JP6708724B2 - Autonomous driving system - Google Patents

Description

The present invention relates to an autonomous traveling system that autonomously travels a work vehicle.

2. Description of the Related Art Conventionally, there is known an autonomous traveling system that autonomously travels while remotely operating an agricultural work vehicle. Patent Document 1 discloses an agricultural work vehicle (agricultural work vehicle) provided in this type of autonomous traveling system. The agricultural work vehicle of Patent Document 1 is configured to be able to autonomously travel and work by acquiring its own position information by a positioning system (GPS). Then, when the agricultural work vehicle continues a behavior different from the behavior based on the command signal from the control device (control means) for a predetermined time or longer, the autonomous traveling is configured to be stopped. According to this configuration, when the behavior of the agricultural work vehicle largely deviates from the work route (autonomous travel route) due to slipping or the like (when the abnormal trace behavior is exhibited), the agricultural work vehicle is automatically operated. Can be stopped.

JP, 2005-215742, A

However, in the configuration of Patent Document 1 described above, when the agricultural work vehicle shows a behavior largely deviating from the work route due to slipping or the like and is automatically stopped and then autonomous traveling and work are restarted, , The agricultural work vehicle had to be moved to the start point of the work route (the most upstream point of the work route) to start traveling and work again. Therefore, there is a problem that the work is restarted from the beginning (duplicate work is performed) and the work becomes inefficient.

The present invention has been made in view of the above circumstances, and an object of the present invention is to restart the autonomous traveling after restarting the autonomous traveling after the work vehicle capable of autonomous traveling deviates from the route due to some circumstances and stops. It is to restart autonomous driving.

Means and effects for solving the problems

The problem to be solved by the present invention is as described above. Next, means for solving the problem and its effect will be described.

According to the aspect of the present invention, an autonomous traveling system having the following configuration is provided. That is, this autonomous traveling system includes a position detection unit and a control unit. The position detection unit can detect position information of a traveling machine body on which the work machine is mounted. The control unit can control autonomous traveling of the traveling machine body. The control unit includes a first traveling path on which the working machine operates, a second traveling path on which the working machine operates after the first traveling path, the first traveling path, and the second traveling path. It is possible to cause the traveling machine body to autonomously travel on a route including a turning circuit that connects The control unit can stop the traveling of the traveling machine body when the traveling machine body deviates from the route by a predetermined range. When the traveling machine body is stopped due to deviation from the route, the control unit can restart the autonomous traveling of the traveling machine body from the traveling start position of the traveling machine body on the route. The control unit presents to the user the traveling start positions on the plurality of first traveling paths stored based on the traveling locus of the traveling machine body as candidates for points at which autonomous traveling of the traveling machine body is restarted.

Accordingly, when the traveling machine body deviates from the route , it is possible to restart the autonomous traveling of the traveling machine body from a position where work does not overlap and which is a boundary between work and non-work. In addition, since the user can select a location where the autonomous traveling is restarted from a plurality of candidates, it is possible to flexibly respond to the situation.

The above-mentioned autonomous traveling system preferably has the following configuration. That is, in this autonomous traveling system , when the traveling machine body is stopped due to deviation from the deviation determination width with respect to the first traveling path or the second traveling path, the first traveling path or The user is presented with an intersection of a perpendicular line drawn to the second traveling path and the first traveling path or the second traveling path deviated from the traveling machine body as a candidate for a point where the autonomous traveling of the traveling machine body is restarted. ..

As a result, traveling can be restarted from a position where there is little duplication of agricultural work.

In the autonomous traveling system, the control unit sets the traveling start position on the second traveling path starting from a downstream end of the turning circuit to the traveling machine body when the traveling machine body is stopped due to deviation from the turning circuit. It is preferable to present it to the user as a candidate for the point at which the autonomous traveling is restarted .
Accordingly, it is possible to reduce the duplication of work, and it is possible to restart the traveling from the position that becomes the boundary between the second traveling path and the turning circuit (the position that becomes the boundary between working/non-working).

The side view showing the whole robot tractor composition with which the autonomous running system concerning one embodiment of the present invention is equipped. The top view of a robot tractor. The figure showing the remote control provided with the autonomous running system concerning one embodiment of the present invention. The block diagram which shows the main structures of the control system of a robot tractor and a remote control. The figure which shows the example of a display of the monitoring screen on the display of a remote control. The figure explaining the deviation determination width and margin width set to a work route. The flowchart which shows the first half part of the process performed in order to show the candidate of the work starting point which restarts agricultural work, when a robot tractor has deviated from a work route. The flowchart which shows the latter half part of the process performed in order to show the candidate of the work starting point which restarts agricultural work. The figure explaining the process performed in order that the robot tractor may deviate from a linear or polygonal farm work route, and a plurality of candidates of work start points for restarting farm work may be presented. The figure explaining the process performed in order to show the some candidate of the work starting point which restarts agricultural work, when a robot tractor deviates from a turning circuit. The figure which shows the example of the content displayed on the driving|running state display part of a monitoring screen, when the cause of deviation is slip. The figure explaining the other example of the candidate of the work starting point which restarts agricultural work.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing the overall configuration of a robot tractor 1 included in an autonomous traveling/autonomous work system 99 according to an embodiment of the present invention. FIG. 2 is a plan view of the robot tractor 1. FIG. 3 is a diagram showing the remote control device 46 provided in the autonomous traveling/autonomous work system 99 according to the embodiment of the present invention. FIG. 4 is a block diagram showing a main configuration of a control system of the robot tractor 1 and the remote control device 46.

As shown in FIG. 1, an autonomous traveling/autonomous work system (autonomous traveling system) 99 according to an embodiment of the present invention wirelessly communicates with a tractor (work vehicle) 1 and a control unit 4 of the tractor 1. And a remote operation device 46 for allowing the user to remotely operate the tractor 1.

The autonomous traveling/autonomous work system 99 causes all or part of agricultural work in a field to be performed by one or a plurality of work vehicles that perform autonomous travel and autonomous work in the field. In the present embodiment, the tractor 1 is used as the work vehicle, but instead of this, for example, a rice transplanter, combine harvester, civil/construction work device, snow plow, or the like can be used. Further, instead of using the riding type work vehicle, a walking type work vehicle may be used.

In the present specification, autonomous traveling means that the control unit 4 (specifically, ECU) included in the tractor 1 controls the configuration of the tractor 1 for traveling as shown in FIG. 4, and is predetermined. This means that the tractor 1 travels along the route. Further, in the present specification, autonomous work means that the structure provided for the tractor 1 for work is controlled by the control unit 4, and the tractor 1 performs work along a predetermined route.

