JP6675135B2 - Route generator - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a work system that performs work using an unmanned traveling work vehicle, in which a work area where the unmanned traveling work vehicle performs work includes a work area smaller than a work width.

  2. Description of the Related Art Conventionally, there has been known a work vehicle cooperative system that performs a ground operation using a parent work vehicle and an unmanned steering type sub work vehicle that follows the parent work vehicle (for example, see Patent Document 1). In the work vehicle coordination system, the parent work vehicle has a parent work travel path in the turn area at both ends of the field and a parent work travel path that runs straight while performing ground work between the turn areas at both ends by manned steering by the driver. The traveling route of the child work vehicle is composed of a child work traveling route that follows the parent work vehicle while performing ground work between the turning areas at both ends, and a child turning traveling route in the turning area, and the route is operated by unmanned operation. I was going to run.

JP 2014-178759 A

  In the above technology, when a parent work vehicle and a child work vehicle cooperate in a work area in a field and an unmanned traveling work vehicle serving as a small work vehicle is located on a final work route, the work width of the route is small. If the work width is shorter than the working width of the work machine provided in the vehicle, the unmanned traveling vehicle runs out of the work area and performs the work, so that the automatic traveling may be stopped and the work may be terminated. In this case, an unworked area remains. In addition, when the final route passes through a diagonal work area, if there is no clear setting as to where to start or end the work, there is a possibility that an unworked area may occur. Was.

  The present invention has been made in view of the above situation, and when a work route is generated, a work area less than the work width of a work machine of an autonomous traveling work vehicle (unmanned traveling work vehicle) is generated. It is an object of the present invention to provide a route generation device capable of setting how to process a work area smaller than a work width.

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
That is, in claim 1, it is possible to store information on a traveling region in which the vehicle body travels, and information on a traveling work width which is a width of the vehicle body and / or a width of a working machine mounted on the vehicle body. A storage unit, a control unit capable of generating a work route by the work machine in the travel region, a first region including the work route, and a side margin set on a side of the first region. comprising a second region, and a setting unit for setting a third region is a headland of turning a non-working state, and the pre-Symbol controller, the running when generating the working path to the first region If narrow working path is narrow strip or narrow section than the predetermined width of the working width there occurs a working path of travel working width across the narrow working path to said second region is a path generator that generates.

  In claim 2, the storage unit stores information on a traveling work length that is a length from a front end to a rear end of a state where a working machine is mounted on the vehicle body unit, and the control unit stores the information of the narrow work path. If the path length is less than a predetermined multiple of the traveling operation length, no operation path is generated in the narrow operation path.

  In claim 3, the control unit can generate the work route based on a work start position, a work direction, and a work end position set for the traveling area, and the work unit can generate the work route on the narrow work route. When a route is not generated, the work end position set for the travel area and the work end position of the work machine on the work route are set to different positions.

  According to the present invention, when a work path is generated in the first area and a narrow work path having a narrower portion or a narrower portion than the predetermined width of the traveling work width occurs, the narrow work path and the side of the first area are formed. By generating, in the first area, a work path having a travel work width that extends over the second area, which is the side margin area set in the first area, it is possible to set a work path in which uncultivated land does not remain.

FIG. 1 is a schematic side view of an autonomous traveling work vehicle and a traveling work vehicle. The control block diagram. The figure which shows an initial screen. The figure which shows a field setting. The figure which shows the area | region of a field. The figure which shows the field when the work path of the last line in a work area becomes a narrow work path. The figure which shows the field when a work area becomes a trapezoid. The figure which shows the field when the working area is stepped. The figure which shows the field when the first work path length is short.

  An autonomous traveling work vehicle (hereinafter, may be referred to as an unmanned vehicle) 1 capable of unmanned and autonomous traveling, and a manned traveling work vehicle that is operated by a worker (user) in cooperation with the autonomous traveling work vehicle 1 An embodiment in which a tractor 100 (hereinafter sometimes referred to as a manned vehicle) is used as a tractor, and a rotary tilling device is attached to each of the autonomous traveling work vehicle 1 and the traveling work vehicle 100 as a working machine will be described. However, the working vehicle is not limited to a tractor, but may be a combiner, and the working machine is not limited to a rotary cultivator, but may be a ridger, a mower, a rake, a seeder, a fertilizer, or the like. You may.

