JP6622131B2 - Route generator - Google Patents

Route generator Download PDF

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Publication number
JP6622131B2
JP6622131B2 JP2016067256A JP2016067256A JP6622131B2 JP 6622131 B2 JP6622131 B2 JP 6622131B2 JP 2016067256 A JP2016067256 A JP 2016067256A JP 2016067256 A JP2016067256 A JP 2016067256A JP 6622131 B2 JP6622131 B2 JP 6622131B2
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route
unit
work
travel
tractor
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JP2017182376A (en
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横山 和寿
和寿 横山
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ヤンマー株式会社
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Priority claimed from KR1020207011545A external-priority patent/KR20200045004A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0201Agriculture or harvesting machine

Description

  The present invention relates to a route generation device that generates a travel route for an aircraft to travel autonomously.

  Conventionally, in order to efficiently and easily perform farm work on a farm field, a travel route is generated so as to repeat straight traveling, turning near the boundary, and restarting straight traveling following the turn in order, and the farm vehicle is moved along the traveling route. A technique for performing autonomous traveling is known (see, for example, Patent Documents 1 and 2).

JP 2004-8053 A JP 2011-254704 A

  By the way, in the prior art, when the autonomous traveling (farming work) of the agricultural vehicle along the traveling route is terminated before reaching the preset end position, the traveling route used during the previous autonomous traveling is determined. Since it cannot be reused during the next autonomous traveling, the operation for generating a traveling route must be performed again for the unworked area in the field. For this reason, for example, when a farm work is performed for a plurality of days in a large-scale farm field, it is necessary to generate a travel route each time, and there is room for improvement in view of setting workability.

  This invention is made | formed in view of said present condition, and makes it a technical subject to provide the self-propelled control apparatus which can be divided easily, without remaking a driving | running route, and a work vehicle provided with the same.

A route generation device according to the first aspect of the invention specifies a travel region in which the aircraft is autonomously traveled, a route generation unit capable of generating a travel route of the aircraft in the travel region, and the travel route as a plurality of units. A unit route setting unit that divides the route into units and sets the start and end positions of autonomous driving of the aircraft on each unit route, and instructs the start of traveling of the aircraft from the start position of each unit route. A control unit for instructing the vehicle to finish traveling , the route generation unit can generate a route including a plurality of work paths and a plurality of turning circuits as the traveling route, and the unit route setting unit includes the unit route setting unit, The end position of any one of the work paths included in the travel route is set to the start position at which the airframe starts traveling and the end position at which the airframe ends traveling in each unit route. It said end position of the unit path, but to remove the turning path located between the starting position of the other unit pass.

According to a second aspect of the present invention, in the route generation device according to the first aspect, the unit route setting unit travels by the body of the traveling route after the autonomous traveling of the body along the traveling route is started. The non-traveling route excluding the already traveled route is configured to be divided into a plurality of unit routes.

  According to the present invention, a travel region for autonomously traveling the airframe is specified, a route generation unit capable of generating a travel route of the airframe in the travel region, and a part of the travel route as a unit route of the airframe Since it includes a settable unit path setting unit and a control unit capable of instructing the traveling of the aircraft along the unit path, therefore, even when performing farm work over a plurality of days in a large-scale field, for example, A plurality of the unit routes can be set by diverting the previously generated travel route itself without recreating it from scratch. For this reason, for example, the travel range of the airframe can be easily divided in consideration of the usage time of the airframe, and the work burden on the operator is reduced. In addition, for example, it is easy to set up a daily work process.

It is the whole robot tractor side view in an embodiment. It is a top view of a robot tractor. It is a functional block diagram of a robot tractor. (A) is a figure explaining the setting of the travel route P with respect to the inclined field area | region F and the work area | region W, (b) is explanatory drawing in the case of making a corrected turning radius small, (c) is making a corrected turning radius large. It is explanatory drawing in the case of doing. (A) (b) is a screen figure of the remote control device explaining the example of division of a run route.

