JP6707984B2 - Work vehicle control system - Google Patents

Description

The present invention relates to a work vehicle control system.

There is known a technique of positioning the position of a work vehicle based on a signal from a positioning satellite when autonomously controlling the work vehicle working in a field or the like. Regarding such a technique, for example, the technique described in JP-A No. 11-248816 is known.

Patent Document 1 describes a mobile body monitoring system that monitors a mobile body. In Patent Document 1, a GPS device is attached to a moving body such as a traveling vehicle, and a monitoring center station for receiving data of a movement locus sent from the GPS device is provided in a helicopter flying in the air near the moving range of the moving body. There is. Thus, for example, it is possible to monitor whether or not a work vehicle that performs unmanned agricultural work or the like by autonomous traveling travels along a planned route and is performing work.

JP-A-11-248816 (“0057” to “0064”, FIG. 7, and FIGS. 3 to 5)

However, in the related art, the GPS device itself is provided in the work vehicle. Therefore, when a work vehicle is updated or a plurality of work vehicles are owned by replacement, etc., in order to perform positioning with these work vehicles, it is necessary to replace the positioning device or individually install the positioning device. It was In particular, in the case of performing highly accurate positioning, a positioning device equipped with a highly accurate and expensive GPS antenna or the like is required. Therefore, when the positioning device is individually installed, there is a problem that the cost is easily increased. Further, when replacing the positioning device, there is a problem that replacement work takes time and labor.

An object of the present invention is, when positioning an updated work vehicle or a plurality of work vehicles, to perform positioning without replacing a positioning device or separately providing a positioning device.

The above problems of the present invention can be solved by the following solving means.
That is, the control system for a work vehicle according to claim 1 is
A work vehicle (1) for working in the field (H),
An unmanned aerial vehicle (31) flying in the air corresponding to the work vehicle (1);
A positioning device (33) that is supported by the unmanned aerial vehicle (31) and receives signals from positioning satellites to perform positioning;
Vehicle positioning means (CC4) for positioning the work vehicle (1) based on the positioning result of the positioning device (33);
A vehicle position specifying mark (23) attached to the work vehicle (1),
An imaging member (37) supported by the unmanned aerial vehicle (31) and imaging the vehicle position specifying mark (23);
In the captured image captured by the imaging member (37), the unmanned aerial vehicle (31) that autonomously flies so as to hold the position of the vehicle position identification mark (23) within a preset area;
It is characterized by having.

The invention according to claim 2 is
A plurality of the work vehicles (1),
A vehicle identification mark (22) attached to each work vehicle (1) and different for each work vehicle (1);
A process storage means (CB16) for storing information on a preset work process for each work vehicle (1),
An imaging member (37) for imaging the vehicle identification mark (22);
Vehicle identifying means (CB15) for identifying the work vehicle (1) based on the captured image of the vehicle identification mark (22) captured by the image capturing member (37);
A display unit (43) for displaying an image based on a work process corresponding to the specified work vehicle (1);
The control system for a work vehicle according to claim 1 , further comprising:

The invention according to claim 3 is
An operation unit (44, 46) for remotely operating the unmanned aerial vehicle (31),
An unmanned aerial vehicle (31) capable of switching between a manual operation mode of flying based on an operation of the operation section (44, 46) and an autonomous control mode of flying by the autonomous control;
The work vehicle control system according to claim 1 or 2 , further comprising:

The invention according to claim 4 is
The working vehicle (1) performing traveling work by autonomous control, wherein the working vehicle (1) controls a traveling direction based on a positioning result of the vehicle positioning means (CC4),
The control system for a work vehicle according to any one of claims 1 to 3 , further comprising:

According to the invention described in claim 1, the positioning of the work vehicle (1) is performed based on the positioning result of the positioning device (33) of the unmanned aerial vehicle (31) flying in the air corresponding to the work vehicle (1). can do. Therefore, when positioning the updated work vehicle (1) or a plurality of work vehicles (1), it is possible to perform positioning without replacing the positioning device or separately equipping the positioning device.

Further , according to the invention described in claim 1 , as compared with the case where the vehicle position identification mark (23) attached to the work vehicle (1) is imaged and not autonomously controlled, the unmanned aerial vehicle (31) and the work vehicle ( The positional relationship with 1) can be easily maintained.

According to the invention described in claim 2 , in addition to the effect of the invention described in claim 1 , based on the vehicle identification mark (22), the work process of the work vehicle (1) is automatically displayed on the display unit (43). It is possible to display in. Therefore, the operator can easily confirm the work process. Further, it is possible to prevent the worker from accidentally using a work process that does not correspond to the work vehicle.

According to the invention described in claim 3 , in addition to the effect of the invention described in claim 1 or 2 , it is possible to remotely operate the unmanned aerial vehicle (31) based on the operation of the operation unit (44, 46). it can.
According to the invention described in claim 4 , in addition to the effect of the invention described in any one of claims 1 to 3 , based on the positioning result of the positioning device (33) of the unmanned aerial vehicle (31), The work vehicle (1) can be positioned and the work vehicle (1) can be autonomously controlled.

It is the whole work vehicle system explanatory view of Example 1 of the present invention. It is explanatory drawing at the time of seeing the tractor of FIG. 1 from upper direction. It is explanatory drawing of the functional block diagram which the control system of the working vehicle of Example 1 of this invention has. FIG. 4 is an explanatory diagram of a main part of FIG. 3 and an explanatory diagram of each control unit. It is explanatory drawing of the image displayed on the touch panel of a controller, and is explanatory drawing of the image which the drone imaged. 6A and 6B are explanatory views showing the relationship between the size of an imaged object and the size of an imaged image. FIG. 6A is a perspective view and FIG. 6B is a view of FIG. It is explanatory drawing of the farm field information of Example 1 of this invention. It is explanatory drawing in the case of inputting the outline information of a farm field, (a) is an explanatory view when a drone is flying over the farm field, (b) is an image displayed on the controller corresponding to (a). FIG. FIG. 9 is a continuation of FIG. 8, in which (a) is an illustration when the drone is flying over the field, and (b) is an illustration of an image displayed on the controller corresponding to (a). .. It is explanatory drawing of the outline information of an agricultural field, an entrance/exit path|route, and an obstacle position, (a) is explanatory drawing in case the corner position of an agricultural field is four, (b) shows the obstacle position in the agricultural field of (a). FIG. It is explanatory drawing of the flowchart of the input process of the outer shape information of a farm field. It is explanatory drawing of the flowchart of a tracking control process of a drone. It is explanatory drawing of the flowchart of the autonomous control process of a tractor. FIG. 3 is an operation explanatory view of the work vehicle control system according to the first embodiment. FIG. 15 is an explanatory view of a main part of FIG. 3 and is an explanatory view of each control unit of another embodiment. FIG. 16 is an explanatory diagram showing a size relationship between an imaged object and a captured image when the drone is tilted. FIG. 17 is an explanatory diagram of the relationship between the shift amount and the movement amount when the drone is tilted in the direction of the shift amount. (a) is an explanatory diagram when the lower camera is oriented right below, and (b) is the drone tilted. FIG. 6 is an explanatory view when the imaging direction of the lower camera is inclined, (c) is an explanatory view when it is different from (b), and (d) is an explanatory view when it is different from (b) and (c). .. It is explanatory drawing of the control system of the work vehicle of another form. It is explanatory drawing of the control system of the working vehicle of a form different from FIG.

(Work vehicle control system)
1 is an overall explanatory diagram of a work vehicle system according to a first embodiment of the present invention.
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
In addition, in each drawing, illustration and description of members unnecessary for the description of the invention are appropriately omitted. In this specification, the left and right directions facing the forward direction of the work vehicle are referred to as left and right, respectively, and the forward direction is referred to as the front and the backward direction is referred to as the rear.