  In the present specification, “autonomous traveling” means that a control unit (ECU) included in the tractor controls a configuration related to traveling of the tractor and the tractor travels along a predetermined route. Executing an agricultural operation in a single field with an unmanned vehicle and a manned vehicle may be referred to as a cooperative operation of the agricultural operation, a following operation, an accompanying operation, and the like. In addition, as the cooperative work of the farm work, in addition to `` executing the farm work in a single field with unmanned vehicles and manned vehicles '', `` the farm work in different fields such as adjacent fields is performed by unmanned vehicles and manned vehicles at the same time. Performing "may be included.

  FIG. 1 is a side view showing a schematic configuration of an autonomous traveling work vehicle and a traveling work vehicle, and FIG. 2 is a control block diagram showing a control configuration thereof. 1 and 2, the overall configuration of a tractor serving as the autonomous traveling work vehicle 1 will be described. The vehicle body of the tractor has an engine 3 provided inside a hood 2, a dashboard 14 provided in a cabin 11 behind the hood 2, and a steering handle 4 serving as a steering operation means provided on the dashboard 14. Have been. By the rotation of the steering handle 4, the directions of the front wheels 9, 9 are rotated via the steering device. The steering actuator 40 that operates the steering device is connected to a steering controller 301 that forms the control unit 30. The steering direction of the autonomous traveling work vehicle 1 is detected by a steering sensor 20. The steering sensor 20 includes an angle sensor such as a rotary encoder, and is disposed at a rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited, and any configuration may be used as long as the steering direction can be recognized, and the rotation of the steering handle 4 or the operation amount of the power steering may be detected. The detection value obtained by the steering sensor 20 is input to the steering controller 301 of the control unit 30.

  The control unit 30 includes a steering controller 301, an engine controller 302, a shift control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, an autonomous traveling control controller 307, and the like, and each has a CPU (central processing unit). And a storage device such as a RAM and a ROM, an interface, and the like. The storage device stores programs and data for operation, and can communicate so that information and data can be transmitted and received by CAN communication.

  A driver's seat 5 is disposed behind the steering handle 4, and a transmission case 6 is disposed below the driver's seat 5. Rear axle cases 8.8 are continuously provided on both left and right sides of the transmission case 6, and rear wheels 10 are supported on the rear axle cases 8.8 via axles. The power from the engine 3 is shifted by a transmission (a main transmission or an auxiliary transmission) in the transmission case 6 so that the rear wheels 10 can be driven. The transmission is constituted by, for example, a hydraulic stepless transmission, and a movable swash plate of a variable displacement hydraulic pump is operated by a transmission means 44 such as a motor so that the speed can be changed. The transmission means 44 is connected to a transmission control controller 303 of the control unit 30. The rotation speed of the rear wheel 10 is detected by the vehicle speed sensor 27 and is input to the shift control controller 303 as the traveling speed. However, the method of detecting the vehicle speed and the position of the vehicle speed sensor 27 are not limited.

  A PTO clutch and a PTO transmission are accommodated in the transmission case 6, and the PTO clutch is turned on and off by the PTO on / off means 45. The PTO on / off means 45 is connected to the autonomous traveling control controller 307 of the control unit 30 via the display means 49. It is connected so that the connection and disconnection of power to the PTO shaft can be controlled. When a seeding machine, a row coater, or the like is mounted as a work machine, a work machine controller 308 is provided so that the work machine can perform its own control. The work machine controller 308 is connected via information communication wiring (so-called ISOBUS). To the work control controller 305.

  A front axle case 7 is supported on a front frame 13 supporting the engine 3, and front wheels 9.9 are supported on both sides of the front axle case 7, so that power from the transmission case 6 can be transmitted to the front wheels 9.9. It is composed. The front wheels 9.9 are steered wheels. The front wheels 9.9 are rotatable by a turning operation of a steering handle 4, and the front wheels 9.9 are steered left and right by a steering actuator 40 composed of a power steering cylinder serving as driving means of a steering device. It is rotatable. The steering actuator 40 is connected to and controlled by a steering controller 301 of the control unit 30.

  An engine controller 302 serving as an engine rotation control means is connected to an engine speed sensor 61, a water temperature sensor, a hydraulic pressure sensor, and the like so that the state of the engine can be detected. The engine controller 302 detects the load from the set number of revolutions and the actual number of revolutions, controls so as not to be overloaded, and transmits the state of the engine 3 to a remote control device 112 described later so that the display device 113 can display the status. ing.

  Further, a level sensor 29 for detecting the liquid level of the fuel is disposed in the fuel tank 15 disposed below the step and connected to the display means 49. The display means 49 is provided on the dashboard of the autonomous traveling work vehicle 1, Displays the remaining battery level. The remaining time of the fuel is calculated by the autonomous traveling controller 307 and the workable time is calculated. Information is transmitted to the remote operation device 112 via the communication device 110, and the remaining fuel amount and the work amount are displayed on the display device 113 of the remote operation device 112. Possible time can be displayed. The display means for displaying the tachometer, the fuel gauge, the oil pressure, and the abnormality may be different from the display means for displaying the current position and the like.