  DESCRIPTION OF EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. First, a robot tractor 1 (hereinafter may be simply referred to as “tractor”) which is an example of a work vehicle according to the present invention will be described. The tractor 1 includes a body 2 that autonomously travels in a farm field. The machine body 2 is detachably equipped with a work machine 3 indicated by a chain line in FIGS. The work machine 3 is used for farm work. Examples of the work machine 3 include various work machines such as a tillage machine, a plow, a fertilizer machine, a mowing machine, and a seeding machine. A desired work machine 3 is selected from these as required, and the machine body 2 Can be attached to. The machine body 2 is configured to be able to change the height and posture of the mounted work machine 3.

  The structure of the tractor 1 is demonstrated with reference to FIG.1 and FIG.2. As shown in FIG. 1, the airframe 2 that is the airframe of the tractor 1 is supported at its front portion by a pair of left and right front wheels 7 and 7 and at its rear portion by a pair of left and right rear wheels 8 and 8. The front wheels 7 and 7 and the rear wheels 8 and 8 constitute a traveling part.

  A bonnet 9 is disposed at the front of the machine body 2. The bonnet 9 accommodates an engine 10 that is a driving source of the tractor 1 and a fuel tank (not shown). The engine 10 can be configured by, for example, a diesel engine, but is not limited thereto, and may be configured by, for example, a gasoline engine. Further, as the drive source, an electric motor may be used in addition to or instead of the engine.

  Behind the bonnet 9 is a cabin 11 on which an operator boardes. Inside the cabin 11, there are mainly provided a steering handle 12 for the operator to steer, a seat 13 for the operator to sit on, and various operating devices for performing various operations. Yes. However, the agricultural work vehicle is not limited to the one with the cabin 11 and may be one without the cabin 11.

  Although illustration is omitted, examples of the operation device include a monitor device, a throttle lever, a main transmission lever, a lift lever, a PTO switch, a PTO transmission lever, and a plurality of hydraulic transmission levers. These operating devices are arranged in the vicinity of the seat 13 or in the vicinity of the steering handle 12.

  The monitor device is configured to display various information of the tractor 1. The throttle lever is for setting the rotational speed of the engine 10. The main transmission lever is used to change the transmission ratio of the transmission case 22. The raising / lowering lever is for raising / lowering the height of the working machine 3 mounted on the machine body 2 within a predetermined range. The PTO switch is used to intermittently transmit power to a PTO shaft (power extraction shaft) protruding outward from the rear end side of the mission case 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft and the PTO shaft rotates to drive the work machine 3, while when the PTO switch is in the OFF state, the power to the PTO shaft is cut off. The PTO shaft does not rotate and the work machine 3 stops. The PTO shift lever is used to change the power input to the work machine 3, and specifically, is used to change the rotation speed of the PTO shaft. The hydraulic shift lever is for switching the hydraulic external take-off valve.

  As shown in FIG. 1, a chassis 20 constituting the framework is provided at the lower part of the body 2. The chassis 20 includes a body frame 21, a mission case 22, a front axle 23, a rear axle 24, and the like.

  The body frame 21 is a support member at the front portion of the tractor 1 and supports the engine 10 directly or via a vibration isolation member. The mission case 22 changes the power from the engine 10 and transmits it to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the mission case 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the mission case 22 to the rear wheel 8.

  As shown in FIG. 3, the tractor 1 is controlled as a control unit for controlling the operation of the machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). A device 4 is provided. The control device 4 is electrically connected to a common rail device 41 as a fuel injection device, a transmission 42, a lift actuator 44, and the like.

  The common rail device 41 injects fuel into each cylinder of the engine 10. In this case, when the fuel injection valve of the injector for each cylinder of the engine 10 is controlled to open and close by the control device 4, the high-pressure fuel pumped from the fuel tank to the common rail device 41 by the fuel supply pump is sent from each injector to the engine 10. The injection pressure, injection timing, and injection period (injection amount) of fuel injected into each cylinder and supplied from each injector are controlled with high accuracy.