In the following description, a tractor that performs autonomous traveling and autonomous work may be referred to as an “unmanned tractor” or a “robot tractor”, and a tractor that travels to perform work by being directly operated by an operator may be referred to as a “manned tractor”. .. When a part of the agricultural work is performed by the unmanned tractor in the field, the remaining agricultural work is performed by the manned tractor. The sharing of agricultural work by unmanned tractors and manned tractors in a single field may be referred to as cooperative work of agricultural work, follow-up work, accompanying work, and the like. Note that the cooperative work may include an unmanned tractor performing agricultural work in a certain field and at the same time, a manned tractor performing agricultural work in another field.

In the present embodiment, the difference between the unmanned tractor and the manned tractor is the presence/absence of direct operation by the operator, and the configuration as a tractor is common to both unmanned and manned tractors. That is, even an unmanned tractor can be directly operated by the operator boarding (riding) (in other words, it can be used as a manned tractor). Further, even with a manned tractor, the operator can get off the vehicle and perform autonomous traveling and autonomous work (in other words, it can be used as an unmanned tractor).

First, FIG. 1 and FIG. 2 will be mainly described with respect to a robot tractor (hereinafter, may be simply referred to as “tractor”) 1 which is an embodiment of an agricultural work vehicle provided in the autonomous traveling/autonomous work system 99. It will be described with reference to FIG.

The tractor 1 includes a traveling machine body (body portion) 2 capable of autonomously traveling in a field (traveling area). The working machine 3 shown in FIGS. 1 and 2 is detachably attached to the traveling machine body 2. Examples of the working machine 3 include various working machines such as a cultivator, a plow, a fertilizer applicator, a mower, and a seeder. Among them, a desired working machine 3 is selected as necessary and the traveling machine body is selected. Can be attached to 2. The traveling machine body 2 is configured to be able to change the height and the posture of the mounted work machine 3.

The configuration of the tractor 1 will be described in more detail with reference to FIGS. 1 and 2. As shown in FIG. 1, the traveling body 2 of the tractor 1 has its front part supported by a pair of left and right front wheels (wheels) 7, 7 and its rear part supported by a pair of left and right rear wheels 8, 8. There is.

A hood 9 is arranged at the front of the traveling machine body 2. In the bonnet 9, an engine 10 which is a drive source of the tractor 1 and a fuel tank (not shown) are housed. The engine 10 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. An electric motor may be used as a drive source in addition to or in place of the engine.

At the rear of the hood 9, a cabin 11 for a user to board is arranged. Inside the cabin 11, there are mainly provided a steering handle 12 for a steering operation by a user, a seat 13 on which a user can sit, and various operating devices for performing various operations. There is. However, the agricultural work vehicle is not limited to the one with the cabin 11, and may not have the cabin 11.

Examples of the operation device include the monitor device 14, the throttle lever 15, the PTO switch 17, the PTO gear shift lever 18, the plurality of hydraulic gear shift levers 16 and the like shown in FIG. These operating devices are arranged near the seat 13 or near the steering handle 12. The monitor device 14 is configured to be able to display various information of the tractor 1. The throttle lever 15 is for setting the rotation speed of the engine 10. The PTO switch 17 is for switching operation of transmission/interruption of power to an unillustrated PTO shaft (power output shaft) protruding from the rear end of the transmission 22. That is, when the PTO switch is in the ON state, power is transmitted to the PTO shaft to rotate the PTO shaft and drive the work implement 3, while when the PTO switch is in the OFF state, power to the PTO shaft is cut off. The PTO shaft does not rotate and the working machine 3 is stopped. The PTO gear shift lever 18 is for performing an operation of changing the power input to the work machine 3, specifically, for performing a gear shift operation of the rotational speed of the PTO shaft. The hydraulic speed change lever 16 can switch and operate a hydraulic external extraction valve (not shown).

Further, on the front part of the armrest 19 arranged on the right side of the seat 13, operating devices such as a main speed change lever 27, a working machine elevating switch 28 and the like are provided.

The main transmission lever 27 is for changing the traveling speed of the tractor 1. The traveling speed is increased when the main transmission lever 27 is tilted forward, and the traveling speed is decreased when it is tilted backward. The main shift lever 27 is configured to be capable of stepless operation, and the traveling speed of the tractor 1 is steplessly changed according to the operation amount of the main shift lever 27.

The work implement up/down switch 28 is configured as an electric switch provided on the main shift lever 27 and operable up and down, and is used when raising and lowering the work implement 3. As a result, the working machine 3 can be lowered to start the plowing work by the plowing claw 25, or can be raised to end the plowing work.

As shown in FIG. 1, a chassis 20 of the tractor 1 is provided below the traveling machine body 2. The chassis 20 includes a body frame 21, a transmission 22, a front axle 23, a rear axle 24, and the like.

The machine body frame 21 is a support member in the front part of the tractor 1, and supports the engine 10 directly or through a vibration isolating member or the like. The transmission 22 changes the power from the engine 10 and transmits the power to the front axle 23 and the rear axle 24. The front axle 23 is configured to transmit the power input from the transmission 22 to the front wheels 7. The rear axle 24 is configured to transmit the power input from the transmission 22 to the rear wheels 8.

As shown in FIG. 4, the tractor 1 includes a control unit 4 for controlling the operation of the traveling machine body 2 (forward, reverse, stop, turn, etc.) and the operation of the work machine 3 (elevation, drive, stop, etc.). .. A governor device 41, a transmission device 42, an elevating actuator 44, etc. are electrically connected to the control unit 4.

The governor device 41 adjusts the rotation speed of the engine 10. By controlling the governor device 41 by the control unit 4 and appropriately adjusting the rack position, the rotation speed of the engine 10 can be set to a desired rotation speed.

The transmission 42 is specifically, for example, a movable swash plate type hydraulic continuously variable transmission, and is provided in the transmission 22. By controlling the transmission 42 by the control unit 4 and appropriately adjusting the angle of the swash plate (not shown), the gear ratio of the transmission 22 can be set to a desired gear ratio.

The elevating actuator 44 operates the three-point link mechanism that connects the working machine 3 to the traveling machine body 2, for example, to move the working machine 3 to the retracted position (the position where the agricultural work is not performed) or the working position (the position where the agricultural work is performed). To raise or lower it. In addition, since the working machine 3 is configured as a rotary tilling device in the present embodiment, the agricultural work by the working machine 3 means the tilling work. By controlling the elevating actuator 44 by the control unit 4 and appropriately raising and lowering the work implement 3, the work implement 3 can perform agricultural work at a desired height.