  On the dashboard 14, there are arranged an engine tachometer, a fuel gauge, a hydraulic pressure and the like, a monitor indicating an abnormality, a display means 49 for displaying set values and the like. The display unit 49 is a touch panel type like the remote operation device 112, and can input data, select data, operate switches, operate buttons, and the like.

  Further, a rotary tillage device 24 as a working machine is mounted on the rear part of the body of the tractor via a working machine mounting device 23 so as to be able to move up and down. An elevating cylinder 26 is provided on the transmission case 6, and by elongating and lowering the elevating cylinder 26, an elevating arm constituting the work implement mounting device 23 is rotated so that the rotary tilling device 24 can be raised and lowered. The lifting cylinder 26 is extended and contracted by the operation of the lifting actuator 25, and the lifting actuator 25 is connected to a horizontal control controller 304 of the control unit 30. A tilt cylinder is provided on one of the left and right lift links of the work machine mounting device 23, and a tilt actuator 47 for operating the tilt cylinder is connected to the horizontal controller 304.

  A mobile GPS antenna (positioning antenna) 34 and a data receiving antenna 38 for detecting position information are connected to a positioning control unit 306 serving as a position detecting unit. The mobile GPS antenna 34 and the data receiving antenna 38 are connected to the cabin 11. Provided above. The positioning control unit 306 is provided with a position calculating means to calculate the latitude and longitude, and the current position can be displayed on the display means 49 or the display device 113 of the remote control device 112. It should be noted that high-accuracy positioning can be performed by using a satellite positioning system (GNSS) such as the quasi-zenith satellite (Japan) or the Glonass satellite (Russia) in addition to the GPS (US), but in the present embodiment, the GPS is used. explain.

  The autonomous traveling work vehicle 1 includes a gyro sensor 31 for obtaining posture change information of a vehicle body, and an azimuth detecting unit 32 for detecting a traveling direction, and is connected to the control unit 30. However, since the traveling direction can be calculated from the GPS position measurement, the azimuth detecting unit 32 can be omitted. The gyro sensor 31 detects the angular velocity of the inclination (pitch) of the autonomous traveling work vehicle 1 in the longitudinal direction of the vehicle body, the angular velocity of the inclination (roll) of the vehicle body in the lateral direction, and the angular velocity of the turning (yaw). By integrating and calculating the three angular velocities, it is possible to obtain the inclination angle and the turning angle of the body portion of the autonomous traveling work vehicle 1 in the front-rear direction and the left-right direction. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, and a vibration gyro sensor. The gyro sensor 31 is connected to the control unit 30 and inputs information on the three angular velocities to the control unit 30.

  The azimuth detecting unit 32 detects the direction (traveling direction) of the autonomous traveling work vehicle 1. A specific example of the azimuth detecting unit 32 includes a magnetic azimuth sensor. The azimuth detecting unit 32 inputs information to the autonomous traveling controller 307 via the CAN communication unit.

  In this way, the autonomous traveling control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth detecting unit 32 by the attitude / azimuth calculating means, and calculates the attitude (direction, the front-rear direction of the vehicle body, and the left and right of the vehicle body). Direction inclination, turning direction).

  Next, the position information of the autonomous traveling work vehicle 1 is acquired using GPS (Global Positioning System) which is one of the satellite positioning systems. As the positioning method using GPS, there are various methods such as single positioning, relative positioning, DGPS (differential GPS) positioning, RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in the present embodiment, an RTK-GPS positioning method with high measurement accuracy is adopted.

  In the RTK-GPS positioning, GPS observation is simultaneously performed by a reference station whose position is known and a mobile station whose position is to be obtained, and data observed by the reference station is transmitted to the mobile station in real time by a method such as wireless communication. This is a method of obtaining the position of the mobile station in real time based on the position result of the mobile station.

  In the present embodiment, a positioning control unit 306 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous traveling work vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmitting antenna are provided. 39 is provided at a predetermined position. In the RTK-GPS positioning of the present embodiment, both the reference station and the mobile station measure the phase (relative positioning), and transmit the data measured by the fixed communication device 35 of the reference station from the data transmission antenna 39 to the data reception antenna 38. .