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

  The lift actuator 44 operates, for example, a three-point link mechanism that connects the work machine 3 to the machine body 2 to move the work machine 3 to a retracted position (a position where farm work is not performed) or a work position (a position where farm work is performed). It raises or lowers to either. By controlling the elevating actuator 44 by the control device 4 and appropriately moving the work implement 3 up and down, it is possible to perform farm work with the work implement 3 at a desired height in the field area, for example.

  The control device 4 includes a rotation speed sensor 31 that detects the rotation speed of the engine 10, a vehicle speed sensor 32 that detects the rotation speed of the rear wheel 8, and a steering angle sensor that detects the rotation angle (steering angle) of the handle 12. Sensors 33 and the like are also electrically connected. The detection values of these sensors are converted into detection signals and transmitted to the control device 4.

  The tractor 1 provided with the control device 4 as described above controls various parts of the tractor 1 (airframe 2, work implement 3 and the like) by the control device 4 when the operator gets into the cabin 11 and performs various operations. Thus, the farm work can be executed while traveling in the field. In addition, the tractor 1 according to the embodiment can autonomously travel based on a predetermined control signal output from the remote operation device 46, for example, without an operator boarding.

  Specifically, as shown in FIG. 3, the tractor 1 includes various configurations in the control device 4 for enabling autonomous traveling. Further, the tractor 1 is provided with various configurations such as a positioning antenna 6 necessary for acquiring position information of itself (the body) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and can autonomously travel on the field.

  Next, the structure with which the tractor 1 is provided for autonomous traveling will be described in detail. Specifically, as shown in FIGS. 1 and 3, the tractor 1 includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, and the like.

  The steering actuator 43 is provided, for example, in the middle of the rotation shaft (steering shaft) of the steering handle 12 and adjusts the turning angle (steering angle) of the steering handle 12. When the tractor 1 travels (as an unmanned tractor) along a predetermined route, the control device 4 calculates an appropriate rotation angle of the steering handle 12 so that the tractor 1 travels along the route. The steering actuator 43 is controlled so that the steering handle 12 rotates at the rotation angle.

  The positioning antenna 6 receives a signal from a positioning satellite constituting a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is disposed on the upper surface of the roof 14 in the cabin 11. The signal received by the positioning antenna 6 is input to the position and tilt angle information calculation unit 49 shown in FIG. 3, and the position and tilt angle information calculation unit 49 performs the tractor 1 (strictly speaking, the positioning antenna 6). Is calculated as latitude / longitude information, for example. The position information calculated by the position and inclination angle information calculation unit 49 is acquired by the position and inclination angle information acquisition unit 50 of the control device 4 and used for controlling the tractor 1.

  The position and tilt angle information calculation unit 49 of the embodiment can measure not only the position information of the tractor 1 (airframe 2) but also the tilt angle information of the front, rear, left and right. The tilt angle information measured by the position and tilt angle information calculation unit 49 is acquired by the position and tilt angle information acquisition unit 50 of the control device 4 in a state associated with the position information (latitude / longitude information), and the tractor 1 It is used for control. Note that the position and inclination angle information calculation unit 49 can also measure the height position of the positioning antenna 6 with respect to the farm scene, and thus the vehicle height of the tractor 1 (airframe 2).

  In this embodiment, a high-accuracy satellite positioning system using the GNSS-RTK method is used. However, the present invention is not limited to this, and other positioning systems are used as long as high-accuracy position coordinates are obtained. May be. GNSS-RTK is a positioning method that has been corrected based on the information of a reference station whose position is known and improved in accuracy, and there are a plurality of methods depending on the distribution method of information from the reference station. Since the present invention does not depend on the GNSS-RTK system, details are omitted in this embodiment.

  The wireless communication antenna 48 receives a signal from the remote operation device 46 or transmits a signal to the remote operation device 46. As shown in FIG. 1, the radio communication antenna 48 is disposed on the upper surface of the roof 14 of the cabin 11 of the tractor 1. A signal from the remote control device 46 received by the wireless communication antenna 48 is subjected to signal processing by the transmission / reception processing unit 47 shown in FIG. 3 and then input to the control device 4. The signal transmitted from the control device 4 to the remote operation device 46 is subjected to signal processing by the transmission / reception processing unit 47, then transmitted from the wireless communication antenna 48, and received by the remote operation device 46.

