JP6812247B2 - Travel route generator and travel route generation program - Google Patents

Description

The present invention relates to a travel route generator that generates a travel route for a field work vehicle that automatically travels in a field.

It has been proposed that tilling work by tractors and harvesting work by combine harvesters be performed by automatic driving. The shapes of the fields are different from each other, and it is necessary to generate a traveling route associated with the outer shape of the field in order to perform automatic traveling.

Patent Document 1 discloses a tractor that performs tillage work in a field by automatic traveling. This tillage work consists of a circuit work run that goes around the field area and a 180 ° turn (U-turn) in the field area (also called a headland) in the central area of the field (inside the field area). It is divided into a round-trip straight-ahead work run that repeats the straight-ahead work. At that time, the number of turn-back strokes from the start point to the end point of the round-trip straight-ahead work run and the number of laps from the start point to the end point of the lap work run are determined based on the work conditions including the specifications of the work vehicle. ..

The field work vehicle according to Patent Document 2 includes a route calculation unit that calculates a travel route for automatic travel based on the topographical data of the field read from the field information storage unit as a basic condition. This route calculation unit obtains the outer shape of the field from the topographical data, and calculates the travel route starting from the set travel start point and ending at the travel end point. Here, too, the traveling route is composed of an orbiting traveling route that orbits the outer peripheral region of the field and a central traveling route that travels in the central region located inside the outer peripheral region. As the central traveling route, a round-trip straight traveling route including a straight traveling route and a U-turn route connecting the straight traveling routes has been proposed.

Japanese Unexamined Patent Publication No. 10-66405 Japanese Unexamined Patent Publication No. 2015-112071

In the generation of the traveling route by the above-mentioned conventional technique, the outer shape of the field is regarded as a quadrangle, and each side of the field shape indicated by the quadrangle is a straight line. Therefore, circulating travel path and the central travel path, the substantially-form, can be configured in turn path connecting the one side parallel to the linear path group rectangle indicating the field profile, the end points of the straight line path group .. However, even if the actual field can be roughly represented by a simple polygon such as a quadrangle or a pentagon, in reality, it is impossible to work with the outer shape of the field inside each side. There is an area (used for, for example, material storage). The presence of such a non-workable area creates a locally indented recess in the field outline. Therefore, the orbital traveling path is formed so as to extend with a concave bent portion that imitates the concave portion. If the amount of penetration into the concave bent portion of the circular traveling path is large, a part of the straight path of the central traveling path arranged inside the circular traveling path is divided by the concave bent portion. Since such a divided straight route cannot travel, an error occurs in the generation of the straight route.

In view of such circumstances, the subject of the present invention is to provide a travel route generation device and a travel route generation program capable of appropriately generating a travel route even when the outline of the field has a recess that is locally inserted inside. That is.

The travel route generation device for generating a travel route for a field work vehicle that automatically travels in a field according to the present invention is a field data input unit for inputting external shape data of the field and one or more laps around the outer peripheral region of the field. The orbital travel route calculation unit that calculates the orbital travel route for traveling and the reference straight line group that extends parallel to the reference side of the field and covers the central region located inside the outer peripheral region at predetermined intervals are calculated. From the reference straight line portion group consisting of the reference straight line calculation unit and the straight line portion corresponding to the central region in the reference straight line group, the reference straight line portion intersecting with the orbital traveling path on the outermost circumference is excluded to obtain the effective reference straight line portion group. The effective reference straight line portion calculation unit to be determined and each effective reference straight line portion of the effective reference straight line portion group are calculated as one straight line path, and the straight line path is composed of a straight line path and a U-turn path connecting the straight line paths. A central traveling route calculation unit for calculating a central traveling route for traveling in the central region is provided.

According to this configuration, since there is a recess that is locally inserted in the outer line of the field, a recess is included in the reference straight line subgroup that is a part in the central region of the reference straight line group that covers the central region. There may be a reference straight line portion divided by. Since the straight route of the central traveling route calculated based on the reference straight line portion divided by the concave portion passes through the concave portion, the calculation process of the central traveling route stops due to an error. This is because the traveling of the field work vehicle along such a straight path leads to a collision with the recess. However, in this configuration, the reference straight line portion that intersects the outermost peripheral traveling path is excluded, and the reference straight line portion does not become an effective reference straight line portion. As a result, it is avoided that the straight line is calculated based on the reference straight line divided by the concave portion.