  The mobile GPS antenna 34 arranged on the autonomous traveling work vehicle 1 receives signals from GPS satellites 37. This signal is transmitted to the positioning control unit 306 to be positioned. At the same time, the fixed GPS antenna 36 serving as a reference station receives signals from the GPS satellites 37, 37,..., Performs positioning with the fixed communication device 35, transmits the signals to the positioning control unit 306, analyzes the observed data, and moves. Determine the location of the station.

  Thus, the autonomous traveling controller 307 is provided as autonomous traveling means for causing the autonomous traveling work vehicle 1 to autonomously travel. That is, the traveling state of the autonomous traveling work vehicle 1 is acquired as various types of information by various information acquisition units connected to the autonomous traveling controller 307, and the autonomous traveling work vehicle 1 Control autonomous driving. Specifically, radio waves transmitted from the GPS satellites 37 are received, the positioning control unit 306 obtains position information of the vehicle body at set time intervals, and the gyro sensor 31 and the azimuth detecting unit 32 The displacement actuator and the direction information are obtained, and based on the position information, the displacement information and the direction information, the steering actuator 40 and the speed change gear are set so that the vehicle body travels along a preset route (travel route and work route) R. By controlling the means 44, the lifting / lowering actuator 25, the PTO on / off means 45, the engine controller 302, etc., the vehicle can travel autonomously and work automatically.

  Further, an obstacle sensor 41 is arranged in the autonomous traveling work vehicle 1 and connected to the control unit 30 so as not to collide with an obstacle. For example, the obstacle sensor 41 includes a laser sensor, an ultrasonic sensor, and a camera, and is disposed at a front portion, a side portion, and a rear portion of the vehicle body portion, and is connected to the control portion 30. It detects whether there is an obstacle on the side or behind, and controls to stop running when the obstacle approaches within a set distance.

  In addition, the autonomous traveling work vehicle 1 is equipped with a camera 42F for photographing the front, a rear working machine and a camera 42R for photographing the field state after the work, and is connected to the control unit 30. In the present embodiment, the cameras 42F and 42R are arranged on the front and the rear of the roof of the cabin 11, but the arrangement positions are not limited. A configuration in which a plurality of cameras 42 are arranged at the four corners of the vehicle body to photograph the periphery of the vehicle body may be employed, even if the camera 42 is arranged at the center of the vehicle body and rotated about a vertical axis. When the emblem of the manufacturer of the autonomous traveling work vehicle 1 is attached to the cabin 11, the hood 2, or the like, the cameras 42F and 42R may be arranged on the back side of the emblem. In such a case, a through hole or a predetermined gap is set in the emblem, and shooting is not hindered because the lenses of the cameras 42F and 42R correspond to the positions of the through holes or the gap. The images captured by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided in the traveling work vehicle 100.

  The remote control device 112 sets a route R of the autonomous traveling work vehicle 1 to be described later, remotely controls the autonomous traveling work vehicle 1, monitors the traveling state of the autonomous traveling work vehicle 1 and the operation state of the work machine, and the like. , And work data, and includes a control unit (CPU and memory) 130 on the operation side, a communication device 111, a display device 113, a storage unit 114, and the like.

  The traveling work vehicle 100 that is a manned traveling vehicle is operated by a worker while riding, and the remote operation device 112 is mounted on the traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. Since the basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, detailed description will be omitted. The traveling work vehicle 100 (or the remote control device 112) may be provided with a GPS control unit.

  The remote control device 112 can be attached to and detached from a mounting portion (an arm member (not shown), for example, to which the remote control device 112 can be fixed) provided on the dashboard of the traveling work vehicle 100 and the autonomous traveling work vehicle 1, a pillar of the cabin 11, and the like. And The remote control device 112 can be operated while being attached to the mounting portion of the traveling work vehicle 100, can be taken out of the traveling work vehicle 100 and operated, or can be operated while being attached to the mounting portion of the autonomous traveling work vehicle 1. It is also possible to operate. The remote control device 112 can be configured by a wireless communication terminal such as a notebook or tablet personal computer. In the present embodiment, it is constituted by a tablet computer.

  Further, the remote operation device 112 and the autonomous traveling work vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous traveling work vehicle 1 and the remote operation device 112 are provided with communication devices 110 and 111 for communication, respectively. ing. The communication device 111 is integrated with the remote control device 112. The communication means is configured to be able to communicate with each other by a wireless LAN such as WiFi. The remote operation device 112 has a display device 113, which is a touch panel operation screen that can be operated by touching the screen, provided on the surface of the housing, and includes a communication device 111, a control unit 130, a storage unit 114, a battery, and the like in the housing. The storage unit 114 stores the specifications of the autonomous traveling work vehicle 1, the traveling work vehicle 100, and the working machine (various lengths such as the total length, width, and height of the main body and the working machine, the type of the engine, the horsepower, the gear ratio, the work Capacity, etc.), a set value related to a route setting described later, a route after the setting, and the like. After the route generation is set and transferred to the control unit 30 of the autonomous traveling work vehicle 1, it is also stored in the storage unit provided in the control unit 30.