  Furthermore, the tractor 1 is provided with a pair of left and right brake devices 26 and 26 that brake the left and right rear wheels 8 and 8 by two systems of operation and automatic control of a brake pedal and a parking brake lever. That is, both the left and right brake devices 26, 26 are configured to brake both the left and right rear wheels 8, 8 by operating the brake pedal (or parking brake lever) in the braking direction. Further, when the turning angle of the handle 12 becomes equal to or larger than a predetermined angle, the brake device 26 for the rear wheel 8 on the inside of the turn is automatically braked by a command from the control device 4 (so-called auto brake).

  The tractor 1 is provided with an obstacle sensor 35 that detects whether there is an obstacle ahead, side, or rear. The obstacle sensor 35 is configured by a laser sensor, an ultrasonic sensor, or the like, recognizes an obstacle existing in front, side, and rear of the tractor 1 and generates a detection signal. Further, the tractor 1 is attached with a camera 36 that photographs the front, side, and rear. The obstacle sensor 35 and the camera 36 are electrically connected to the control device 4. The detection values of these sensors are converted into detection signals and transmitted to the control device 4.

  Specifically, the remote operation device 46 is configured as a tablet personal computer including a touch panel. The operator can check the information displayed on the touch panel of the remote operation device 46 (for example, information on a field necessary for autonomous traveling). Further, the operator can operate the remote control device 46 to transmit a control signal for controlling the tractor 1 to the control device 4 of the tractor 1. Note that the remote operation device 46 of the embodiment is not limited to a tablet personal computer, and may be configured by, for example, a notebook personal computer. Alternatively, when a manned tractor (not shown) is allowed to travel along with the unmanned tractor 1, a monitor device mounted on the manned tractor can be used as a remote control device.

  The control device 4 shown in FIG. 3 includes each unit for autonomous traveling control of the tractor 1. In addition to this, various configurations such as a positioning antenna 6 are provided in the tractor 1, so that the existing tractor can be unmanned. It can be used as the tractor 1. The control device 4 is configured as a small computer having a CPU, a ROM, a RAM, and the like, and an operation program, an application program, various data, and the like are stored in the ROM. By cooperating with the hardware and software described above, the control device 4 is changed to the position and inclination angle information acquisition unit 50, the region information storage unit 51, the work information storage unit 52, the contour registration point storage unit 53, and the region shape acquisition unit 54. , The path generation unit 55, the display data generation unit 56, and the like.

  The tractor 1 configured as described above calculates a travel route in the field area (travel region) by the route generation unit 55 based on an instruction of an operator using the remote operation device 46, and autonomously travels along the travel route. However, the farm work by the work machine 3 can be performed. In this way, the route in the field area (traveling region) where the tractor 1 autonomously travels may be referred to as a “traveling route” in the following description. In addition, an area to be farmed by the work machine 3 of the tractor 1 in the farm field area (traveling area) may be referred to as a “work area”. The work area is determined as an area excluding the headland and the margin from the entire field area, and when an operator or the like executes a registration work of a registration point described later, based on the registration point and the work width of the tractor 1. Is set.

  Next, each part with which the control apparatus 4 is provided in order to enable autonomous driving | running | working is demonstrated individually with reference to FIG.

  The position and inclination angle information acquisition unit 50 configured using the control device 4 is based on a positioning signal acquired from the positioning system acquired by the positioning antenna 6, and is calculated by the position and inclination angle information calculation unit 49. 1 position information (specifically, latitude / longitude information, etc.), and the tilt angle information of the front, rear, left, and right of the tractor 1 measured by the position and tilt angle information calculation unit 49 is obtained as position information (latitude / longitude information). Are acquired in a state of being associated with each other.