In the tractor 1 including the control unit 4 as described above, the user rides in the cabin 11 and performs various operations to control each unit of the tractor 1 (the traveling machine body 2, the working machine 3, etc.) by the control unit 4. Then, the farm work can be performed while traveling in the field. In addition, the tractor 1 of the present embodiment can be made to autonomously run and work based on a predetermined control signal output from the remote control device 46, even if the user does not board the tractor 1. ..

Specifically, as shown in FIG. 4 and the like, the tractor 1 is equipped with various configurations for enabling autonomous traveling and autonomous work. For example, the tractor 1 is provided with a configuration such as a positioning antenna 6 required to acquire the position information of itself (the traveling machine body 2) based on the positioning system. With such a configuration, the tractor 1 can acquire its own position information based on the positioning system and autonomously travel on the field.

Next, the configuration of the tractor 1 for enabling autonomous traveling will be described in detail. Specifically, as shown in FIG. 4 and the like, the tractor 1 of the present embodiment includes a steering actuator 43, a positioning antenna 6, a wireless communication antenna 48, a front camera 51, a rear camera 52, a vehicle speed sensor 53, and a memory. The unit 55 and the like are provided. In addition to these, the tractor 1 may be provided with an inertial measurement unit (IMU) capable of specifying the attitude (roll angle, pitch angle, yaw angle) of the traveling machine body 2.

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

The positioning antenna 6 receives a signal from a positioning satellite that constitutes a positioning system such as a satellite positioning system (GNSS). As shown in FIG. 1, the positioning antenna 6 is arranged on the upper surface of the roof 92 of the cabin 11 of the tractor 1. The positioning signal received by the positioning antenna 6 is input to the position information calculation unit 49 as a position detection unit shown in FIG. The position information calculation unit 49 calculates the position information of the traveling machine body 2 (strictly speaking, the positioning antenna 6) of the tractor 1 as, for example, latitude/longitude information. The position information detected by the position information calculation unit 49 is input to the control unit 4 and used for autonomous traveling.

Although a high-precision satellite positioning system using the GNSS-RTK method is used in the present embodiment, the present invention is not limited to this, and another positioning system is used as long as high-accuracy position coordinates can be obtained. May be. For example, it is conceivable to use a relative positioning method (DGPS) or a geostationary satellite type satellite navigation augmentation system (SBAS).

The wireless communication antenna 48 receives a signal from the remote operation device 46 operated by the user and transmits a signal to the remote operation device 46. As shown in FIG. 1, the wireless communication antenna 48 is arranged on the upper surface of the roof 92 provided in the cabin 11 of the tractor 1. The signal from the remote control device 46 received by the wireless communication antenna 48 is signal-processed by the wireless communication unit 40 shown in FIG. A signal transmitted from the control unit 4 or the like to the remote operation device 46 is processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48, and received by the remote operation device 46.

The front camera 51 photographs the front of the tractor 1. The rear camera 52 photographs the rear of the tractor 1. Although not shown in FIGS. 1 and 2, the front camera 51 and the rear camera 52 are attached to the roof 92 of the tractor 1. The moving image data captured by the front camera 51 and the rear camera 52 is transmitted from the wireless communication antenna 48 to the remote control device 46 by the wireless communication unit 40. Upon receiving the moving image data, the remote control device 46 displays the content on the display 37.

The vehicle speed sensor 53 detects the vehicle speed of the tractor 1, and is provided, for example, on the axle between the front wheels 7, 7. The data of the detection result obtained by the vehicle speed sensor 53 is signal-processed by the wireless communication unit 40, then transmitted from the wireless communication antenna 48 and received by the remote control device 46, and the content thereof is displayed on the display 37. It In addition to the vehicle speed sensor 53, the tractor 1 is provided with various sensors for detecting (monitoring) the state of the tractor 1, but details thereof will be omitted.

The storage unit 55 stores a work route (path) that is a route for causing the tractor 1 to travel autonomously, and stores a transition (travel locus) of the position of the tractor 1 (strictly speaking, the positioning antenna 6) during autonomous travel. It is a memory to do. In addition, the storage unit 55 stores various kinds of information necessary for causing the tractor 1 to autonomously travel and work.

As shown in FIG. 3, the remote control device 46 is configured as a tablet type personal computer including a touch panel 39. The user can confirm by referring to the information displayed on the display 37 of the remote control device 46 (for example, the information from the front camera 51, the rear camera 52, the vehicle speed sensor 53, etc.). In addition, the user operates the touch panel 39 or the hardware key 38 or the like arranged near the display 37 to instruct the control unit 4 of the tractor 1 to control the tractor 1 (for example, an emergency signal). Stop signal etc.) can be transmitted. The remote control device 46 is not limited to a tablet type personal computer, and instead of this, for example, a notebook type personal computer may be used. Alternatively, when a manned tractor travels along with the unmanned tractor 1 to perform the above-mentioned cooperative work, a monitor device mounted on the manned tractor can be used as a remote control device.

The tractor 1 configured in this way can perform agricultural work by the working machine 3 while traveling along a path on the field based on a user's instruction using the remote control device 46.

Specifically, the user performs various settings using the remote control device 46 to connect a straight or polygonal farm work route (straight road, traveling route) for performing farm work and the ends of the farm work route. It is possible to generate a work path (path) as a series of paths in which arc-shaped turning circuits (turning circuits in which the tractor 1 turns) are alternately connected. Then, by inputting (transferring) the information of the work route generated in this way to the storage unit 55 electrically connected to the control unit 4 of the tractor 1 and performing a predetermined operation, the control unit 4 is controlled. It is possible to control the tractor 1 so that the work machine 3 can perform autonomous work while the tractor 1 is traveling autonomously along the work route.

Hereinafter, the configuration of the remote control device 46 included in the autonomous traveling/autonomous work system 99 according to the embodiment of the present invention will be described in more detail mainly with reference to FIGS. 3 to 5. FIG. 5 is a diagram showing a display example of the monitoring screen 100 on the display 37 of the remote control device 46.

As shown in FIGS. 3 and 4, in the remote control device 46 of the present embodiment, in addition to the display 37, the hardware keys 38, and the touch panel 39, the display control unit 31, the storage unit 32 are the main components of the control system. A field acquisition unit 33, a work area acquisition unit 34, a work route acquisition unit 35, and the like.

Specifically, the remote control device 46 is configured as a computer as described above, and includes a CPU, ROM, RAM and the like. Further, the ROM stores an appropriate program for causing the tractor 1 to travel autonomously. By the cooperation of the software and the hardware, the remote control device 46 is configured so that the display control unit 31, the storage unit 32, the farm field acquisition unit 33, the work area acquisition unit 34, the work route acquisition unit 35, the work start point candidate presentation unit 36, Also, it can be operated as the message notification unit 60 and the like.