(Tractor)
In FIG. 1, the control system S of the work vehicle has a tractor 1 of an agricultural machine as an example of the work vehicle. The tractor 1 is provided with front wheels 2 and 2 and rear wheels 3 and 3 at the front and rear parts of the machine body, and appropriately decelerates rotational power of an engine E mounted in an engine room 4 at the front part of the machine body by a transmission in a transmission case 5. The front wheels 2 and 2 and the rear wheels 3 and 3 are then transmitted. The engine room 4 is covered with a bonnet 6. Further, a working machine such as a rotary (not shown) is mounted on the rear part of the machine body, and the working machine is driven by the PTO shaft.

A cabin 7 is supported on the upper part of the machine body. Inside the cabin 7, a driver's seat 8 is arranged at an upper position of the transmission case 5, and in front of the driver's seat 8, the steering wheel 11, a parking brake (not shown), and the rotation speed of the working machine are changed. A PTO gear shift lever (not shown) and the like are arranged. Further, in front of the driver's seat 8, a speedometer (not shown), various operating switches (not shown), a communication unit (not shown) for communication with the outside, and the like are arranged. A traveling operation tool such as a clutch pedal 12, an accelerator pedal 13, and left and right brake pedals (not shown) is arranged at a lower front portion of the driver's seat 8.

FIG. 2 is an explanatory view when the tractor of FIG. 1 is viewed from above.
In FIG. 2, on the upper surface of the roof 7a of the cabin 7, a GPS unit 21 that receives a signal from a positioning satellite and performs positioning is arranged as an example of a positioning device for a vehicle. The GPS unit 21 is arranged corresponding to the central portion in the vehicle width direction. On the right side of the GPS unit 21, a number mark 22 as an example of a vehicle identification mark is attached. Although the numeral mark 22 is illustrated as the vehicle identification mark, a configuration in which it is a graphic mark is also possible.

A vehicle position identification mark 23 is attached to the rear of the GPS unit 21. The vehicle position specifying mark 23 of the first embodiment has a rectangular portion 23a and a triangular portion 23b. In the first embodiment, the rectangular portion 23a is composed of the black right front portion 23a1, the white left front portion 23a2, the black left rear portion 23a3, and the white right rear portion 23a4, and is configured in a black and white checkered pattern. Has been done. The triangular portion 23b is attached to the center front of the right front portion 23a1 and the left front portion 23a2, and the front portion is formed in an acute angle shape.

(Drone)
In FIG. 1, a work vehicle control system S includes a drone 31 as an example of an unmanned aerial vehicle. The drone 31 according to the first embodiment includes a main body 32 including a control unit (not shown), a battery (not shown), a communication unit (not shown), and the like. A high-precision GPS unit 33 that receives a signal from a positioning satellite and performs positioning is supported by the main body 32 as an example of a positioning device. The high-accuracy GPS unit 33 is configured to be able to perform positioning with higher accuracy than the GPS unit 21 of the work vehicle. The main body 32 supports an arm 34 that extends horizontally outward from the main body.

A drive source (not shown) is arranged at the tip of the arm portion 34, and a rotary blade 36 is supported by a drive shaft extending in the vertical direction. In the first embodiment, the arm portions 34 extend in the cross direction, and the rotary blades 36 are supported at the tips of the arm portions 34. That is, the drone 1 of the first embodiment is configured as a so-called quadcopter. A lower camera 37 that captures an image of the lower portion of the drone 31, which is an example of an image capturing member, is supported below the main body 32. In addition, a radar 38 that measures the distance to the lower side is supported at the bottom of the main body 32.

(controller)
The work vehicle control system S includes a controller 41 as an example of an operation member. The controller 41 has a tablet terminal unit 42 as an example of a main body unit. The tablet terminal unit 42 has a control unit (not shown) and a communication unit (not shown). The tablet terminal unit 42 is an example of a display unit and has a touch panel 43 as an example of an input unit. On the touch panel 43, a captured image of the lower camera 37 of the drone 31 and the like are displayed. Joysticks 44 and 46 as an example of an operation unit are supported on the left and right sides of the tablet terminal unit 42. An operator can remotely operate the drone 31 by operating the left and right joysticks 44 and 46.

(Explanation of functional block diagram)
FIG. 3 is an explanatory diagram of a functional block diagram included in the work vehicle control system according to the first embodiment of the present invention.

In FIG. 3, the control system S of the working vehicle of the first embodiment includes a drone control unit CA, a controller control unit CB, a tractor position information processing control unit CC, and a tractor vehicle control unit CD. Each of the control units CA to CD requires an input/output interface (I/O) for inputting/outputting signals to/from the outside, a ROM (read only memory) in which programs and information for performing necessary processing are stored, and necessary. A small information processing device having a RAM (random access memory) for temporarily storing various data, a CPU (central processing unit) for performing processing according to a program stored in a ROM, an oscillator, etc. It is composed of a microcomputer, and various functions can be realized by executing a program stored in a storage member such as the ROM, the RAM, or the non-volatile memory.

Here, in the tractor 1 of the first embodiment, the position information processing control unit CC and the vehicle control unit CD are so-called ECU: Electronic Control Unit, and are connected by CAN: Controller Area Network as a communication line. Has been done. An external memory Me is connected to the CAN so that the control units CC and CD of the tractor 1 can access each other with respect to the external memory Me.

In FIG. 3, the control signal CA of the drone is supplied with output signals of the high-accuracy GPS unit 33, the downward camera 37, the downward distance measuring radar 38, the flight state sensor SN1, and a communication unit (not shown). ing.

Here, the flight state sensor SN1 of the first embodiment is configured by a so-called 6-axis gyro sensor. The flight state sensor SN1 detects the acceleration in each axis and the angular velocity around each axis in the directions orthogonal to the three axes fixed to the drone 31, and detects the flight state such as the acceleration and attitude of the drone 31. .. In the first embodiment, the attitude state of the drone can be detected as the rotation angle of each axis with respect to the gravity direction by time integration of the angular velocity. That is, it is possible to detect the attitude state of the drone 31 from the rotation angle around each axis with the gravity direction (gravitational acceleration direction) as a reference. Although the configuration of the 6-axis gyro sensor is illustrated in the first embodiment, a configuration in which a sensor for detecting acceleration and a sensor for detecting angular velocity are separately provided is also possible.

The control unit CA also outputs control signals for the motors M1 to M4 of the rotary blade 36, control signals for the communication unit, and the like.

FIG. 4 is an explanatory view of a main part of FIG. 3 and is an explanatory view of each control unit.
In FIG. 4, the control unit CA of the drone has a function of executing processing according to an output signal from the signal output element and outputting a control signal to the control element. That is, the control unit CA has the following functional means.

The drone positioning means CA1 measures the position Dα of the drone 1 based on the positioning result of the high precision GPS unit 33.
The flight control means CA2 controls the rotation speeds of the motors M1 to M4 based on the control signal from the controller 41 and the flight state sensor SN1 to control the flight altitude, flight direction, flight speed, and flight attitude of the drone 1. To control. The flight control unit CA2 of the first embodiment controls the drone 31 so that the vertical angle of the drone 31 with respect to the gravity direction falls within a preset range. That is, the flight attitude is controlled so that the lower camera 37 images the lower side along the direction of gravity.

The information transmitting unit CA3 transmits information acquired at a corresponding time such as image information captured by the lower camera 37, position information of the drone 1, attitude information of the drone 31 to another control unit.

(Controller CB of controller)
In FIG. 3, output signals from the touch panel 43, the joysticks 44 and 46, a communication unit (not shown), etc. are input to the control unit CB of the controller.
The control unit CB also outputs a control signal for the communication unit.