  The area information storage unit 51 configured by using the control device 4 stores various information related to areas such as farm fields to be subjected to farm work by autonomous traveling with the tractor 1. Specifically, the information on the field includes the position and shape of the field (may be referred to as a field region or a traveling region), the position and shape of the work area where the farming work is performed by the work machine 3 in the field, and the work machine in the field. 3 may be a start position where the farm work is started, and an end position where the farm work is finished.

  The position and shape of the field, i.e., the field area (traveling area), is identified from the traveling trajectory when the vehicle body 2 of the tractor 1 is traveled around the field before the traveling route is generated, and is described later. Acquired by the acquisition unit 54. The stage before generating the travel route corresponds to a stage before starting the travel of the tractor 1 (machine body 2) accompanied by the farm work on the work machine 3. The position and shape of the work area are also acquired by the area shape acquisition unit 54 described later. Other information can be set by, for example, the operator operating the touch panel of the remote operation device 46. The information on the start position and the end position is set by the operator operating the touch panel of the remote operation device 46 after the field shape acquisition unit 54 acquires information on the field area (traveling area). The field area and work area information (which may be referred to as area information) includes front, rear, left and right inclination angle information associated with each position information (latitude / longitude information).

  The work information storage unit 52 configured using the control device 4 stores, as work information, the type of work performed by the work machine 3 attached to the machine body 2 of the tractor 1, the work width, the overlap width, and the like. In the embodiment, these pieces of information can be set by the operator operating the touch panel of the remote operation device 46. Examples of work types include tillage work and sowing work. The work width means an effective width in which work is performed by the work machine 3, and is, for example, 3 meters. The overlap width means a width in which the work width by the work implement 3 overlaps (allows overlap) when the tractor 1 travels on adjacent travel routes, for example, 30 centimeters.

  The contour registration point storage unit 53 configured using the control device 4 may include a plurality of points (for example, corner portions F1 to F4) that configure the contour of the field region F (traveling region) shown in FIG. ), When the operator performs an operation of registering the position information when the body 2 of the tractor 1 is positioned, the position information and the inclination angle information corresponding to the position information are stored. As described above, the identification of the field area F is obtained based on the travel locus when the vehicle body 2 of the tractor 1 travels manned and travels around the field before generating the travel route. In the embodiment, the contour registration point storage unit 53 stores position information and inclination angle information at the plurality of points on the travel locus. In the present embodiment, a spot registered in the contour registration point storage unit 53 may be referred to as a registration point.

  The area shape acquisition unit 54 acquires the shape (including the inclination) of the field area F based on the position information and the inclination angle information of the plurality of registration points read from the contour registration point storage unit 53. Furthermore, the area shape acquisition unit 54 acquires the shape (including the inclination) of the work area W based on the shape of the above-described field area F and the work information (at least work width information) read from the work information storage unit 52. To do. Specifically, a polygon (rectangle in the embodiment) specified by a so-called closed graph so that line segments connecting the registration points do not intersect is acquired as the shape of the farm field F or the work area W.

  Based on the work information read from the work information storage unit 52 and the information on the work area W read from the area information storage unit 51, the route generation unit 55 calculates a travel route P for autonomously traveling the airframe 2 of the tractor 1 by calculation. create. The travel route P includes a plurality of straight roads Ps and a plurality of turning circuits Pc. That is, the traveling route P includes a straight path Ps (which may be called a work path) which is a linear or broken line path where farm work is performed, and a turning circuit Pc (non-work path) where a turning operation (direction change) is performed. Are generated as a series of paths alternately connected to each other. Therefore, according to the embodiment, the field area F can be specified in consideration of the inclination, and the area of the field area F can be measured with high accuracy. As a result, an optimal travel route P can be generated.

  The display data creation unit 56 displays the shape of the field area F and the work area W acquired by the area shape acquisition unit 54 and stored in the area information storage unit 51 on the touch panel of the remote operation device 46. Create data. The display data created by the display data creation unit 56 is received by the remote operation device 46 via the transmission / reception processing unit 47 and displayed as an image on the touch panel of the remote operation device 46.