In one of the preferred embodiments of the present invention, the reference straight line portion calculation unit has a function of calculating the reference straight line portion group by cutting (trimming) the reference straight line group along the outer shape of the central region. Have. The reference straight line can be easily expressed as a straight line in the program. However, since the reference straight line represented by such a linear expression does not have an end portion, it is necessary to handle only the straight line portion corresponding to the central region in this reference straight line in order to use it for calculating the straight line path in the central region. There is. Such a straight line portion is referred to as a reference straight line portion in the present invention. In order to calculate this reference straight line portion, the reference straight line is cut (trimmed) using a conditional expression showing the outer shape of the central region. Since the arithmetic program for such cutting processing is stored in a library, this function can be easily constructed and is convenient.

Good work efficiency can be obtained when the work run along the straight path occupies most of the work run in the field. For this purpose, it is necessary to calculate a traveling route that makes the straight route longer. For this reason, the reference straight line calculation unit is configured so that the longest side of the polygon representing the outer shape of the central region is the reference side.

Even if the longest side of the polygon representing the outer shape of the central region is used as the reference side for calculating the reference straight line, if the above-mentioned recess is deep inside the field, a blank area where the effective reference straight line portion does not exist, that is, running The blank area where the route is not formed becomes large. In order to avoid this, in one of the preferred embodiments of the present invention, if the blank area of the central region not covered by the effective reference straight line subgroup is equal to or more than a predetermined ratio of the total area of the central region, the above. The reference straight line calculation unit is configured so that the side that is not parallel to the longest side of the polygon but is next to the longest side is the reference side. This predetermined ratio can be set by the user. With this configuration, even if the length of the straight path is shortened, the next best measure is to eliminate or reduce the blank area.

Further, in one of the preferred embodiments of the present invention, a transition travel route calculation unit for calculating a transition travel route connecting the end of the central travel route and the circuit travel route is provided. As a result, a traveling route for automatically traveling the entire field is generated, which is convenient.

It is a schematic diagram which shows typically the traveling path generated by the traveling path generating apparatus by this invention. It is a side view of the tractor which is an example of a field work vehicle. It is a functional block diagram which shows the control function part which functions as a travel path generator. It is explanatory drawing which shows schematicly the generation process of the traveling path by the traveling path generating apparatus by this invention. It is a top view which shows an example of the field which forms a recess. It is a top view which shows the orbital traveling path generated for the field of FIG. It is a top view which shows the effective reference straight line part group which covers the central region of FIG. It is a top view which shows the orbital running path and effective reference straight line subgroup generated for the field which forms a large recess.

One of the embodiments of the traveling route generator according to the present invention will be described with reference to the drawings. As schematically shown in FIG. 1, this travel route generation device generates a travel route for the field work vehicle to work and travel in the field by automatic steering. The traveling route includes an orbiting traveling route for traveling around the outer peripheral region of the field for one or more rounds, and a central traveling route for traveling in the central region located inside the outer peripheral region. The central travel route consists of a straight route and a U-turn route connecting the straight routes. The lap traveling route is generated along the boundary line defined by the ridges of the field, and usually has about 3 laps (2 laps in FIG. 1). The width of the outer peripheral region is calculated by multiplying the number of laps and the working width. The width of the outer peripheral region must satisfy the condition that the field work vehicle can make a smooth U-turn.

This travel route generation device has a function of generating an appropriate travel route even in a field in which a recess as shown in FIG. 1 is formed. In the generation of the traveling route, the orbiting traveling route is calculated, and the field is divided into the outer peripheral region and the central region. Further, as the central travel route, a straight route that covers the central region with a working width (overlap is taken into consideration) is calculated. When forming a straight path in the central region, the direction in which the long straight path is formed is adopted (in FIG. 1, the direction along the long side of the substantially rectangular field).

When calculating the straight route, it is determined whether or not the straight route that passes through the outer peripheral region in the vicinity of the concave portion intersects the outermost peripheral traveling route. Ijika proceeds routes such intersects the circulating travel path of the outermost periphery, but becomes effective (travel path A that is illustrated in FIG. 1), straight path that intersects the outermost circumferential travel route becomes invalid (Fig. Traveling path B) exemplified in 1. If the recess is deep inside the field, many invalid linear paths are generated, and the blank area where the linear path is not formed becomes large. In such a case, the extending direction of the straight path is changed (travel path C exemplified in FIG. 1).