In FIG. 4, the mode setting means CB1 sets the drone 31 to either a manual operation mode in which the drone 31 is made to fly based on the operation of the joysticks 44, 46 or an autonomous control mode in which the drone 31 is made to fly by autonomous control. In the first embodiment, by pressing a menu button (not shown) displayed on the touch panel 43, it is possible to switch between the manual operation mode and the autonomous control mode.
The manual control transmission unit CB2 transmits to the drone 31 a control signal for the drone 31 in response to the operation of the joysticks 44 and 46 when the manual operation mode is set.

FIG. 5 is an explanatory diagram of an image displayed on the touch panel of the controller, and is an explanatory diagram of an image captured by the drone.
The aerial image display means CB3 displays the captured image 43a of the lower camera 37 of the drone 31 on the touch panel 43. In FIG. 5, in the first embodiment, in the captured image 43a, frame images 43b and 43c are displayed so as to overlap with each other in an area corresponding to the lower side of the drone 31. Here, the frame images 43b and 43c are set to positions where the marks 23 and 22 are inside when the drone 31 moves to a preset reference position above the tractor 1.

The image processing means CB4 has a mark detection means CB4a and a tractor attitude detection means CB4b, and performs image processing on the captured image 43a of the lower camera 37.
The mark detecting means CB4a performs image processing on the captured image 43a of the lower camera 37 to detect the numeral mark 22 and the vehicle position specifying mark 23.

The tractor attitude detection means CB4b performs image processing on the captured image 43a and detects the attitude change of the tractor 1 based on the shape of the imaged mark 23. That is, in FIG. 2, when the front portions 23a1, 23a2 are imaged larger than the rear portions 23a3, 23a4, it is possible to determine that the tractor 1 is in the posture of climbing the inclined surface. Further, when the rear portions 23a3 and 23a4 are imaged larger than the front portions 23a1 and 23a2, it is possible to determine that the tractor 1 is in the posture of descending the inclined surface. Furthermore, when the right side portions 23a1, 23a4 are imaged larger than the left side portions 23a2, 23a3, it is possible to determine that the tractor 1 is tilted to the lower left. Further, when the left side portions 23a2 and 23a3 are imaged larger than the right side portions 23a1 and 23a4, it is possible to determine that the tractor 1 is tilted to the lower right. That is, the tilted posture of the tractor 1 can be determined according to the size of the area between the rectangular portions 23a1 to 23a4 on the captured image 43a. Therefore, the tractor posture detection means CB4b of the first embodiment calculates the ratio of the area of each part 23a1 to 23a4 of the rectangular part 23a in the captured image 43a. Then, the posture of the tractor 1 with respect to the horizontal plane is detected according to the calculated ratio of the area.

The autonomous control means CB5 includes a height measuring means CB5a, a front specifying means CB5b, a shift amount calculating means CB5c, a moving amount calculating means CB5d, an initial control means CB5e, a control amount calculating means CB5f, and a control amount transmitting means. With 5 g CB. The autonomous control means CB5 transmits the control signal of the drone 31 to the drone 31 when the autonomous control mode is set. That is, the control signal of the autonomous control for flying the drone 31 is transmitted without being based on the operation of the joysticks 44 and 46.

The height measuring means CB5a measures the height L of the drone 31 with respect to the tractor 1 and the ground based on the measurement result of the radar 38.
The front specifying means CB5b specifies the direction of the tip of the triangular portion 23b with respect to the long diameter portion 23a in the detected vehicle position specifying mark 23 as the front of the tractor 1.

The shift amount calculation means CB5c calculates the shift amount u between the drone 31 and the tractor 1 on the captured image 43a. In FIG. 5, the shift amount calculating means CB5c of the first embodiment extends from the cross position D corresponding to directly below the lower camera 37 to the target position T preset corresponding to the triangular portion 23a of the vehicle position specifying mark 23. The vector amount is calculated as the shift amount u. That is, when the cross position D reaches the target position T, the marks 23 and 22 move inside the frame images 43b and 43c on the captured image 43a.

6A and 6B are explanatory views showing the relationship between the size of an imaged object and the size of an imaged image. FIG. 6A is a perspective view and FIG. 6B is a view of FIG.
The movement amount calculation means CB5d calculates the movement amount m to move in the horizontal direction when the drone 31 moves to the reference position, based on the deviation amount u. In FIG. 6, the captured image 43a is considered to be an image obtained by perspective projection of the actual tractor 1 on the projection surface α. Therefore, the shift amount u is converted into the size of the original imaged tractor 1. In the first embodiment, with respect to the coefficient a preset based on the focal length of the lower camera 37 and the reference height to which the drone 31 should move, the moving amount m, which is a vector amount, is m=a·u. And calculate.

When the autonomous control mode is set, the initial control unit CB5e transmits a control signal for raising the drone 41 until the mark 23 is detected on the captured image 43a.
The control amount calculation means CB5f calculates the control amounts of the motors M1 to M4 based on the measurement result of the radar 38 so that the drone 31 has a height set in advance with respect to the tractor 1. Further, the control amount calculation means CB5f calculates the control amounts of the motors M1 to M4 for adjusting the direction of the drone 31 to the front of the tractor 1. Further, the control amount calculation means CB5f calculates the control amounts of the motors M1 to M4 based on the movement amount m. That is, the control amount calculation means CB5f calculates the control amount for the drone 31 to fly and move to the reference position. Accordingly, in the autonomous control mode, the drone 31 is controlled so that the numeral mark 22 and the vehicle position specifying mark 23 are held within the image pickup range of the lower camera 37.

The control amount transmitting means CB5g transmits a control signal according to the calculated control amount to the drone 31.
The arrival determination means CB6 determines whether or not the drone 31 has reached the reference position. In the first embodiment, after the autonomous control mode is set, the drone 31 moves to a preset height with respect to the tractor 1, and the marks 23 and 22 of the tractor 1 are inside the frame images 43b and 43c. It is determined that the drone 1 has reached the reference position when it is detected that the drone 1 has moved. In the first embodiment, whether or not the image has moved to the inside of the frame images 43b and 43c is determined based on whether or not the magnitude of the movement amount m is less than or equal to a predetermined threshold value.

FIG. 7 is an explanatory diagram of farm field information according to the first embodiment of this invention.
The field information storage unit CB11 stores field identification information for identifying a plurality of fields H, position information and outline information of each field, and field information related to fields such as entry/exit path P1 information as an entry path (exit path). To do.

FIG. 8 is an explanatory diagram for inputting the outline information of the field, (a) is an explanatory diagram when the drone is flying over the field, and (b) is displayed on the controller corresponding to (a). FIG.
FIG. 9 is an explanatory view following FIG. 8, in which (a) is an explanatory view when the drone is flying over the field, and (b) is an explanation of an image displayed on the controller corresponding to (a). It is a figure.
The field contour setting means CB12 has a start determination means CB12a, an image display means CB12b, and a position input means CB12c. The field contour setting means CB12 sets the contour of the field.

The start determination means CB12a determines whether or not to start setting the outline information of the field. In the first embodiment, when the button (not shown) for setting the outer shape displayed on the touch panel 43 is input, and when the button (not shown) for selecting the field H is input, it is selected. For the field H, input of field outline information is started.

The image display unit CB12b displays the captured image 43a, the information image 43d of the position Dα of the drone 31, and the buttons 43e and 43f on the touch panel 43. In the first embodiment, the setting end button 43f is displayed when the position setting button 43e is input four times.