  Next, a procedure for setting the route R by the remote operation device 112 will be described. FIG. 3 shows an initial screen displayed on the display device of the remote control device. However, the route R can be set by the control unit 30 included in the autonomous traveling work vehicle 1. The display device 113 of the remote operation device 112 is a touch panel type, and when the power is turned on and the remote operation device 112 is activated, an initial screen appears. On the initial screen, as shown in FIG. 3, a tractor setting button 201, a field setting button 202, a route generation setting button 203, a data transfer button 204, a work start button 205, and an end button 206 are displayed.

  First, the tractor setting will be described. When the tractor setting button 201 is touched, if work has been performed using the tractor by the remote operation device 112 in the past, that is, if there is a tractor set in the past, the tractor name (model) is displayed. When the tractor name to be used this time is touched and selected from the displayed plurality of tractor names, it is possible to proceed to the field setting described later or return to the initial screen. When setting a new tractor, the model of the tractor is specified. In this case, the model name is directly input. Alternatively, a list of a plurality of tractor models is displayed on the display device 113 so that a desired model can be selected.

  When the model of the tractor is set, a setting screen for setting the size, shape, and position of the working machine mounted on the tractor appears. For example, the position of the working machine is selected from the front, between the front and rear wheels, the rear, and the offset. When the setting of the working machine is completed, a setting screen for the vehicle speed during the work, the engine speed during the work, the vehicle speed during the turn, and the engine speed during the turn appears. The vehicle speed during the work may be different between the forward route and the return route. When the setting of the vehicle speed and the engine speed is completed, it is possible to proceed to the field setting described later or to return to the initial screen.

  Next, the field setting will be described. FIG. 4 shows a state of the outer periphery traveling performed by the user riding the autonomous traveling work vehicle when setting the field. FIG. 5 shows a set area in the field, such as a work area and a headland area. When the field setting button 202 is touched, the name of the set field is displayed in the case where work has been performed using the tractor by the remote operation device 112 in the past, that is, in the case where a previously set field exists. When a field name to be operated this time is touched and selected from the displayed field names, it is possible to proceed to the route generation setting described later or return to the initial screen. It is also possible to edit or newly set the set field.

  If there is no registered field, a new field is set. When the new field setting is selected, the tractor (autonomous traveling work vehicle 1) is positioned at one of the four corners A in the field H as shown in FIG. Thereafter, the tractor is driven along the outer periphery of the field H to register the field shape. Next, the worker specifies the field shape by registering the angular positions A, B, C, D and inflection points from the registered field shape.

  When the field H is specified, a work start position S, a work start direction F, and a work end position G are set as shown in FIG. When an obstacle is present in the field H, the tractor is moved to the position of the obstacle, the "obstacle setting" button is touched, the vehicle is driven around the obstacle, and the obstacle is set. Note that a map image of a field can be displayed on the display device 113, and when the specified field shape is superimposed on the map image, the area around the obstacle is specified on the display device 113. Thus, the obstacle setting may be performed. When the above operation is completed, or when a field registered in the past is selected, a confirmation screen is displayed, and an OK (confirmation) button and an "edit / add" button are displayed. When there is a change in the field registered in the past, the "edit / add" button is touched.

  When the OK button is touched in the field setting, the path setting is set. The route generation setting can also be performed by touching the route generation setting button 203 on the initial screen. In the route generation setting, a selection screen on which position the traveling work vehicle 100 travels with respect to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is set. Specifically, (1) the traveling work vehicle 100 is located to the left rear of the autonomous traveling work vehicle 1. (2) The traveling work vehicle 100 is located to the right rear of the autonomous traveling work vehicle 1. (3) The traveling work vehicle 100 is located right behind the autonomous traveling work vehicle 1. (4) The traveling work vehicle 100 does not accompany (work is performed only by the autonomous traveling work vehicle 1). Are displayed, and can be selected by touching.