The display control unit 31 creates display data to be displayed on the display 37 and controls the display content appropriately. For example, the display control unit 31 causes the display 37 to display the monitoring screen 100 illustrated in FIG. 5 while the tractor 1 is traveling autonomously along the work route.

The storage unit 32 is a memory that stores information regarding the tractor 1 and information regarding a field input by the user operating the touch panel 39 of the remote control device 46, and also stores information regarding the created work route.

The farm field acquisition unit 33 acquires the position and shape of the farm field (travel region) on which the tractor 1 is to travel autonomously. The position and shape of the farm field are acquired by, for example, the user riding on the tractor 1 and driving so as to make one round trip along the outer circumference of the farm field, and recording the transition of the position information of the positioning antenna 6 at that time. can do. The position and shape of the farm field acquired by the farm field acquisition unit 33 are stored in the storage unit 32 as farm field information (running area information).

The work area acquisition unit 34 acquires the position and shape of the work area defined in the field. The work area is an area excluding non-work areas (for example, headland and non-cultivated land) from the field, and means an area where work is actually performed by the work machine 3. The above-mentioned work route is composed of a linear agricultural work route arranged in the work area and a rotary circuit arranged in the non-work area. The position and shape of the work area are specified, for example, when the user specifies a plurality of points in the field while the position and shape of the field acquired by the field acquisition unit 33 are graphically displayed on the display 37. It can be acquired as a polygon specified by a so-called closed graph so that the line segments connecting the points do not intersect. The position and shape of the work area acquired by the work area acquisition unit 34 are stored in the storage unit 32.

The work route acquisition unit 35 acquires a work route for autonomous traveling of the tractor 1 in the field. As described above, this work path includes a straight or polygonal agricultural work path (straight path) and an arc-shaped turning circuit. When the user inputs the information necessary for creating the work route using the touch panel 39 or the like, the work route acquisition unit 35 automatically creates the work route based on the information. The work route is generated such that the linear farm work route is included in the work area and the linear circuit is included in the non-work area. The work route created by the work route acquisition unit 35 is stored in the storage unit 32.

The user appropriately operates the remote control device 46 to input (transfer) the work route information created by the work route acquisition unit 35 to the storage unit 55 of the tractor 1. After that, the user rides on the tractor 1 and drives the tractor 1 to arrange the tractor 1 at the start point of the work route. Then, the user gets off the tractor 1 and operates the remote control device 46 to instruct start of autonomous traveling and autonomous work. Accordingly, the control unit 4 controls the traveling of the tractor 1 and the agricultural work so that the tractor 1 travels along the work route.

With the start of autonomous traveling and autonomous work, the display screen of the display 37 is switched to the monitoring screen 100 shown in FIG.

A front camera display unit 101 that displays the data transmitted from the front camera 51 as moving image data is arranged on the left side of the monitoring screen 100. A rear camera display unit 102 that displays the data transmitted from the rear camera 52 as moving image data is arranged below the front camera display unit 101 on the left side of the monitoring screen 100.

On the right side of the monitoring screen 100, a traveling state display unit 103 that graphically (graphically) shows the work route, the current position, and the like of the tractor 1 is arranged. As the display content of the traveling state display unit 103, for example, as shown in FIG. 5, the shape of the field and the shape of the working area are displayed in an overlapping manner on the map data, and the traveling locus of the tractor 1 is indicated by arrows or the like. It may be shown by hatching or the like.

A vehicle speed display unit 106 that displays the current vehicle speed of the tractor 1 is provided above the front camera display unit 101. The vehicle speed display unit 106 displays the current vehicle speed of the tractor 1 acquired based on the data transmitted from the vehicle speed sensor 53.

Next, control regarding autonomous traveling of the tractor 1 will be described with reference to FIGS. 4 and 6. FIG. 6 is a diagram illustrating the deviation determination width JW and the margin width MW set in the work route.

The autonomous traveling/autonomous work system 99 is configured to constantly monitor whether or not the tractor 1 has deviated from the work route while the tractor 1 is traveling autonomously. Then, when the tractor 1 deviates from the work route due to some circumstances such as slippage or a malfunction of the steering actuator 43, the control unit 4 automatically stops the traveling of the tractor 1 (traveling vehicle 2). FIG. 6 shows a state in which the tractor 1 has stopped because it has deviated from the agricultural work route P1, which is a part of the work route.

Further, in the autonomous traveling/autonomous work system 99, when the tractor 1 is automatically stopped by deviating from the work route as described above, when the autonomous traveling and the autonomous work are restarted, the work starting point (in other words, For example, the traveling restart position) can be presented to the user. Further, when the slip of the tractor 1 is detected when the tractor 1 deviates from the work route, the user can be informed of the slip and the response can be prompted.

As shown in FIG. 4, the autonomous traveling/autonomous work system 99 of the present embodiment has a characteristic configuration for realizing the above-described function, and includes a deviation determination unit 54, a work start point candidate presentation unit 36, and a disconnection. It mainly includes an angle sensor (cutting angle detection unit) 56, a slip determination unit 57, and a message notification unit 60. The deviation determination unit 54, the turning angle sensor 56, and the slip determination unit 57 are provided on the tractor 1 side, while the work start point candidate presentation unit 36 and the message notification unit 60 are provided on the remote operation device 46 side.

The deviation determination unit 54 determines whether or not the position of the tractor 1 (traveling vehicle 2, strictly speaking, the positioning antenna 6) deviates from the work route based on the position information obtained from the position information calculation unit 49. To do. In the present embodiment, the deviation determining unit 54 determines whether the tractor 1 is located outside the predetermined deviation determining width (autonomous traveling continuation range) JW that is predetermined for the linear work route. Is determined to have deviated from the work route. An example of the deviation determination width JW set on the agricultural work path P1 which is a part of the work path is shown in FIG. It can have a width of centimeters. Since the traveling inertia acts on the tractor 1, the point T2 at which the tractor 1 deviates from the deviation determination width JW does not coincide with the point T3 at which the tractor 1 subsequently stops. When the tractor 1 deviates from the deviation determination width JW and the tractor 1 is stopped, the control unit 4 causes the storage unit 55 to store the position coordinate of the point T3 as a departure stop point.