FIG. 10 is an explanatory diagram of the outline information of the field, the entrance/exit path, and the obstacle position. (a) is an explanatory diagram in the case where there are four corner positions of the field, and (b) shows the obstacle position set in the field of (a). FIG.
The position input means CB12c acquires the measured position Dα of the drone 31 as the angular position Hα as an example of the outline information of the field every time the position setting button 43e is input. Then, when the setting end button 43f is pressed, the acceptance of the input of the angular position Hα is ended. Thereby, for example, in FIGS. 8 to 10, the outer shape of the field is set by sequentially connecting the angular positions Hα1, Hα2, Hα3, and Hα4 by straight lines.

The additional information setting unit CB13 includes an angular position adding unit CB13a, an entry/exit path setting unit CB13b, and an obstacle position setting unit CB13c. The additional information setting means CB13 displays the image of the field H on the touch panel 43 and sets the additional information at the position of the field H touched.

The angular position adding means CB13a sets an additional angular position Hα as additional information.
The entrance/exit path setting means CB13b sets the entrance/exit path P1 as additional information.
The fault position input means CB13c sets a fault position P2 indicating the position of a utility pole or the like as additional information in FIG. 10B.

When the button (not shown) on the touch panel 43 is input, the registration unit CB14 registers the information Hα, P1, P2 regarding the set field H. In the first embodiment, the information stored in the field information storage means CB11 is updated.

The vehicle identifying means CB15 corresponds to the number mark 22 based on the captured image of the number mark 22 imaged by the lower camera 37 and the reference information that associates a plurality of preset work vehicles with the number mark. Identify the work vehicle. For example, when the vehicle identification means CB15 of the first embodiment detects the numeral mark 22 of "01", the imaged work vehicle is identified as the tractor 1.

The process storage means CB16 stores information on work processes preset for each work vehicle. 7 and 10, in the first embodiment, the process storage unit CB16 uses the work order H1 to H6 information in which the work order of the field H is set as the work process information, and the work starting point for starting the work for each field. P3 information, vehicle width W information for each work vehicle, and the like are stored.

The work information display means CB17 displays an image based on the work process corresponding to the specified work vehicle on the touch panel 43 as an example of the display unit. 7 and 10, in the first embodiment, as images based on the work process, images of the guide routes R1 and R2 of the field H, the positions Tα and Tβ of the tractor 1 during work, work map information described later, and the like are displayed. It is displayed based on the processing of the position information processing control unit CC. This makes it easier for the worker to recognize the work process. Further, it is possible to prevent the worker from mistakenly referring to a work process that does not correspond to the work vehicle. Further, in FIG. 7, it is easy for the worker to recognize the position of the tractor 1 when moving between the fields H along the work order H1 to H6.

(Tractor position information processing control unit CC)
In FIG. 3, an output signal of the GPS unit 21, a communication unit (not shown), or the like is input to the position information processing control unit CC.
Further, the position information processing control unit CC outputs a control signal of the communication unit and the like.
In FIG. 4, the position information processing control unit CC has a function of executing processing according to an output signal from the signal output element and outputting a control signal to the control element.
The field information acquisition unit CC1 acquires the field information and the work process information stored in the controller 41 and stores them in the external memory Me.

In FIG. 10, the work schedule information creating means CC2 uses the vehicle width W, the outer shape information Hα of the field, the entry/exit path P1, the obstacle position P2, and the work starting point P3 to determine the work starting point from the entry/exit path P1. An approach guide route R1 to P3 and a work guide route R2 from the work starting point P3 to the entrance/exit route P1 are created. Here, when the failure position P2 is set, the work schedule information creating means CC2 creates the routes R1 and R2 avoiding the failure position P2, as shown in FIG. 10B. The creation of the routes R1 and R2 is conventionally known, and is described in, for example, Japanese Patent Laid-Open No. 10-66405. Therefore, detailed description of creating the routes R1 and R2 is omitted.

The autonomous work information creating means CC3 creates autonomous work information corresponding to the specified work vehicle. The autonomous work information creating unit CC3 according to the first embodiment sets the planned traveling speed of the tractor 1 according to each position along the work guide route R2. Further, the autonomous work information creating means CC3 sets the planned work position of the work machine (not shown) mounted on the tractor 1 in accordance with each position along the work guide route R2.

The vehicle positioning means CC4 has a positioning possible flag FL, a high-precision positioning means CC4a, and a simple positioning means CC4b. The vehicle positioning means CC4 measures the positions Tα and Tβ of the tractor 1.

The positioning possible flag FL has an initial value of “0” and becomes “1” when it is determined that the autonomous control mode is set and the drone 31 has reached the reference position. Then, when the autonomous control mode ends, that is, when the manual operation mode is set, it becomes “0”.

The high-accuracy positioning means CC4a measures the position Tα of the tractor 1 based on the positioning result of the high-accuracy GPS unit 33 when the positioning possible flag FL is “1”. In FIG. 2, in the first embodiment, the position Tα of the tractor 1 is measured based on the vector amount u0 indicating the deviation from the actual position T′ on the tractor 1 to the position where the GPS receiver 21 is arranged. That is, Tα=Dα+u0 is calculated in the horizontal direction.

When the positioning possible flag FL is “0”, the simple positioning means CC4b positions the position Tβ of the tractor 1 based on the positioning result of the vehicle-mounted GPS unit 21.
The work map information creation means CC5 creates work map information that records the positions Tα and Tβ of the tractor 1 and whether or not the work was performed at the positioning positions Tα and Tβ. Note that the work map information of the first embodiment may have a configuration in which the tilted state of the field surface is recorded based on the posture change of the tractor 1 in association with the positioning positions Tα and Tβ.

(Vehicle control unit CD of tractor)
Output signals from signal output elements such as a vehicle speed sensor SN11, a steering wheel turning angle sensor SN12, and a shift sensor SN13 are input to the vehicle control unit CD.
The vehicle control unit CD is connected to the engine E, the steering motor M11, the transmission HS, the brake cylinder BS, and other control elements (not shown).

The autonomous control means CD1 has slip avoidance means CD1a and overrun avoidance means CD1b. The autonomous control means CD1 is based on the position Tα of the tractor 1, the work guide route R2 stored in the external memory Me, the planned traveling speed, the posture change of the tractor, the engine E, the steering motor M11, and the transmission. It controls the HS, the brake cylinder BS, etc. As a result, the tractor 1 is automatically driven along the work guide route R2. Further, the autonomous control means CD1 of the first embodiment causes the working machine 1a (see FIG. 14 described later) to work along the planned work route R2 based on the positioning position Tα and the planned work position. Here, in the autonomous control means CD1, the rotation speed of the engine E is increased when the tractor 1 is on the slope, and the rotation speed of the engine E is decreased when the tractor 1 is on the slope. Make it easier to match the planned traveling speed.

Although the first embodiment exemplifies a configuration in which the tractor 1 is autonomously controlled along the work guide route R2, the present invention is not limited to this. For example, a configuration is possible in which autonomous control is performed along the approach guide route R1. Further, in FIG. 7, a configuration in which the tractor 1 is moved by autonomous control based on a route in which an entry/exit path P1 of a field is set to an entry/exit path P1 of the next field based on the field information and work orders H1 to H6. Is also possible.

The slip avoiding means CD1a reduces the rotation of the engine E when the traveling speed of the tractor 1 is lower than the set planned traveling speed by a predetermined speed or more. In addition, in the first embodiment, the configuration in which the rotation of the engine E is reduced has been exemplified, but the invention is not limited to this, and the rotation speed of the engine E is not reduced, and the transmission speed is switched to rotate the wheels 2, 2, 3, 3. It is also possible to use a configuration that lowers.

The overrun avoiding means CD1b lowers the rotation of the engine E when the traveling speed of the tractor 1 is higher than a preset traveling speed by a predetermined speed or more. In the first embodiment, the configuration that reduces the rotation of the engine E is illustrated, but the configuration is not limited to this, and the configuration in which the transmission speed is switched and the rotation of the wheels 2 to 3 is reduced without reducing the rotation of the engine E. Is also possible.