  Next, the width of the working machine of the traveling work vehicle 100 is set. That is, the width of the working machine is input by a number. Next, the skip number is set. That is, when the autonomous traveling work vehicle 1 reaches the outer peripheral end of the field (headland) and moves from the first route to the second route, the number of routes to be skipped is set. Specifically, (1) skip is not performed. (2) One column skip. (3) Skip two columns. Select one of Next, overlap setting is performed. That is, the overlap amount of the work width in the work route adjacent to the work route is set. Specifically, (1) there is no overlap. (2) Overlap. Select If "overlap" is selected, a numerical value input screen is displayed, and the user cannot proceed to the next without inputting a numerical value.

  Next, outer periphery setting is performed. That is, as shown in FIG. 5, an area outside the work area HA where the work is performed by the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or by the autonomous traveling work vehicle 1 is set. In other words, a headland HB that turns and runs as a non-working state at the field end, and a side margin area HC that is a non-working area that is in contact with the outer periphery of the field on both the left and right sides between the headland HB and the headland HB is set. . Therefore, the field H = the work area HA + the headland HB + the headland HB + the side margin HC + the side margin HC. Normally, the width Wb of the headland HB and the width Wc of the side margin land HC are set to be twice or less the width of the working machine mounted on the traveling work vehicle 100, and the autonomous traveling work vehicle 1 and the traveling work vehicle 100 After the accompanying work is completed, the operator can get on the traveling work vehicle 100 and complete the work by making two rounds of the outer periphery by manual operation. However, when the shape of the outer periphery of the field is not complicated, the outer periphery can be worked by the autonomous traveling work vehicle 1. In the outer circumference setting, the width Wb of the headland HB and the width Wc of the side clearance HC are automatically calculated to predetermined widths in accordance with the width of the working machine. Wb and the width Wc of the side clearance HC can be changed to an arbitrary width, and the user changes the width Wb and the width Wc to the desired width, and then changes the width Wb and the width Wc after the change to the width and the side of the headland HB, respectively. It can be set as the width of the margin HC. However, if the width can be changed to an arbitrary width, the width cannot be set to be equal to or smaller than the minimum set width calculated in consideration of traveling, work, and safety in the field. For example, when the autonomous traveling work vehicle 1 runs or turns on the headland HB or the side clearance HC, a width that guarantees that the work machine does not jump out of the field is calculated as the minimum setting width.

  When the input of the above various settings is completed, a confirmation screen appears, and when the confirmation is touched, the route R is automatically generated. The route R is composed of a work route Ra and a travel route Rb. The work route Ra is a route generated in the work area HA, a route that travels while performing work, and is a straight route. However, if the work area HA is not rectangular, the work area HA may extend outside the work area HA (the headland HB and the side margin HC). The traveling route Rb is a route generated in an area outside the work area HA and travels without performing any work, and is a path combining a straight line and a curve. Mainly, the vehicle runs on a headland HB.

  As the route R, a route R between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is generated. If it is desired to view the work route after the work route is generated, a simulation image is displayed and checked by touching the route generation setting button 203. The route R is generated without touching the route generation setting button 203. When each item of the route generation setting is set, the route generation setting is displayed, and a "route setting button", "transfer data", and "return to home" are selectably displayed below the setting.

  When transferring information on the route (route R) generated by the route generation setting, the information can be transferred by touching the data transfer button 204 provided on the initial screen. Since this transfer is performed by the remote control device 112, it is necessary to transfer the set information to the control device of the autonomous traveling work vehicle 1. This transfer includes (1) a method of transferring using a terminal and (2) a method of transferring wirelessly. In the present embodiment, when a terminal is used, the terminal operates autonomously with the remote control device 112 using a USB cable. The control device of the traveling work vehicle 1 is directly connected, or once stored in a USB memory, and then connected to the USB terminal of the autonomous traveling work vehicle 1 for transfer. In the case of wireless transfer, the transfer is performed using WiFi (wireless LAN).

  Next, a description will be given of a process in the case where the work route Ra of the autonomous traveling work vehicle 1 includes a narrower portion or a narrower portion than a predetermined width in the route generation setting. The width of the work area on the work route Ra is referred to as a work area width Wr, and the predetermined width is a work width (hereinafter referred to as a travel work) of a work machine (rotary plow 24) mounted on the autonomous traveling work vehicle 1 or the traveling work vehicle 100. The width W1), or the width of the main body when the working machine is narrower than the width of the main body (tractor). In the present embodiment, the width of the working machine is longer than the width of the main body, the same working machine is attached to the autonomous traveling work vehicle 1 and the traveling work vehicle 100, and the overlap is described as 0. In addition, a path of a strip having a portion (work area) less than a predetermined width is referred to as a narrow work path Rc.

