtended angle,
θa: A predetermined range.

Claims (4)

A work vehicle with a work machine and
Positioning means for acquiring the position information of the work vehicle and
A direction acquisition means for acquiring the traveling direction of the work vehicle, and
Based on the information of the field in which the work area where the work is performed and the headland area where the work is not performed are preset, and the information of the work route including the work end position preset in the work area. A control unit that controls the work vehicle to execute work while autonomously traveling along the work route.
Equipped with
The control unit
Of the sides constituting the outer circumference of the work area, the side closer to the work end position among the two sides sharing the apex with the reference side was extended to the field edge with respect to the reference side parallel to the work path. When there is a travel end position at which the autonomous travel of the work vehicle ends in the first headland area surrounded by the first extension line and the outer periphery of the field, the work end position and the travel end position are connected. If the angle formed by the vector and the vector in the direction of travel of the work vehicle at the work end position is within a predetermined range,
The work vehicle is moved along a movement path along a straight line connecting the work end position and the travel end position.
A work vehicle control system characterized by that. When the angle formed by the vector connecting the work end position and the running end position and the vector of the traveling direction of the work vehicle at the work end position is out of the predetermined range,
The control unit
A first movement path having a length along the traveling direction of the work vehicle at the work end position and having a length corresponding to the distance of the turning radius of the work vehicle with respect to the work end position, and the end of the first movement path. A second movement path along a direction intersecting the traveling direction of the work vehicle, and a movement path having the same as the starting point are set.
When the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned and entered into the second movement path.
The work vehicle control system according to claim 1. The predetermined running end position is the first extension line, the reference side or the second extension line extending the opposite side of the reference side to the field edge, the reference side or the opposite side, and the outer circumference of the field. If it is in the second headland area surrounded by
The control unit
A first movement path along the traveling direction of the work vehicle at the work end position, a second moving path along the direction intersecting the traveling direction starting from the end of the first moving path, and the second moving path. A movement route having a third movement route along the traveling direction starting from the end of the movement route is set.
The first movement path is set to a length corresponding to the distance of the turning radius of the work vehicle with respect to the work end position.
The second movement path is set at a position separated from the work end position by a distance of the turning radius of the work vehicle.
When the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned to enter the second movement path.
When the work vehicle is traveling on the second movement path and the distance from the third movement path reaches the turning radius, the work vehicle is turned and entered into the third movement path.
The work vehicle control system according to claim 1 or 2. The predetermined running end position is farther from the work end position of the two second extension lines extending the reference side and the opposite side of the reference side to the field edge and the two sides sharing the apex with the reference side. If it is in a third headland area surrounded by one side and the outer circumference of the field,
The control unit
A first movement path along the traveling direction of the work vehicle at the work end position, a second moving path along the direction intersecting the traveling direction starting from the end of the first moving path, and the second moving path. A movement path having a third movement path along the traveling direction starting from the end of the moving path and a fourth moving path along the direction intersecting the traveling direction starting from the end of the third moving path. And set
The first movement path is set to a length corresponding to the distance of the turning radius of the work vehicle with respect to the work end position.
The second movement path is set at a position separated from the work end position by a distance of the turning radius of the work vehicle.
The third movement path is set at a position separated by a distance from the turning radius of the work vehicle with respect to the closer side of the reference side and the opposite side.
When the work vehicle is traveling on the first movement path and the distance from the second movement path reaches the turning radius, the work vehicle is turned to enter the second movement path.
When the work vehicle is traveling on the second movement path and the distance from the third movement path reaches the turning radius, the work vehicle is turned to enter the third movement path.
When the work vehicle is traveling on the third movement path and the distance from the fourth movement path reaches the turning radius, the work vehicle is turned and entered into the fourth movement path.
The work vehicle control system according to any one of claims 1 to 3.

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