The deviation determination unit 54 monitors whether or not the position of the tractor 1 deviates from the deviation determination width JW described above, and at the same time, sets a predetermined margin width (restart reference range) so as to be narrower than that. It also monitors whether it is out of MW. An example of the margin width MW is shown in FIG. 6, and the margin width MW can be, for example, a width of MA centimeter on the left and a width of MA centimeter on the right centering on the work route (agricultural work route P1) (however, , MA <JA). Even if the position of the tractor 1 goes out of the margin width MW, the deviation determination unit 54 does not determine that the tractor 1 has deviated from the work route unless it goes out of the deviation determination width JW. However, the position of the tractor 1 at the time when the tractor 1 moves out of the margin width MW is stored in the storage unit 55 as a point at which the traveling locus of the tractor 1 is displaced to some extent. In the following description, a point where the position of the tractor 1 protrudes outside the margin width MW (point T1 in FIG. 6, restart reference position) may be referred to as a margin excess point.

The work start point candidate presenting unit 36 presents work start point candidates for restarting agricultural work when the departure determining unit 54 determines that the tractor 1 has deviated from the work route. Candidates for work start points include points calculated on the basis of the above margin excess points, and other points on the work route.

The turning angle sensor 56 is a sensor that detects the turning angle of the front wheels 7, 7. In the present embodiment, the cutting angle sensor 56 is provided on a king pin (not shown) provided on the front wheels 7, 7, and the cutting angle sensor 56 is electrically connected to the control unit 4. However, instead of this, the steering angle sensor 56 may be provided in the steering wheel 12. The detection result of the cutting angle sensor 56 is input to the slip determination unit 57.

The slip determination unit 57 determines whether or not a slip has occurred in the traveling machine body 2 of the tractor 1. Specifically, the slip determination unit 57 reads the detection result of the cutting angle sensor 56 and the transition of the position of the tractor 1 from the storage unit 55, and the direction based on the cutting angle of the front wheels 7 and 7 and the tractor 1. It is possible to determine whether or not the slip has occurred by comparing the direction in which has moved with.

When the deviation determination unit 54 determines that the tractor 1 has deviated from the work route and when the slip determination unit 57 determines that the tractor 1 has slipped, the message notification unit 60 displays a message to that effect. The user is notified by displaying on 37.

Next, regarding the processing performed by the work start point candidate presentation unit 36, the display control unit 31, the slip determination unit 57, the message notification unit 60, and the like, when the work route deviates from the work route for some reason while the tractor 1 is autonomously traveling. Will be described with reference to FIGS. 7 to 11. FIG. 7: is a flowchart which shows the first half part of the process performed in order to show the candidate of the work starting point which restarts agricultural work, when the tractor 1 deviates from a work route. FIG. 8 is a flowchart showing the latter half of the above process. FIG. 9 is a diagram illustrating a process performed for presenting a plurality of work start point candidates for restarting agricultural work when the tractor 1 deviates from a linear or polygonal agricultural work route. FIG. 10 is a diagram illustrating a process performed for presenting a plurality of work start point candidates for restarting agricultural work when the tractor 1 deviates from the turning circuit. FIG. 11 is a diagram showing an example of contents displayed on the traveling state display unit 103 of the monitoring screen 100 when a slip is detected during departure.

When the tractor 1 is autonomously traveling, the deviation determination unit 54 repeatedly acquires the position of the positioning antenna 6 obtained by the position information calculation unit 49 at predetermined time intervals, and the position of the positioning antenna 6 is determined as described above. It is monitored whether or not the deviation judgment width JW is out of the range. When the deviation determining unit 54 determines that the tractor 1 deviates from the work route P (that is, the position of the positioning antenna 6 deviates from the deviation determining width JW), the control unit 4 of the tractor 1 immediately determines. 1 is controlled to be stopped.

When the tractor 1 deviates from the deviation determination width JW, it must also deviate from the margin width MW at the previous stage. When the deviation determining unit 54 determines that the position of the tractor 1 (strictly speaking, the positioning antenna 6) deviates from the margin width MW, the control unit 4 of the tractor 1 determines the position of the positioning antenna 6 at that time. Is acquired and stored in the storage unit 55 as the above-mentioned margin excess point.

When the departure determining unit 54 detects the departure of the tractor 1 from the work route P, the slip determining unit 57 determines whether a slip has occurred when the tractor 1 departs from the work route P. Specifically, the slip determination unit 57 reads the direction in which the tractor 1 has moved when the tractor 1 has deviated (the direction in which the tractor 1 has deviated) from the storage unit 55, and also determines the cutting angle direction when the tractor 1 departs. The detection result of the angle sensor 56 is obtained by reading it from the storage unit 55. Then, the slip determination unit 57 determines that a slip has occurred when there is a difference of a predetermined amount or more between the direction in which the tractor 1 deviates and the direction based on the turning angle.

After the tractor 1 is stopped, the control unit 4 immediately transmits the forced stop information, which is the information indicating that the tractor 1 is forcibly stopped, to the remote operation device 46 side using the wireless communication unit 40. At this time, the information transmitted from the control unit 4 includes the identification information given by the control unit 4 for uniquely identifying the forced stop information, the position coordinates of the departure stop point, and the margin excess point. And the determination result of the slip determination unit 57. In addition, below, the above-mentioned identification information may be called "forced stop ID."

Further, the control unit 4 sets, in the storage unit 55, a flag indicating that the tractor 1 is forcibly stopped (hereinafter, may be referred to as “forced stop flag”). The format of the flag is arbitrary, but in the present embodiment, the "forced stop flag" is set to "0" as an initial value, and is set to "1" when the tractor 1 is forcibly stopped. And When the control unit 4 sets “1” as the forced stop flag in the storage unit 55, the control unit 4 further stores the identification information (forced stop ID) of the forced stop information transmitted this time to the remote operation device 46 in the storage unit 55. Thereby, the forced stop flag and the forced stop ID can be associated with each other.

When the remote control device 46 receives the above-mentioned forced stop information from the tractor 1, the forced stop ID is stored in the storage unit 32 and the process of FIG. 7 is started. The work start point candidate presenting unit 36 first determines whether or not the route on which the tractor 1 was traveling immediately before deviating from the work route P was a straight or polygonal agricultural work route P1 (straight line). (Step S101). That is, when the tractor 1 deviates from the work route P, it may deviate from the agricultural work route P1 as shown in FIG. 9 or may deviate from the turning circuit P2 as shown in FIG. The unit 36 determines which of the above cases was the case.

As a result, when it is determined that the route in which the tractor 1 was traveling immediately before deviating from the work route P is not the agricultural work route P1 but the turning circuit P2 (No in step S101 in FIG. 7), the work start point candidate is presented. The unit 36 identifies the turning circuit P2 in which the tractor 1 was traveling immediately before departing from the work path P from the plurality of turning circuits P2, P2,..., From the end on the downstream side of the turning circuit P2. The point at the upstream end of the starting straight or polygonal farm work path P1 (straight road) is stored as one of the work start point candidates for restarting the farm work (step S111). In the example of FIG. 10, the turning circuit in which the tractor 1 was traveling immediately before deviating from the working path P is a turning circuit indicated by reference sign P2r, and a linear or polygonal agricultural work path starting from the downstream end of the turning circuit. Is indicated by the symbol P1q, and therefore the upstream end of the farm work route is the point S4. The stored information on the point S4, which is a candidate for the work start point, is used to create display data described later.