A conventionally known configuration can be applied to a configuration in which a work vehicle such as the tractor 1 is caused to perform unmanned traveling work by autonomous control based on the work guide route R2 and the like. Therefore, detailed description of the autonomous control means CD1 other than the avoidance means CD1a and CD1b will be omitted. A configuration for autonomously controlling the work vehicle is described in, for example, Japanese Patent Laid-Open No. 10-66405.

(Explanation of the flow chart of Example 1)
Next, a flow of control in the control system for a working vehicle according to the first embodiment will be described using a flow chart, which is a so-called flowchart. In addition, below, the input process of the outline information of the field, the tracking control process of the drone, and the autonomous control process of the tractor will be described. Since the processes other than the input process of the outline information of the field, the drone tracking control process, and the tractor autonomous control process are simple, description using the flowchart is omitted.

(Explanation of the flowchart of the input process of the outline information of the field)
FIG. 11 is an explanatory diagram of a flowchart of the input process of the outline information of the field.
The process of each step ST in the flowchart of FIG. 11 is performed according to a program stored in the control units CA to CD of the control system S of the work vehicle. Further, this process is executed in parallel with other various processes of the control system S of the work vehicle.
The flowchart shown in FIG. 11 is started when the drone 31 and the controller 41 are turned on.

In ST1 of FIG. 11, it is determined whether or not there is an input to start setting the outline information of the field. If yes (Y), the process proceeds to ST2, and if no (N), ST1 is repeated.
In ST2, it is determined whether or not the field for which the outer shape information is set is selected. If yes (Y), the process proceeds to ST3, and if no (N), ST2 is repeated.
In ST3, the number of inputs n is set to 1 (n=1). Then, it proceeds to ST4.

In ST4, it is determined whether or not the number of inputs n is 4 or less (n≦4). If yes (Y), the process proceeds to ST5, and if no (N), the process proceeds to ST9.
In ST5, the following processes (1) to (3) are executed. Then, it proceeds to ST6.
(1) Display the captured image 43a.
(2) The information image 43d at the position Dα of the drone 31 is displayed.
(3) The position setting button 43e is displayed.

In ST6, it is determined whether or not the position setting button 43e is input. If yes (Y), the process proceeds to ST7, and if no (N), ST6 is repeated.
In ST7, the following processes (1) and (2) are executed. Then, the process proceeds to ST8.
(1) The number of inputs n is stored.
(2) The position Dα of the drone 31 is stored as the angular position Hαn.

In ST8, 1 is added to the input number n (n=n+1). Then, the process returns to ST4.
In ST9, the following processes (1) to (4) are executed. Then, the process proceeds to ST10.
(1) Display the captured image 43a.
(2) The information image 43d at the position Dα of the drone 31 is displayed.
(3) The position setting button 43e is displayed.
(4) The setting end button 43f is displayed.

In ST10, it is determined whether or not the position setting button 43e is input. If yes (Y), the process proceeds to ST7, and if no (N), the process proceeds to ST11.
In ST11, it is determined whether or not the setting end button 43f is input. If yes (Y), the process returns to ST1, and if no (N), the process returns to ST10.

(Explanation of the flow chart of the drone tracking control process)
FIG. 12 is an explanatory diagram of a flowchart of the drone follow-up control processing.
The process of each step ST in the flowchart of FIG. 12 is performed according to a program stored in the control units CA to CD of the control system S of the work vehicle. Further, this process is executed in parallel with other various processes of the control system S of the work vehicle.

The flowchart shown in FIG. 12 is started when the power of the drone 31 and the controller 41 is turned on.
In ST51 of FIG. 12, it is determined whether or not the setting of the autonomous control mode is input. If yes (Y), the process proceeds to ST52, and if no (N), ST51 is repeated.

In ST52, the drone 31 is raised. Then, the process proceeds to ST53.
In ST53, it is determined whether or not the mark 23 is detected on the captured image 43a. If yes (Y), the process proceeds to ST54, and if no (N), the process returns to ST52.

In ST54, the following processes (1) and (2) are executed. Then, it proceeds to ST55.
(1) The direction of the tractor 1 is detected based on the triangular portion 23b of the vehicle position specifying mark 23.
(2) A deviation amount u between the cross position D and the target position T is calculated.

In ST55, the shift amount u is converted into the movement amount m. Then, the process proceeds to ST56.
In ST56, the control amount for moving the drone 31 to the reference position is calculated based on the height, the direction, and the amount of deviation. Then, the process proceeds to ST57.

In ST57, a control signal based on the calculated control amount is transmitted to the drone 31. That is, the drone 31 is caused to fly to the reference position. Then, the process proceeds to ST58.
In ST58, it is determined whether or not the autonomous control mode has ended. If yes (Y), the process returns to ST51, and if no (N), the process returns to ST54.

(Autonomous control processing of tractor)
FIG. 13 is an explanatory diagram of a flowchart of the autonomous control processing of the tractor.
The process of each step ST in the flowchart of FIG. 13 is performed according to a program stored in the control units CA to CD of the control system S of the work vehicle. Further, this process is executed in parallel with other various processes of the control system S of the work vehicle.

The flowchart shown in FIG. 13 is started when the key of the tractor 1 is turned on.
In ST101 of FIG. 13, it is determined whether or not an autonomous control switch (not shown) is input. If yes (Y), the process proceeds to ST102, and if no (N), ST101 is repeated.
In ST102, it is determined whether or not the positioning possible flag FL is "1". If yes (Y), the process proceeds to ST103, and if no (N), ST102 is repeated.

In ST103, the position Tα of the tractor 1 is measured based on the positioning result of the high precision GPS unit 33 of the drone 31. Then, the process proceeds to ST104.
In ST104, the following processes (1) and (2) are executed. Then, the process proceeds to ST105.
(1) Based on the position Tα of the tractor 1, the tractor 1 is caused to travel autonomously along the work guide route R2.
(2) The tractor 1 is caused to work along the work guide route R2 based on the position Tα of the tractor 1.

In ST105, it is determined whether or not the autonomous control along the work guide route R2 is completed. If yes (Y), the process returns to ST101, and if no (N), the process returns to ST103.

FIG. 14 is an operation explanatory view of the work vehicle control system according to the first embodiment.
14, in the work vehicle control system S of the first embodiment having the above configuration, when the drone 31 is set to the autonomous control mode, the drone 31 moves up and the lower camera 37 captures an image of the lower side. When the captured image 43a captured by the lower camera 37 is image-processed and the marks 22 and 23 of the tractor 1 are detected, the work vehicle is specified based on the detected number marks 22. Further, the direction, the movement amount, etc. of the tractor 1 are calculated based on the detected vehicle position specifying mark 23.

Then, the drone 31 is flight-controlled so as to follow the traveling of the tractor 1 based on the direction and the movement amount. Therefore, in the work vehicle control system S according to the first embodiment, the drone 31 flies corresponding to the position of the tractor 1 by autonomous control.

Here, in the work vehicle control system S of the first embodiment, when the tractor 1 moves along the scheduled guide route R2 by autonomous control, based on the positioning result of the high precision GPS unit 33 provided in the drone 31. The position Tα of the tractor 1 is measured. That is, in the tractor 1, the position Tα is measured by the GPS unit 33 mounted on the drone 31, not by the tractor 1 itself, and the steering and the engine are controlled.

Here, in the conventional technology, the GPS device itself is provided in the work vehicle. Therefore, when updating a work vehicle by purchasing a new one or owning a plurality of work vehicles, when attempting to perform positioning with these work vehicles, it is necessary to replace the positioning device or provide a positioning device individually. It was In particular, when performing highly accurate positioning, an expensive positioning device is likely to be needed. Therefore, there is a problem that the cost is easily increased when the positioning device is individually provided. Further, when replacing the positioning device, there is a problem that replacement work takes time and labor.