In this embodiment, the field work vehicle is a tractor equipped with a work device 30 on the vehicle body 1, and works on the field along a set travel path. As shown in FIG. 2, this tractor is provided with a driver's cab 20 at the center of a vehicle body 1 supported by front wheels 11 and rear wheels 12. The rear part of the vehicle body 1 is equipped with a work device 30 which is a rotary tillage device via a hydraulic elevating mechanism 31. The front wheel 11 functions as a steering wheel, and the traveling direction of the tractor is changed by changing the steering angle thereof. The steering angle of the front wheels 11 is changed by the operation of the steering mechanism 13. The steering mechanism 13 includes a steering motor 14 for automatic steering. During manual driving, the front wheels 11 are steered by operating the steering wheel 22 arranged in the driver's cab 20. The driver's cab 20 is equipped with a general-purpose terminal 4 that receives commands from the user and provides information to the user. A satellite positioning module 80 is provided in the cabin 21 of the tractor. As a component of the satellite positioning module 80, a satellite antenna for receiving GNSS (global navigation satellite system) signals (including GPS signals) is attached to the ceiling area of the cabin 21. It is also possible to combine the satellite positioning module 80 with an inertial navigation module incorporating a gyro acceleration sensor and a magnetic compass sensor in order to complement satellite navigation. Of course, the inertial navigation module may be provided at a place different from the satellite positioning module 80.

FIG. 3 shows a control system built on this tractor. The control system of this embodiment includes a first control unit which is a general-purpose terminal 4 having a graphical user interface, a control unit 5 which controls a vehicle body 1 of a tractor and a work device 30, and a start and stop of running of the tractor. It is equipped with a remote controller 84 for wirelessly controlling the device from the outside. The traveling route generation device according to the present invention is modularized as a route generation module 6 and incorporated in a general-purpose terminal 4.

In addition to the route generation module 6, the general-purpose terminal 4 has various functions of a general computer system such as a communication control unit 40 and a touch panel 60. The general-purpose terminal 4 is connected to the control unit 5 in a data exchangeable manner by an in-vehicle LAN, wireless communication, wired communication, or the like. Further, the general-purpose terminal 4 can exchange data with the management computer 100 constructed in the remote management center KS via a wireless line or the Internet. Further, if the general-purpose terminal 4 is composed of a tablet computer, a mobile phone, or the like and is connected to the control system of the tractor so as to exchange data, the general-purpose terminal 4 can be taken out of the tractor and used.

In this embodiment, field information including the position on the map of the field and the arrangement of farm roads surrounding the field is stored in the field information storage unit 101 of the management computer 100, and this field information is the field to be worked on. You will need it to find out. The management computer 100 also includes a work plan management unit 102 that manages a work plan that describes the work contents in the designated field. The general-purpose terminal 4 can access the management computer 100 and download the field information from the field information storage unit 101 and the work plan from the work plan management unit 102. Alternatively, the general-purpose terminal 4 can input field information and a work plan through a recording medium such as a USB memory.

The route generation module 6 has a field data input unit 61, an orbital travel route calculation unit 621, a reference straight line calculation unit 622, an effective reference straight line portion calculation unit 623, a central travel route calculation unit 624, and a transition as functional units for generating a travel route. A traveling route calculation unit 625 is provided. The basic role of each functional unit of the route generation module 6 will be described with reference to the flow chart of the travel route generation process shown in FIG.

The field data input unit 61 inputs field outline data indicating the outer shape of the field to be worked on and entrance / exit position data indicating the position and shape of the entrance / exit of the field, and develops the data in the working memory area.

The orbital travel route calculation unit 621 determines an orbital travel route for orbiting the outer peripheral region of the field. This outer peripheral region is a region in which the tractor travels in a U-turn, and the width of the outer peripheral region required for the tractor to travel in a U-turn is calculated based on the working width of the tractor and the appropriate turning radius. The number of tractor laps to satisfy the width of this outer peripheral region is calculated. That is, the number of laps is calculated so that the value of an integral multiple (number of laps) of the working width of the tractor (to be exact, the working width considering the overlap width) exceeds the width of the outer peripheral region required for U-turn running. To. The actual width of the outer peripheral region is determined based on the calculated number of laps. In general tillage work, a region corresponding to a lap traveling path of 2 to 4 laps is set as an outer peripheral region. The area inside the outer peripheral area is the central area in which the work travel is substantially straight. As shown in FIG. 1, the region inside the outer peripheral region is the central region. The shape of the field illustrated in FIG. 4 is substantially trapezoidal (quadrangular), and a recess is formed on the upper side thereof. Therefore, the orbital traveling path extends so as to avoid the recess, and as a result, the upper side of the central region also has a recess at a position corresponding to the recess.

The reference straight line calculation unit 622 extends parallel to the reference side of the field and calculates a reference straight line covering the central region at predetermined intervals. This reference straight line serves as the basis for the travel path in the central region. Determining such a reference straight line is a preprocessing for generating an inner traveling path. At that time, as the reference side of the field, the longest side of the approximate polygon created by the outer shape of the field is generally adopted. In the example of FIG. 4, the longest side of the trapezoid is selected as the reference side, and a reference line group consisting of a large number of reference straight lines parallel to the reference side and covering the central region with the working width is calculated.