On the other hand, if it is determined in step S101 that the route the tractor 1 was traveling immediately before deviating from the work route P is the agricultural work route P1 (straight road) (step S101, Yes), a work start point candidate The presentation unit 36 sets the position information of the above-mentioned margin excess point (point T1 in the example of FIG. 9) as the information necessary for calculating one of the candidates for the work start point based on the content of the forced stop information. (Step S102).

Next, the work start point candidate presentation unit 36 identifies the agricultural work route P1 on which the tractor 1 was traveling immediately before departing from the work route P from the plurality of agricultural work routes P1, and with respect to the agricultural work route P1. A virtual perpendicular line is drawn from the margin excess point (point T1) acquired in step S102 (step S103). Note that FIG. 6 is an enlarged view of the vicinity of the margin excess point (point T1) in FIG. 9, and the perpendicular line is described in FIG. Then, the work start point candidate presenting unit 36 stores the position of the intersection of the perpendicular drawn in step S103 and the farm work route P1 as one of the work start point candidates for restarting the farm work (step S104). ). In the example of FIG. 6, the position of the intersection is the point S1. The stored information on the point S1 which is a candidate for the work start point is used for creating display data described later.

Next, the work start point candidate presenting unit 36 causes the upstream end point of the agricultural work route P1 (straight road) on which the tractor 1 was traveling immediately before deviating from the work route P (the point S2 in the example of FIG. 9). ) Position information. The position information of the point S2 can be acquired by referring to the work route stored in the storage unit 32. The work start point candidate presenting unit 36 stores this point S2 as a candidate for a work start point for restarting the agricultural work (step S105 in FIG. 7). The stored information on the point S2, which is a candidate for the work start point, is used to create display data described later.

In addition, the work start point candidate presenting unit 36 causes the agricultural work route P1 in which the tractor 1 traveled before the agricultural work route P1 in which the tractor 1 traveled immediately before departing from the work route P (however, the tractor 1 starts autonomous traveling). Then, the position information of the upstream end points (the points S5 and S6 in the example of FIG. 9) of the agricultural work path P1 is acquired for each of the first traveled agricultural work path P1. The work start point candidate presenting unit 36 stores the points S5 and S6 as work start point candidates for restarting the agricultural work (step S106). The stored information on the points S5 and S6, which are candidates for the work start point, is used for creating display data described later.

After the processing in step S111 described above or after the processing in step S106 described above, the work start point candidate presentation unit 36 further presents another point as a candidate for the work start point. Specifically, the work start point candidate presentation unit 36 acquires the position information of the start point (the most upstream side point, the point S3 in the example of FIG. 9) of the series of work routes P. The position information of the point S3 can be acquired by referring to the work route stored in the storage unit 32. The work start point candidate presentation unit 36 stores this point S3 as a work start point candidate for restarting the agricultural work (step S107). The stored information on the point S3, which is a candidate for the work start point, is used to create display data described later.

Subsequently, the work start point candidate presentation unit 36 outputs all the work start point candidates stored as described above to the display control unit 31 to create display data (step S108 in FIG. 8). When the candidate of the work starting point is input, the display control unit 31 creates the display data so that all the plurality of candidates of the work starting point are displayed at the same time. After that, the display control unit 31 displays the display data on the display 37. Thereby, for example, the display as shown in FIG. 11 is realized, and the candidate of the work start point (points S1, S2, S3, S5, S6) can be presented to the user. In addition, in the example of FIG. 11, a message indicating that the tractor 1 has been forcibly stopped is displayed in addition to the above candidates for the work start point.

Next, the message notification unit 60 determines whether or not a slip has occurred when the tractor 1 deviates from the work route P based on the determination result of the slip determination unit 57 included in the forced stop information (FIG. 8 step S109). When slip has occurred (step S109, Yes), the message notification unit 60 causes the display control unit 31 to create display data for displaying a message regarding slip (step S110). The display control unit 31 controls the display 37 to display the message based on the display data. Thereby, for example, as shown in FIG. 11, it is possible to realize the notification by the message that the slip is detected. If the slip has not occurred (No at Step S109), the process at Step S110 is skipped.

When the tractor 1 deviates from the work route P during autonomous traveling by the above-described processing, the content shown in FIG. 11 is displayed on the display 37 of the remote control device 46. By referring to the display 37, the user can know a plurality of candidates (points S1, S2, S3, S5, S6 in FIG. 11) of work start points for restarting agricultural work. Therefore, the user can select an appropriate work start point from a plurality of candidates according to the situation. For example, the user determines whether or not the type of agricultural work (for example, plowing, sowing, etc.) allows the overlapping work, or the tractor 1 that has deviated from the field area where the agricultural work has already been performed makes An appropriate work start point is selected from the presented candidates in consideration of whether or not it has been destroyed (that is, from which point the farm work is to be redone).

Next, when the user starts the engine 10 of the tractor 1 to restart autonomous traveling/autonomous work, the control unit 4 refers to the forced stop flag stored in the storage unit 55. When the forced stop flag is set to "1", the control unit 4 waits until the work restart path is received. The restart work route is a work route that defines a route in which the tractor 1 should perform autonomous traveling/autonomous work after the control unit 4 forcibly stops the tractor 1 and the forced stop flag is set to "1". , Autonomous traveling/autonomous work is not started (restarted) unless the work restart route is received. The user can change the forced stop flag to “0” by performing a predetermined operation after starting the engine 10 of the tractor 1. In that case, autonomous traveling along a new work route It is possible to work autonomously.

The user can operate the remote control device 46 to transmit the work restart route to the tractor 1. For example, the work restart is performed in a state where the work start point is selected and wireless communication with the tractor 1 is established. The route can be sent to tractor 1. The above-mentioned forced stop ID is added to the information on the work restart path transmitted from the remote control device 46 to the tractor 1. When the forced stop ID added to the received work restart route and the forced stop ID stored in association with the forced stop flag match, the control unit 4 autonomously operates from the work start point included in the work restart route. It is possible to resume running and autonomous work. Then, the user can restart the autonomous traveling/autonomous work by using the remote control device 46 after moving the tractor 1 to the selected work start point.