On the other hand, in the work vehicle control system S according to the first embodiment, the position Tα of the tractor 1 is positioned based on the positioning result of the high-accuracy GPS unit 33 included in the drone 31. Therefore, the positioning can be performed using the common drone 31 even when the positioning is performed by the updated work vehicle or a plurality of work vehicles. Therefore, the work of replacing the positioning device and the necessity of individually installing the positioning device are suppressed. Particularly, in the first embodiment, the drone 31 is provided with the high precision GPS unit 33, and the number of expensive high precision GPS units 33 may be small. Therefore, as compared with the case where a high-precision GPS unit is provided for each work vehicle, it is easier to reduce costs.

The tractor 1 is equipped with a GPS unit 21. Therefore, when the highly accurate position Tα is not required, such as when a worker drives, the position Tβ can be measured based on the vehicle-mounted GPS unit 21 without flying the drone 31. Therefore, for example, even when the worker drives and moves the tractor 1 to the work starting point P3, the worker refers to the approach guide route R1 and the position Tβ of the tractor 1 to accurately move the tractor 1 to the work starting point P3. It is easy to drive up to.

Further, in the first embodiment, when it is determined that the drone 31 has reached the reference position and the positioning possible flag FL is “1”, the drone 31 measures the position Tα of the tractor 1. That is, when the movement amount m is within a small value range and the positional relationship between the tractor 1 and the drone 31 is stable, positioning is performed based on the high-accuracy GPS unit 33 of the drone 31. Therefore, the reliability of the position Tα of the tractor 1 is improved as compared with the case where the tractor 1 is positioned based on the position Dα of the drone 31 even though the drone 31 is separated from the tractor 1.

In the present embodiment, when the positioning possible flag FL is “1”, the positional relationship between the tractor 1 and the drone 31 is likely to be stable, so regardless of whether or not the drone 31 matches the reference position, Although the configuration for positioning the position Tα of the tractor 1 based on the position Dα of the drone 31 has been illustrated, the present invention is not limited to this. For example, it is configured to continue to determine whether or not the drone 31 has moved to the reference position, and to position the position Tα of the tractor 1 based on the position Dα of the drone 31 only when it is determined that the drone 31 has moved to the reference position. Is also possible.

Further, in the first embodiment, the image processing used for the autonomous control of the drone 31 is performed by the control unit CB of the controller 41 instead of the control unit CA of the drone 31. Therefore, as compared with the case where image processing is performed by the control unit CA of the drone 31, the processing capability of the control unit CA of the drone 31 can be reduced, and the configuration can be easily simplified. Therefore, in the first embodiment, it is easy to reduce the weight of the drone 31.

Further, the attitude of the drone 31 is controlled so that the vertical direction does not tilt too much with respect to the gravity direction. Therefore, the lower camera 37 is easily held in a state of facing downward in the direction of gravity. Therefore, it is possible to detect the posture of the tractor 1 according to the shape of the imaged vehicle identification mark 23, that is, the area ratio of the portions 23a1 to 23a4 of the rectangular portion 23a. Therefore, the tractor 1 can be accurately autonomously traveled based on the posture of the tractor 1.

In the first embodiment, the radar 38 provided in the drone 31 measures the height with respect to the tractor 1 and controls the drone 31 so that the height between the drone 31 and the tractor 1 becomes constant. .. Therefore, the positional relationship between the drone 31 and the tractor 1 is easily stabilized, and the reliability of the position Tα of the tractor 1 based on the high-accuracy GPS unit 33 of the drone 31 is easily improved.

In the first embodiment, the radar 38 measures the height of the tractor 1 with respect to the cabin 7, but the present invention is not limited to this. For example, instead of the radar 38, a camera capable of capturing a stereo image may be provided, and the distance between the tractor 1 and the drone 31 may be measured based on the stereoscopic view of the tractor 1 and the mark 23. It is also possible to measure the distance between the drone 31 and the tractor 1 based on the focal length where the vehicle position mark is in focus by the autofocus mechanism of the camera. Note that instead of the lower camera 37 and the radar 38, a configuration in which the altitude of the drone 31 is detected based on an altitude sensor is also possible.

Further, the CAN of the tractor 1 according to the first embodiment is connected to an external memory Me accessible by the control units CC and CD, and the external memory Me has field information, work process information, and a created route R1. , R2 information and the like are stored. Here, the amount of data of the field information and the like tends to be large. Therefore, in the configuration in which the field information or the like is held in the internal memory of each control unit CC, CD, when each control unit CC, CD accesses necessary information, the amount of data communication flowing through the CAN easily increases. On the other hand, in the first embodiment held in the external memory, mutual communication between the control units CC and CD is easily unnecessary, and the load on the CAN is easily reduced. Therefore, the CAN of the first embodiment is less likely to cause a communication delay.

Further, in the first embodiment, it is possible to actually fly the drone 31 over the field and set the information Hα regarding the outer shape of the field. Here, it is conceivable to set position information such as the shape of the field based on the aerial photograph, but the aerial photograph is often taken from the sky far from the surface of the field. Therefore, in the configuration based on the aerial photograph, deviation of the set position information is likely to occur. On the other hand, in the first embodiment, it is possible to fly the drone 31 at a low altitude, and the operator operates the joysticks 44 and 46 while watching the captured image 43a to fly the drone 31 in accordance with the outer circumference of the field. Easy to make. In particular, the drone 31 is equipped with a high precision GPS unit 33. Therefore, it is easy to obtain the highly accurate angle information Hα. In the first embodiment, the additional corner information Hα, the entry/exit path P1, the obstacle position P2, and the like can be input, and the information of the field H can be corrected. Therefore, it is easy to improve the accuracy of the field information.

Further, in the first embodiment, when the traveling speed of the tractor 1 is lower than the planned traveling speed by a predetermined speed or more, it is determined that the slip is large, and the rotation of the engine E is reduced. Therefore, the rotation of the wheels 2 and 3 becomes slow, and it is easy to prevent the tractor 1 from slipping significantly. Further, in the first embodiment, when the traveling speed of the tractor 1 is higher than the set planned traveling speed by a predetermined speed or more, it is determined that the slope of the field is overrun, and the engine E rotates. Lower. Therefore, the tractor 1 is decelerated, and it is easy to avoid overrun on a steep slope.

(Other forms)
FIG. 15 is an explanatory view of a main part of FIG. 3 and is an explanatory view of each control unit of another embodiment.
FIG. 16 is an explanatory diagram showing a relationship between an imaged object and a captured image when the drone is tilted.

(Controller CB of controller)
The controller CB of the controller shown in FIG. 15 has image processing means CB4′ and autonomous control means CB5′ in place of the image processing means CB4 and autonomous control means CB5 shown in FIG.
The image processing means CB4' of this embodiment has a tractor attitude detecting means CB4b' instead of the tractor attitude detecting means CB4b of FIG. Further, a reproduction unit CB4c' is added to the image processing unit CB4' of this embodiment.

The reproducing unit CB4c' reproduces the original imaged object in the virtual three-dimensional space based on the attitude information of the drone 31 and the captured image 43a. In FIG. 16, the reproducing means CB4c′ of the present embodiment acquires the image pickup direction of the lower camera 37, that is, the lower side of the drone 31 (direction indicated by n in FIG. 16) based on the posture information regarding the posture state of the drone 31. Further, the reproduction means CB4c' specifies the position D'which is separated from the lower camera 37 by the distance L measured by the measurement radar 38 along the direction n. Further, at the position D′, a plane virtual plane β perpendicular to the direction of gravity (direction indicated by g in FIG. 16) is set. That is, the virtual plane β corresponding to the cabin 7 of the tractor 1 is set at the portion of the distance L. Then, the captured image 43a on the projection surface α is back-projected on the virtual surface β. In the present embodiment, the deviation amount u on the captured image 43a and the vehicle position identification mark 23 are back projected onto the virtual plane β. In addition, the foot position HD of a perpendicular line that hangs from the position Dα of the drone 31 to the virtual plane β along the gravity direction is also calculated.