  Next, a mode of travel route division control in the embodiment will be described with reference to FIG. The control device 4 according to the embodiment can also operate as the unit path setting unit 57 (see FIG. 3) by the cooperation of the hardware and software described above. The unit route setting unit 57 configured using the control device 4 is for setting a part of the travel route P as a unit route U for one travel of the tractor 1 (airframe 2). In other words, in the embodiment, after the travel route P is generated, the control device 4 (unit route setting unit 57) can divide (divide) the travel route P into a plurality of unit routes U. Information of each divided unit route U and the like is newly stored in the control device 4 as the region information storage unit 51. When the unit route U group is set, the autonomous traveling of the tractor 1 (airframe 2) is controlled for each unit route U by the control device 4.

  In FIG. 5 and the description thereof, for the sake of convenience, the original travel route P, the original start position S, and the original end position E may be indicated with an alphabet “o”. In addition, each unit path U and the start position S and end position E with respect to each unit path U may be indicated with numbers.

  In the example of division shown in FIGS. 5A and 5B, the vehicle is displayed on, for example, the touch panel of the remote control device 46 before the autonomous traveling on the tractor 1 (airframe 2) after the travel route P (= Po) is generated. A route division button (not shown) is pressed. Then, the farm field F, the work area W, and the original travel route Po are displayed on the touch panel of the remote operation device 46. In this state, when the end position of any straight path Ps included in the original travel route Po is pressed with a finger or a pen, the end position E1 (first end) of the first unit path U1 corresponding to the pressed position. (Which may be referred to as a position) is newly generated (see FIG. 5A). In this case, the range from the original start position So to the first end position E1 is set as the first unit path U1.

  Then, a start position S2 (also referred to as a second start position) of the second unit path U2 is newly generated at the end position of the straight path Ps connected to the first end position E1 via the turning circuit Pc. (See FIG. 5B). In this case, the second unit path U2 is set from the second start position S2 to the original end position Eo. The turning circuit Pc between the first end position E1 and the second start position S2 is deleted. As a result, the original travel route Po is divided (divided) into the first unit route U1 and the second unit route U2. Therefore, for example, even when a farm work is performed over a plurality of days in a large-scale field, a plurality of unit routes U can be set by diverting the previously generated travel route Po itself without recreating from scratch. . For this reason, for example, the work range (traveling range) in the field can be easily divided in consideration of the workable time and the like, and the work burden on the operator is reduced. In addition, for example, it is easy to set up a daily work process. In the control device 4 (region information storage unit 51), the first unit path U1, the first end position E1, the second unit path U2, and the second start position S2 are newly stored.

  The control device 4 (unit route setting unit 57) of the embodiment sets the midway position of any straight road Ps included in the original travel route Po to the start position S and end position E of each unit route U. Is prohibited. For this reason, the tractor 1 (airframe 2) that autonomously travels on each unit route U, for example, stops traveling on its own in the vicinity of the center of the field away from the headland (equivalent to the midway position of each straight path Ps). There is no risk of starting driving.

  The original travel route Po is not limited to two, and can be divided into three or more unit routes U. In this case, the unit route setting operation (route division setting operation) described above may be performed a plurality of times. Further, during the autonomous running of the tractor 1 (airframe 2), it is possible to perform the above-described unit route setting work (route division setting work) by pressing a route division button (not shown) on the touch panel. In this case, it is only allowed to set the route on which the tractor 1 (airframe 2) has not traveled in the original travel route Po. This is because it is not necessary to execute the above-described unit route generation work (route division work) on the already-traveled route.