Further, when the slip of the tractor 1 is detected at the time of departure, a message notifying the detection of the slip is displayed on the display 37 as shown in FIG. 11, for example. As a result, the user can be urged to take measures such as changing the tires or reducing the traveling speed so that the slip does not occur again when the agricultural work is restarted. Therefore, it is possible to smoothly perform the agricultural work after the traveling is restarted.

In the above description, the control unit 4 transmits the forced stop information to the remote control device 46 via the wireless communication unit 40 after the tractor 1 is stopped, but the control unit 4 transmits the forced stop information at the timing. It may be after the engine 10 is started.

As described above, the autonomous traveling/autonomous work system 99 of the present embodiment includes the traveling machine body 2, the position information calculation unit 49, the storage unit (the storage unit 55 of the tractor 1 and the storage unit 32 of the remote control device 46). ) And the control unit 4. The position information calculation unit 49 can detect the position information of the traveling machine body 2. The storage unit 32 of the remote control device 46 can store field information indicating a field on which the traveling machine body 2 travels (information indicating the position and shape of the field). The control unit 4 can control the traveling of the traveling machine body 2 in the field. The farm field includes a work area (first area) including a linear agricultural work path P1 traveled by the traveling machine body 2 and a turning circuit P2 set around the work area and traveled (turned) by the traveling machine body 2. And a non-working area (second area). The control unit 4 can stop the traveling of the traveling machine body 2 when the current position of the traveling machine body 2 deviates from the deviation determination width (autonomous traveling continuation range) JW set for the agricultural work path P1 and the turning circuit P2. Is. When the traveling machine body 2 is stopped due to deviation from the agricultural work route P1 as shown in FIG. 9, the control unit 4 is based on the current position of the traveling machine body 2 and the first element (the margin width MW in this embodiment). The traveling of the traveling machine body 2 can be resumed from the set first traveling restart position (point S1). When the traveling machine body 2 is stopped due to the deviation from the turning circuit P2 as shown in FIG. 10, the control unit 4 detects the current position of the traveling machine body 2 and the second element different from the first element (in the present embodiment, turning). It is possible to restart the traveling of the traveling machine body 2 from the second traveling restart position (point S4) set based on the road P2).

As a result, traveling of the traveling machine body 2 can be restarted from an appropriate traveling restart position depending on whether the traveling machine body 2 deviates from the agricultural work path P1 or the turning circuit P2.

Further, in the autonomous traveling/autonomous work system 99 of the present embodiment, the first element is the agricultural work path P1 and the margin width MW (restart reference range) set to be narrower than the deviation determination width JW for the agricultural work path P1. including. When the traveling machine body 2 deviates from the margin width MW before being stopped, the storage unit 55 of the tractor 1 can store the position of the margin excess point (point T1, restart reference position) which is the position at the time of departure. is there. When the traveling machine body 2 is stopped due to deviation from the farm work route P1, the control unit 4 intersects the farm work route P1 with the perpendicular line drawn from the position of the margin excess point (point T1) to the farm work route P1. The position of (point S1) can be set as the first traveling restart position at which the traveling of the traveling machine body 2 is resumed.

As a result, traveling can be restarted from a position where there is little duplication of agricultural work.

Further, in the autonomous traveling/autonomous work system 99 of the present embodiment, a plurality of farm work paths P1 are arranged side by side. Therefore, the farm work route P1 is arranged in parallel with the upstream farm work route (running route) and the downstream farm work route (running route) that is run by the traveling machine body 2 after the upstream farm working route. And, including. In the example of FIG. 9, the three farm work paths P1 on the left side are regarded as the upstream farm work path P1a, and the fourth farm work path P1 (the farm work path P1 that the tractor 1 deviates in the middle) counted from the left side is the downstream side. It can be regarded as the agricultural work route P1b. When the traveling unit 2 is stopped due to deviation from the downstream farm work route P1b, the control unit 4 positions the intersection (point S1) and the traveling start position of the traveling unit 2 on the downstream farm work route P1b (point S2). ), or the traveling start position (points S3, S5, S6) of the traveling machine body 2 on the upstream farm work route P1a can be set as the first traveling restart position for restarting the traveling of the traveling machine body 2.

Accordingly, it is possible to select an appropriate traveling restart position in consideration of whether the deviated traveling machine body 2 has entered the agricultural-processed path (upstream agricultural work path P1a) and has been damaged. Therefore, the farm work can be redone as appropriate.

Further, in the autonomous traveling/autonomous work system 99 of the present embodiment, the second element includes a plurality of farm work paths P1 and a plurality of turning circuits P2. A plurality of farm work paths P1 are arranged side by side, and two farm work paths P1 are connected to one turning circuit P2. Therefore, the plurality of farm work paths P1 arranged are the upstream connected farm work path (first travel path) located on the upstream side and the downstream connected farm work path (first 2 running paths). The downstream connecting farm work route is arranged in parallel with the upstream connecting farm work route, and is traveled by the traveling machine body 2 after the upstream connecting farm work route. In the example of FIG. 10, the third agricultural work path P1 counted from the left can be regarded as the upstream connected agricultural work path P1p, and the fourth agricultural work path P1 counted from the left can be regarded as the downstream connected agricultural work path P1q. Further, the plurality of arranged winding circuits P2 include a connecting winding circuit that connects the upstream connected farm work path P1p and the downstream connected farm work path P1q. In the example of FIG. 10, the turning circuit P2 on the upper right side can be regarded as the connection turning circuit P2r. The control unit 4 restarts the traveling of the traveling machine body 2 at the traveling start position (point S4) of the traveling machine body 2 on the downstream connected agricultural work route P1q when the traveling machine body 2 is stopped due to the departure from the connecting circuit P2r. 2 It can be set as the traveling restart position.

As a result, duplication of work can be reduced, and traveling can be restarted from a position that is a boundary between the farm work path P1 and the turning circuit P2 (a position that is a work/non-work boundary).

In addition, the autonomous traveling/autonomous work system 99 of the present embodiment includes a corner angle sensor 56 that detects a corner angle of the front wheels 7 and 7 included in the traveling machine body 2. In the autonomous traveling/autonomous work system 99, when the control unit 4 stops the traveling machine body 2 due to deviation from the agricultural work path P1 or the turning circuit P2, the direction based on the cutting angle detected by the cutting angle sensor 56 and When there is a deviation of a predetermined amount or more from the deviating direction, the slip of the traveling machine body 2 is notified.

As a result, it is possible to prompt the user to take measures to prevent the recurrence of the slip, so that it is possible to smoothly perform the agricultural work after the traveling is restarted.