The tractor posture detecting means CB4b' of this embodiment detects the posture of the tractor 1 based on the vehicle position specifying mark 23 converted on the virtual plane β in place of the captured image 43a. That is, in the tractor posture detecting means CB4b shown in FIG. 4 described above, the posture information is detected based on the area ratio of the respective parts 23a1 to 23a4 in the captured image 43a. However, when the imaging direction of the lower camera 37 is inclined with respect to the gravity direction, the shape of the image captured from the upper surface of the horizontal cabin 7 is distorted. Therefore, in the present embodiment, the attitude of the tractor 1 is detected based on the image projected and converted into the virtual surface β. Therefore, as compared with the tractor attitude detecting means CB4b of FIG. 4, the tractor attitude detecting means CB4b' of the present embodiment can detect the attitude of the tractor 1 more accurately.

FIG. 17 is an explanatory diagram of the relationship between the shift amount and the movement amount when the drone is tilted in the direction of the shift amount. (a) is an explanatory diagram when the lower camera is oriented right below, and (b) is the drone tilted. FIG. 6 is an explanatory view when the imaging direction of the lower camera is inclined, (c) is an explanatory view when it is different from (b), and (d) is an explanatory view when it is different from (b) and (c). ..

The movement amount calculation means CB5d' calculates the movement amount m to be moved in the horizontal direction when the drone 31 moves to the reference position, based on the drone posture information and the shift amount u. 16 and 17, when the drone 31 is tilted, the horizontal position HD of the drone 31 is different from the position D′ indicated by the imaging direction n of the lower camera 37. Therefore, in the movement amount calculating means CB5d' of this embodiment, the end point of the projected displacement amount u'is set as the target position T'on the virtual plane β corresponding to the actual positional relationship. Then, the vector amount from the position HD to the target position T'is calculated as the moving amount m for the drone 31 to move in the horizontal direction.

(Tractor position information processing control unit CC)
The position information processing control unit CC of the tractor shown in FIG. 15 has high-precision positioning means CC4a′ instead of the high-precision positioning means CC4a shown in FIG.
The high-accuracy positioning means CC4a' measures the position Tα of the tractor 1 based on the positioning result of the high-accuracy GPS unit 33 when the positioning possible flag FL is "1". In the present embodiment, the position Tα of the tractor 1 is measured based on the position Dα of the drone 31, the vector amount u0, and the movement amount m. That is, Tα=Dα+u0+m is calculated in the horizontal direction. Therefore, in the present embodiment, even if the position Dα of the drone 31 is located at a position distant from the reference position, the amount of misalignment is corrected by m, and the error is reduced.

Also in the control system S of the work vehicle of the present embodiment, similar to the control system S of the work vehicle described in FIGS. 1 to 14, the tractor 1 of the tractor 1 is based on the positioning result of the high-accuracy GPS unit 33 provided in the drone 31. The position Tα is measured. Therefore, it is possible to position the position Tα of the tractor 1 with high accuracy while suppressing the work of replacing the positioning device and the need to individually install the positioning device.

Particularly, in the present embodiment, the captured image 43a is processed based on the attitude information of the drone 31. When the attitude of the drone 31 is tilted, the imaging direction of the lower camera 37 fixed to the drone 31 also changes. At this time, on the captured image 43a in which the object is perspectively projected, as shown in FIGS. 16 and 17, the positional relationship is easily recognized as information different from the actual three-dimensional space.

On the other hand, in the present embodiment, the captured image 43a is back-projected on the virtual plane β corresponding to the upper surface of the cabin 7 on the tractor 1 based on the attitude information of the drone 31, and the actual original positional relationship is accurately obtained. It's easy to get. Therefore, in the present embodiment, the position Tα of the tractor 1 can be more accurately measured as compared to the configuration in which the captured image 43a is processed on the assumption that the lower camera 37 faces downward. Therefore, it is also effective when the drone 31 moves at high speed, when the weather conditions are bad, or when the attitude of the drone 31 is easily inclined.

In this embodiment, the movement amount m is calculated based on the height L. Further, the position Tα of the tractor 1 is measured based on the movement amount m and the position Dα of the drone 31. Therefore, the accuracy is likely to be higher than when the movement amount m or the position Tα of the tractor 1 is not based on L or m.

(Other form 2)
FIG. 18 is an explanatory diagram of a control system for a work vehicle in another form.
The work vehicle control system S shown in FIG. 18 has the following configuration in addition to the configuration of the work vehicle control system S described in FIGS. That is, in FIG. 18, the resonance coil 61 on the power transmission side is supported in the cabin 7 of the tractor 1. The resonance coil 61 on the power transmission side is configured as an LC resonance coil. The resonance coil 61 on the power transmission side is arranged in the central portion inside the roof 7 a of the cabin 7. In the configuration shown in FIG. 18, when the drone 31 is in the autonomous control mode, high frequency power is supplied to the resonance coil 61 on the power transmission side.

A resonance coil 62 on the power receiving side capable of magnetic field resonance with the resonance coil 61 on the power transmission side is supported below the drone 31. The resonance coil 62 on the power receiving side is electrically connected to a battery (not shown). A solar cell panel 63 is supported on the drone 31. The resonance coil 62 and the solar cell panel 63 on the power receiving side are electrically connected to a battery (not shown).

Therefore, in the work vehicle control system S shown in FIG. 18, in addition to the operation of the configuration shown in FIGS. 1 to 17, the drone 31 moves to the reference position, and the resonance coil 61 on the power transmission side of the tractor 1 and the drone 31. When the resonance coil 62 on the power receiving side faces each other, a current flows through the resonance coil 62 on the power receiving side by the action of magnetic field resonance, and the battery is charged. When the solar cell panel 63 receives sunlight or the like, the battery is charged. Therefore, in this embodiment, the battery of the drone 31 is less likely to run out, and it is easier to fly for a long time as compared with the case where the drone 31 cannot be charged.

In particular, in FIG. 18, the resonance coil 61 on the power transmission side is arranged inside the roof 7a, and it is easier to ensure waterproofness as compared with the case where it is arranged above the roof 7a. The resonance coil 61 on the power transmission side is arranged in the central portion of the roof 7a. Here, an air conditioner is often arranged in the cabin 7. At this time, the air conditioner is installed in front of or behind the cabin 7, and the air ducts are arranged on both sides. Therefore, a space is likely to be formed in the central portion of the roof 7a. Therefore, in the configuration shown in FIG. 18, it is easy to effectively utilize the inside of the space of the roof 7a.

(Other form 3)
FIG. 19 is an explanatory diagram of a control system for a work vehicle which is different from that of FIG.
In the form shown in FIG. 18, a configuration in which the resonance coil 61 on the power transmission side is arranged in the central portion of the roof 7a of the cabin 7 is illustrated, but the configuration is not limited to this. As shown in FIG. 19, it is possible to dispose the resonance coil 61 on the power transmission side on the outer periphery of the roof 7a of the cabin 7. Here, the outer periphery of the roof 7a is often created as a design element, and a dead space easily exists inside the outer periphery. Therefore, as shown in FIG. 19, it is possible to arrange the resonance coil 61 on the power transmission side on the outer periphery of the roof 7a to effectively use the space in the roof 7a.