  In the route generation setting, when the work route Ra has a narrow work route Rc having a narrower portion or a narrower portion than a predetermined width (the running work width W1 in the following embodiment), the route R is displayed and the work is performed. You can choose whether to do it or not. That is, if the autonomous traveling work vehicle 1 does not work on the narrow work route Rc or not beforehand, when the autonomous travel work vehicle 1 reaches the narrow work route Rc, the work is not performed. This is because the route Ra is less than the traveling work width W1, and it is determined that the work is not possible, and the work may be stopped before entering the narrow work route Rc to interrupt the work. Further, if the operation is completed without performing the work on the narrow work route Rc, uncultivated land will remain. Therefore, in the route generation setting, when the narrow work route Rc exists, whether or not to perform the work can be selected in advance. When a narrow work route Rc exists in the work route Ra of the manned traveling work vehicle 100, the operator is determined and the selection screen is not displayed. However, selection may be made.

  When it is set that the work is to be performed on the narrow work route Rc, the work is performed while protruding from the side margin HC (the second area). If it is set not to work on the narrow work route Rc, the work area HA of the narrow work route Rc is performed when the work on the headland HB and the side margin area HC is performed after the work on the work area HA is completed. . Alternatively, it is also possible to adjust the width of the left and right side margins HC so as to increase the width so that the narrow work path Rc becomes the traveling work width W1 and eliminate the narrow work path Rc. When the width of the left and right side margins HC is reduced and the width is increased so that the narrow work route Rc becomes the traveling work width W1, the width of the side margins HC after the change (after the narrowing) is increased. The width W1 and the traveling work length L1 are not to be smaller than the limit width specified on the basis of the width W1. In other words, the width of the left and right side margins HC is not adjusted if the narrow work route Rc does not become the traveling work width W1 unless the width of the side margins HC is equal to or less than the limit width.

  Specifically, processing according to the shape of the field H will be described. First, when the route R is generated in a rectangular field, a reciprocating work route Ra having a travel work width W1 is generated in the work area HA. As shown in FIG. 6, in the final work route Ra (final line), the work area width Wr is shorter than the traveling work width W1 (predetermined width), and a narrow work route Rc is generated. In other words, since the width of the work area HA hardly becomes an integral multiple of the traveling work width W1, a narrow work path Rc is formed in the last line.

  At the time of setting the route generation, the control unit 130 on the operation side displays a selection screen for performing or not performing the work on the narrow work route Rc. When the operator selects "perform work", the narrow work route Rc is generated as the work route Ra so that the control unit 130 on the operation side runs out of the side margin HC to perform the work. When the narrow work route Rc is set not to be worked, unlike the work end position G set with respect to the field H (FIGS. 5 and 6), the end of the strip one step before is set. A work end position Ga is set in the work route Ra.

  When the shape of the field H is trapezoidal or the like, and the side of the end of the field on the end side is oblique, a triangular work area smaller than the traveling work width W1 is formed as shown in FIG. Also in this case, at the time of the route generation setting, the control unit 130 on the operation side determines that the last strip is less than the traveling work width W1 (predetermined width) and sets the narrow work route Rc as the narrow work route Rc. Is displayed, a selection screen for selecting whether or not to perform the work on the narrow work route Rc is displayed. When the operator selects “perform work”, the control unit 130 on the operating side generates the narrow work route Rc as the work route Ra so as to protrude into the side margin HC and perform the work.

  When the shape of the work area HA is step-like as shown in FIG. 8, a narrow work path Rc less than the running work width W1 is formed in the protruding convex area. Also in this case, at the time of setting the route generation, the control unit 130 on the operating side determines that the work area width Wr is less than the traveling work width W1 (predetermined width) and sets the narrow work route Rc as an autonomous traveling. When the work vehicle 1 is to work, a selection screen for selecting whether or not to perform the work on the narrow work route Rc is displayed. When the operator selects "perform work", the narrow work route Rc is generated as the work route Ra so that the control unit 130 on the operation side runs out of the side margin HC to perform the work.

  In addition, when the shape of the field H is trapezoidal or the like, and the side of the field end on the starting side is oblique, as shown in FIG. 9, a triangular work area having a portion smaller than the traveling work width W1 is formed and a narrow work is performed. The route becomes the route Rc. When the path length (length in the traveling direction) Lc of the narrow work path Rc is less than a predetermined multiple of the traveling work length L1, a work path Ra is not generated in the narrow work path Rc. That is, the traveling work length L1 is a length from the front end to the rear end of the vehicle body with the working machine mounted thereon, and is stored in the storage unit 114 of the remote operation device 112. When the route generation setting is performed, the route length Lc of the narrow work route Rc is calculated to be a multiple of the travel work length L1, and if the length is less than the predetermined length, the work route Ra is added to the narrow work route Rc. It does not generate. The predetermined multiple is, for example, twice. This is because, in such a short work route, it is more efficient for the worker to drive the traveling work vehicle 100 to perform the work process, return to the work start position, and perform the cooperative work to perform the work more efficiently. However, cases where a narrow work route Rc is formed on the extension of the work route Ra as shown in FIGS. 7 and 8 are excluded.