Further, in the autonomous traveling/autonomous work system 99 of the present embodiment, a straight or polygonal agricultural work path P1 for performing agricultural work and an arc-shaped turning circuit P2 connecting the ends of the agricultural work path P1 are alternately arranged. The tractor 1 is made to travel autonomously while being remotely controlled by the remote control device 46 along the work route P that is connected and generated as a series of routes. The autonomous traveling/autonomous work system 99 includes a deviation determination unit 54 and a work start point candidate presentation unit 36. The deviation determination unit 54 determines whether or not the tractor 1 has deviated from the work route P. When the deviation determining unit 54 determines that the tractor 1 has deviated from the work route P, the work starting point candidate presenting unit 36 presents a plurality of work starting point candidates for restarting agricultural work.

With this, the user can select a work start point from a plurality of candidates, so that it is possible to flexibly deal with the situation.

Further, in the autonomous traveling/autonomous work system 99 of the present embodiment, when the tractor 1 deviates from the work route P in the middle of the farm work route P1, the work start point candidate presentation unit 36 causes the deviated point on the farm work route P1. And the point (point S1) close to the deviated position (point T2) is presented as one of the candidates for the work start point.

This allows the user to select a work start point (point S1) that can reduce duplication of farm work, and thus can start farm work without impairing efficiency.

Further, in the autonomous traveling/autonomous work system 99 of the present embodiment, when the tractor 1 deviates from the work route P in the middle of the turning circuit P2, the work start point candidate presenting section 36 causes the detouring side of the deviating turning circuit P2. The point S4 at the upstream end of the agricultural work path P1 that starts from the end of is displayed as one of the candidates for the work start point.

Accordingly, the user can select a work start point (point S4) that does not overlap farm work and is a delimiter of farm work as a point at which farm work is restarted. Therefore, the farm work can be restarted without impairing the efficiency.

Although the preferred embodiment of the present invention has been described above, the above configuration can be modified as follows, for example.

In addition to or instead of drawing a vertical line on the agricultural work path P1 from a point where the tractor 1 deviates from the margin width MW (point T1 in FIG. 6, a margin excess point), for example, as shown in FIG. A point S7 obtained by drawing a vertical line on the agricultural work route P1 from a point T2 (deviation point) where 1 deviates from the deviation determination width JW can be a candidate for the work start point. Further, a point S8 obtained by drawing a perpendicular line from the point T3 at which the tractor 1 has stopped to the agricultural work path P1 can also be a candidate for the work start point.

In the above embodiment, the deviation determining unit 54 and the slip determining unit 57 are provided in the tractor 1, and the work start point candidate presenting unit 36 and the message notifying unit 60 are provided in the remote control device 46, respectively. It is not limited to which of the tractor 1 and the remote control device 46 the 54, the slip determination unit 57, the work start point candidate presentation unit 36, and the message notification unit 60 are provided. Further, other components may be provided in either the tractor 1 or the remote control device 46.

Hereinafter, particularly, the case where the tractor 1 is provided with the deviation determination unit 54, the slip determination unit 57, and the work start point candidate presentation unit 36 will be supplemented. When these configurations are provided in the tractor 1 and the deviation determination unit 54 determines that the tractor 1 has deviated from the work route, the control unit 4 controls the transmission 42 so that the vehicle speed becomes zero, and the forced compulsion is performed. Set the stop flag to "1". In addition, the control unit 4 also stores the position coordinates of the departure stop point and the position coordinates of the margin excess point and the forced stop flag in the storage unit 55 in association with each other.

Next, when the user starts the engine 10 of the tractor 1 to restart autonomous traveling/autonomous work, the control unit 4 refers to the forced stop flag stored in the storage unit 55. When the forced stop flag is set to “1”, the control unit 4 controls the work start point candidate presenting unit 36 to specify a plurality of work start point candidates. Further, the control unit 4 controls the slip determination unit 57 to determine whether or not a slip has occurred when the tractor 1 deviates from the work route P. Then, the control unit 4 transmits information including the identification result by the work start point candidate presentation unit 36 and the determination result by the slip determination unit 57 to the remote operation device 46 via the wireless communication unit 40. Upon receiving the information, the remote control device 46 creates display data based on the information and displays the image shown in FIG. 11, for example, on the display 37.

The user can select a work restart point in the image displayed on the display 37 and send it to the tractor 1. After that, the user can restart the autonomous agricultural work using the remote control device 46 after moving the tractor 1 to the work restart position selected by the user.

An operation device having a function corresponding to the remote operation device 46 (that is, acquisition of a field, acquisition of a work area, generation of a work route, instruction to start autonomous traveling, presentation of a work start point at the time of forced stop due to deviation from a route, slippage, etc.). An operating device capable of performing notification and the like may be irremovably provided on the traveling machine body 2 of the tractor 1. In this case, the remote control device 46 can be omitted.

2 Traveling aircraft (car body)
4 Control unit 49 Position information calculation unit (position detection unit)
55 Storage Unit 99 Autonomous Travel/Autonomous Work System (Autonomous Travel System)
P work route P1 agricultural work route (runway)
P2 rotation circuit

Claims (3)

A position detection unit capable of detecting the position information of the traveling machine body on which the work machine is mounted,
A control unit capable of controlling autonomous traveling of the traveling body,
Equipped with
The control unit is
A first traveling path that is operated by the working machine, a second traveling path that is worked by the working machine after the first traveling path, and a turning circuit that connects the first traveling path and the second traveling path. It is possible to autonomously drive the traveling aircraft in a route including,
It is possible to stop the traveling of the traveling body when the traveling body deviates from the route by a predetermined range,
When the traveling machine body is stopped due to deviation from the route, it is possible to restart the autonomous traveling of the traveling machine body from the traveling start position of the traveling machine body on the route,
Autonomous travel system, characterized in that it presents to the user the traveling start position in the plurality of the first traveling path, which is stored on the basis of the traveling locus of the traveling machine body as a candidate point to resume autonomous driving of the traveling machine body .. The autonomous traveling system according to claim 1,
When the control unit stops the traveling machine body due to a deviation from the deviation determination width with respect to the first traveling path or the second traveling path, the control unit starts the first traveling path or the first traveling path from a point where the deviation determination width is exceeded. Presenting the intersection of the perpendicular drawn to the two traveling paths and the first traveling path or the second traveling path deviated from the traveling machine body to the user as a candidate for a point where the autonomous traveling of the traveling machine body is restarted. Characteristic autonomous driving system. The autonomous traveling system according to claim 1 or 2 , wherein
A point at which the control unit restarts the autonomous traveling of the traveling machine body at the traveling start position on the second traveling path starting from the downstream end of the traveling circuit when the traveling machine body is stopped due to deviation from the traveling circuit. An autonomous traveling system characterized by presenting it to the user as a candidate for .

Images