  In the present embodiment, the travel route is divided before the tractor 1 (airframe 2) autonomously travels after the travel route P is generated. However, before the travel route P is generated, the work area W is divided. However, a travel route may be generated in each work area. In that case, before the travel route P is generated, for example, an area division button (not shown) displayed on the touch panel of the remote operation device 46 is pressed. Then, the field area F, the work area W, and the like are displayed on the touch panel of the remote operation device 46. In this state, when an arbitrary position (or any one of a plurality of positions displayed in a selectable manner) is pressed with a finger or a pen, the work area W is divided corresponding to the pressed position. The number of divisions of the work area W can also be set as appropriate. For example, when the work area W is divided into the work area W1 and the work area W2, the work area is determined based on the widths of the areas W1 and W2 and the work width. A new end position En in W1 and a new start position Sn in the work area W2 are set as appropriate. In the work area W1, a travel route from the original start position So to the new end position En is generated, and in the work area W2, a travel route from the new start position Sn to the original end position Eo is generated.

  In the above embodiment, the control device 4 of the tractor 1 includes the position and inclination angle information acquisition unit 50, the region information storage unit 51, the work information storage unit 52, the contour registration point storage unit 53, the region shape acquisition unit 54, and the route generation. However, the present invention is not limited to this, but functions as the unit 55, the display data creation unit 56, and the unit path setting unit 57. That is, the above-described configuration may be provided in the remote operation device 46, or a part may be provided in the control device 4 and the other part may be provided in the remote operation device 46. In addition, both the control device 4 and the remote operation device 46 may include all or part of the above configuration.

  Accordingly, the route generation device of the present invention may be provided in the tractor 1 or may be provided in the remote operation device 46. When the route generation device is provided in the remote operation device 46, the remote operation device 46 wirelessly communicates the position information and the inclination angle information of the tractor 1 calculated by the position and inclination angle information acquisition unit 50 provided in the tractor 1. It can be obtained via the antenna 48 for use. When the travel route is generated by the remote operation device 46, the remote operation device 46 includes storage units 51 and 52, and information acquired from the storage units 51 and 52 (work information and work area W information). ) Based on. The remote operation device 46 can instruct the tractor 1 to travel along the generated travel route (transmit an autonomous travel start control signal). In this case, the control device 4 can transmit the remote operation device 46. Based on this instruction, each part of the tractor 1 is controlled to run autonomously.

  The present invention is not limited to the above-described embodiment, and can be embodied in various forms. The configuration of each unit is not limited to the illustrated embodiment, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Robot tractor 2 Airframe 3 Work machine 4 Control device 6 Positioning antenna 26 Brake device 46 Remote operation device 48 Wireless communication antenna 49 Position and inclination angle information calculation part 50 Position and inclination angle information acquisition part 51 Area information storage part 52 Work Information storage unit 53 Outline registration point storage unit 54 Area shape acquisition unit 55 Path generation unit 56 Display data generation unit 57 Unit path setting unit

Claims (2)

  1. A route generation unit capable of identifying a travel region for autonomously traveling the aircraft and generating a travel route of the aircraft in the travel region;
    A unit route setting unit that divides the travel route into a plurality of unit routes and sets a start position and an end position of autonomous traveling of the aircraft in each unit route;
    A control unit for instructing the start of travel of the airframe from the start position of each unit route, and instructing the end of travel of the airframe at the end position ;
    The route generation unit can generate a route including a plurality of work routes and a plurality of turning circuits as the travel route,
    The unit route setting unit sets the end position of any of the work routes included in the travel route to the start position at which the machine starts to travel and the end position at which the vehicle finishes traveling on each unit route. And deleting a turning circuit located between the end position of one unit path and the start position of another unit path.
    Route generator.
  2. The unit route setting unit, after starting the autonomous traveling of the airframe along the traveling route, sets a plurality of unit routes to the untraveled routes other than the already traveled routes traveled by the airframe among the traveling routes. It is configured to be splittable into
    The route generation device according to claim 1.
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KR1020207011545A KR20200045004A (en) 2016-03-30 2017-02-23 Path generation device and work vehicle
PCT/JP2017/006935 WO2017169373A1 (en) 2016-03-30 2017-02-23 Path generation device and work vehicle
KR1020187025288A KR102106252B1 (en) 2016-03-30 2017-02-23 Path generator and work vehicle
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