Note that, instead of the configuration in which the coil 61 is arranged inside the roof 7a, a configuration in which the resonance coil 61 on the power transmission side is arranged above the surface of the roof 7a is also possible. 18 and 19 illustrate a configuration in which electric power is supplied by the magnetic field resonance type coils 61 and 62. However, instead of this, a coil on the power transmission side and a coil on the power receiving side compatible with the electromagnetic induction system. By this, it is possible to supply power.

Further, the configuration using the coils 61 and 62 is not limited, and it is possible to provide an antenna for transmitting microwaves in the cabin 7 and provide the drone 31 with an antenna for receiving the microwaves. Accordingly, a configuration in which the battery of the drone 31 is charged by the radio wave method is also possible.

Further, in this case, the drone 31 is provided with a configuration for transmitting radio waves having a frequency different from the microwave. Then, when the drone 31 moves to a position where microwaves can be received from the transmitting antenna, the drone 31 transmits radio waves having different frequencies. Then, a configuration is possible in which the tractor 1 transmits microwaves when it receives the radio waves.

Further, for example, it is possible to provide a control means for discriminating the remaining amount of the battery of the drone 31 and supply power only when the remaining amount of the battery is low. This makes it easier to suppress fuel consumption of the tractor as compared with the configuration in which power is constantly supplied.

(Example of change)
Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims. Is possible. Modifications of the present invention will be exemplified below.

In the control system S of the working vehicle of the first embodiment, the means included in each of the control units CA to CD can be configured to be included in the other control units CA to CD, and distributed processing can be performed. It is also possible to transmit/receive information to/from an external server or the like, and transmit the information processed by the external server to each control unit CA to CD. Therefore, for example, the server can be configured to perform image processing such as detection processing of the marks 22 and 23. Further, the field information and the like can be registered in the server and transmitted from the server to the control units CA to CD. Further, in the first embodiment, when the control amount of the autonomous control of the drone 31 is calculated, it is processed by the control unit CB of the controller 41. However, instead of this, it is also possible to perform processing by the control unit CA of the drone 31. Is.

In the above-described embodiment, the configuration in which the drone 31 images one tractor 1 is illustrated, but the configuration is not limited to this. For example, one drone 31 images a plurality of work vehicles at the same time, the work vehicles are specified based on the marks 22 and 23 of each work vehicle, the deviation amount of each work vehicle and the position Dα of the drone 31 are determined. It is possible to determine the position of the work vehicle based on and.

Further, the controller 41 may be configured such that the joysticks 44 and 46 are omitted and the touch panel 43 is used for operation. Further, a configuration is possible in which the manual operation of the drone 31 is disabled and the drone 31 flies only by autonomous control after the power is turned on. Further, when the worker drives the tractor 1, it is also possible to fly the drone 31 and measure the position Tα of the tractor 1 with the high precision GPS unit 33. Further, it is also possible to normally work at the position Tβ based on the in-vehicle GPS unit 21 and to fly the drone 31 to position the position Tα of the tractor 1 only when highly accurate work is required. In this case, it becomes easy to suppress the power consumption of the drone 31.

1 tractor (work vehicle) 1a work equipment 2,2 front wheels 3,3 rear wheels 4 engine room 5 transmission case 6 bonnet 7 cabin 8 driver's seat 11 steering wheel 12 clutch pedal 13 accelerator pedal 21 GPS unit 22 number mark 23 vehicle position identification Mark 23a Rectangular part 23a1 Right front part 23a2 Left front part 23a3 Left rear part 23a4 Right rear part 23b Triangular part 31 Drone (unmanned aerial vehicle) 32 Main body part 33 High precision GPS unit (positioning device)
34 Arm 36 Rotating Blade 37 Camera 38 Radar 41 Controller 42 Tablet Terminal 43 Touch Panel 43a Captured Image 43b, 43c Frame Image 43d Drone Position Information Image 43e Position Setting Button 43f Setting End Button 44 Joystick 46 Joystick 61 Power Transmission Resonant Coil 62 Receiving resonance coil 63 Solar cell panel BS Brake cylinder CA drone control unit CA1 Drone positioning means CA2 Flight control means CB controller control unit CB1 Mode setting means CB2 Manual control transmission means CB3 Aerial image display means CB4 Image processing means CB4a mark Detecting means CB4b, CB4b' Tractor attitude detecting means CB4c' Reproducing means CB5 Autonomous control means CB5a Height measuring means CB5b Front specifying means CB5c Displacement amount calculating means CB5d Initial control means CB5e Control amount calculating means CB5f Control amount transmitting means CB6 Arrival determining means CB11 Field information storage means CB12 Field outline setting means CB12a Start determination means CB12b Image display means CB12c Position input means CB13 Additional information setting means CB13a Angular position addition means CB13b In/out route setting means CB13c Obstacle position setting means CB14 Registration means CB15 Vehicle Identification means CB16 Process storage means CB17 Work information display means CC Tractor position information processing control unit CC1 Field information acquisition means CC2 Work schedule information creation means CC3 Autonomous work information creation means CC4 Vehicle positioning means CC4a High precision positioning means CC4b Simplified positioning means CC5 Work map information creation means CD Tractor vehicle control unit CD1 Autonomous control means CD1a Slip avoidance means CD1b Overrun avoidance means D Cross position Dα Drone position FL Positionable flag E Engine H Fields H1, H2 H3, H4, H5, H6 Work order Position just below HD drone HS Transmission Hα (Hα1, Hα2, Hα3, Hα4,..., Hαn) Angular position P1 Entry/exit path P2 Obstacle position P3 Work start point R1 Entry guide path R2 Work guidance Route S Work vehicle control system SN1 Acceleration sensor SN11 Vehicle speed sensor SN12 Steering wheel angle sensor SN13 Gear shift sensor M11 Steering motor T Target position Tα High-precision GPS unit based Position of tractor Tβ Position of tractor based on GPS unit u Amount of displacement W Vehicle width m Movement amount M1, M2, M3, M4 Motor Me External memory

Claims (4)

A work vehicle (1) for working in the field (H),
An unmanned aerial vehicle (31) flying in the air corresponding to the work vehicle (1);
A positioning device (33) that is supported by the unmanned aerial vehicle (31) and receives signals from positioning satellites to perform positioning;
Vehicle positioning means (CC4) for positioning the work vehicle (1) based on the positioning result of the positioning device (33);
A vehicle position specifying mark (23) attached to the work vehicle (1),
An imaging member (37) supported by the unmanned aerial vehicle (31) and imaging the vehicle position specifying mark (23);
In the captured image captured by the imaging member (37), the unmanned aerial vehicle (31) that autonomously flies so as to hold the position of the vehicle position identification mark (23) within a preset area;
A control system for a work vehicle, comprising: A plurality of the work vehicles (1),
A vehicle identification mark (22) attached to each work vehicle (1) and different for each work vehicle (1);
A process storage means (CB16) for storing information on a preset work process for each work vehicle (1),
An imaging member (37) for imaging the vehicle identification mark (22);
Vehicle identification means (CB15) for identifying the work vehicle (1) based on the captured image of the vehicle identification mark (22) captured by the imaging member (37);
A display unit (43) for displaying an image based on a work process corresponding to the specified work vehicle (1);
The control system for a work vehicle according to claim 1 , further comprising: An operation unit (44, 46) for remotely operating the unmanned aerial vehicle (31),
An unmanned aerial vehicle (31) capable of switching between a manual operation mode for flying based on an operation of the operation section (44, 46) and an autonomous control mode for flying by the autonomous control;
The control system for a work vehicle according to claim 1, further comprising: The working vehicle (1) performing traveling work by autonomous control, wherein the working vehicle (1) controls a traveling direction based on a positioning result of the vehicle positioning means (CC4),
The control system for a work vehicle according to any one of claims 1 to 3 , further comprising:

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