  In the present embodiment, it is possible to select whether or not to perform the work on the narrow work route Rc. However, as described above, since the width of the work area HA hardly becomes a constant multiple of the travel work width W1, In principle, the work is performed on the narrow work route Rc without selection by the operator, and the work may not be performed on the narrow work route Rc under predetermined conditions. An example of the predetermined condition is a case where the path length of the narrow work path Rc described above is less than a constant multiple of the traveling work length L1.

  As described above, using the satellite positioning system, the field H serving as a traveling region in which the vehicle body of the autonomous traveling work vehicle 1 capable of traveling on the set route R is traveled, and the width of the vehicle body, and / or A storage unit 114 capable of storing information of a traveling work width W1 which is a width of a work machine (rotary tilling device 24) mounted on the vehicle body, and a work route Ra by the work machine in the field H can be generated. The field H includes a work area HA serving as a first area including the work path Ra, and a headland HB serving as a second area set around the first area. And the side clearance HC, the control unit 130 on the operation side may be configured such that, when a work path Ra is generated in the first area, a narrow work path Rc smaller than the traveling work width W1 is generated. The second route is included in the work route Rc. A work route Ra having a travel work width W1 spanning the vehicle can be generated, so that even when a narrow work route Rc occurs in the first area, the setting of the work route Ra by the autonomous traveling work vehicle 1 is performed according to a predetermined principle. The route generation setting is performed so that the uncultivated land does not remain.

  Further, the storage unit 114 stores information on a traveling work length L1 which is a length from a front end to a rear end of the vehicle body with a work machine attached thereto, and the control unit 130 on the operation side stores the narrow work If the path length Lc of the path Rc is less than the length obtained by multiplying the traveling work length L1 by a predetermined value, no work path is generated on the narrow work path Rc. Work can be performed in another form to improve work efficiency.

  Further, the operation-side control unit 130 can generate the work route Ra based on a work start position S, a work direction F, and a work end position G set for the traveling area (field H). If the work route Ra is not generated in the narrow work route Rc, the work end position G set for the traveling area and the work end at a position different from the work end position of the work machine on the work route Since the position Ga can be set, there is no need to move the work to the work end position G without performing the work on the narrow work route Rc after finishing the work at the work end position Ga. Driving can be prevented. Note that the vehicle may travel from the work end position Ga to the work end position G through the headland HB and the side clearance HC. As a result, the autonomous traveling work vehicle 1 moves to the work end position G set in the field setting, and when the field exit is near the work end position G, the worker operates the autonomous traveling work by himself. There is no need to move the vehicle 1 to the work end position G, and labor for the operator can be saved.

Reference Signs List 1 autonomous traveling work vehicle 30 control unit 110/111 communication device 112 remote control device 114 storage unit 130 operation side control unit G / Ga work end position H field L1 travel work length R route Ra work route Rb travel route Rc narrow work route HA work area W1 Travel work width

Claims (3)

A storage area capable of storing a travel region in which the vehicle body portion travels, and information of a travel work width that is a width of the vehicle body portion and / or a width of a working machine mounted on the vehicle body portion;
A control unit capable of generating a work route by the work machine in the travel area,
A first area including the work route, a second area that is a side margin set on the side of the first area, and a third area that is a headland that turns while not working are set. And a setting unit ,
Before SL control unit, when the narrow working path the narrow strip or narrow portion than a predetermined width of the travel working width when generating the working path in the first region is likely to occur, the narrow working path and the second path generating apparatus characterized by that generates the working path of travel working width spanning region. The storage unit stores information on a traveling work length that is a length from a front end to a rear end of a state where a working machine is mounted on the vehicle body unit,
The said control part does not generate | occur | produce a work route in the said narrow work route, when the path | route length of the said narrow work route is less than the length which carried out the said travel work length by predetermined time. Path generator. The control unit can generate the work route based on a work start position, a work direction, and a work end position set for the traveling area,
When a work route is not generated in the narrow work route, the work end position set for the traveling region and a work end position of the work machine on the work route are set to different positions. The route generation device according to claim 1.

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