The effective reference straight line partial calculation unit 623 has a first function and a second function. The first function is to calculate a straight line portion extending so as to overlap the central region from the reference straight line group as a reference straight line portion. A specific example of realizing the first function is to introduce a cutting program that cuts (trims) the reference straight line group along the outer shape of the central region. If an unworked area remains in a part of the central area (lower area in FIG. 4) only with the straight line portion overlapping and extending to the central area, the corresponding straight line part of the reference straight line close to the central area is also the reference straight line. Exception handling is performed as a part. The function of the second function is that if there is a reference straight line portion that intersects the outermost peripheral traveling path in the reference straight line portion group calculated by the first function, the reference straight line portion is excluded and the remaining reference straight line portion remains. The part is to be an effective reference straight line group. This is because when the work is carried out along the straight line generated based on the reference straight line portion that intersects the outermost orbital running path, the working width is applied to the recess, and the tractor is effectively tracted. This is because it becomes impossible to drive.

The central traveling route calculation unit 624 calculates each effective reference straight line portion of the effective reference straight line subgroup finally calculated by the effective reference straight line portion calculation unit 623 as one straight line, and connects the straight lines to each other. Set the U-turn route. As a result, the straight-ahead route is sequentially connected by a U-turn route, resulting in a continuous meandering travel route. This meandering travel route is calculated as a central travel route for traveling in the central region.

The transition travel route calculation unit 625 calculates a transition travel route that connects the end of the central travel route calculated by the central travel route calculation unit 624 and the orbital travel route calculated by the orbital travel route calculation unit 621. As a result, the central travel route and the orbital travel route become one continuous travel route. In the tractor tilling work, the work run is performed in the central region and then the work run is performed in the orbital region, so this travel route is convenient. The tractor enters the field from the farm road through the doorway, performs a work run from the beginning of the central running path to the rear end of the circuit running path, and exits from the field through the doorway to the farm road. Therefore, the transition travel route calculation unit 625 passes through the entrance / exit from the field by connecting to the approach route that passes through the entrance / exit from the farm road and enters the field and connects to the start end of the inner travel route, and the end of the circuit travel route. It is also possible to calculate the exit route to the farm road. As a result, a traveling route for the tractor to travel in this field, including an approach route, an inner traveling route, a circuit traveling route, and an exit route, is generated.

Next, as a more specific example, the process in which the route generation module 6 calculates the straight route of the orbital travel route and the central travel route for the field shown in FIG. 5 will be described below.
(1) A circuit route for three laps is calculated, and the field is divided into an outer peripheral region and a central region (see FIG. 6).
(2) The reference straight line group (many reference straight lines) calculated with the reference side as the upper side of the field is trimmed using the outline of the central region, and the reference straight line subgroup (many reference straight line parts) is calculated. In the example shown in FIG. 7, the reference straight line portion (indicated by L1 in FIG. 7) closest to the concave portion in the reference straight line portion group is the outermost peripheral traveling path (FIG. 7). Since it does not intersect with (indicated by L0), all the reference straight line portions included in the reference straight line portion group are effective reference straight line portions. This effective reference straight line portion becomes a straight route of the central traveling route.
In the case of this example, since the orbital travel path and the central travel path overlap each other near the recess, the work travels overlap in this overlapping area.

FIG. 8 shows a straight path of the orbital running path and the central running path calculated in a field in which a deep recess is formed toward the inside. In this example, several reference straight line portions (indicated by the dotted line in FIG. 8) near the recesses of the reference straight line subgroup intersect the outermost peripheral orbital travel path (indicated by L0 in FIG. 8). Therefore, the reference straight line portion is not calculated as an effective reference straight line portion. For this reason, blank spaces (indicated by diagonal lines in FIG. 8) that do not generate a central traveling path are generated on both sides of the recess in the central region. If the blank area is equal to or greater than a predetermined ratio of the total area of the central region, it is notified that unworked land will be generated in the central region. Such notification may be performed to generate a traveling route in which an unworked area occurs, but the reference side may be changed so that the traveling route is generated again.

As shown in FIG. 3, the control unit 5, which is a core element of the control system of the tractor, includes an output processing unit 7, an input processing unit 8, and a communication processing unit 70 that function as input / output interfaces. The output processing unit 7 is connected to a vehicle traveling device group 71, a working device device group 72, a notification device 73, and the like, which are equipped on the tractor. The vehicle traveling device group 71 includes a steering motor 14, and although not shown, devices controlled for vehicle traveling such as a transmission mechanism and an engine unit. The work device group 72 includes a drive mechanism for the work device 30, an elevating mechanism 31 for raising and lowering the work device 30, and the like. The notification device 73 includes a display, a lamp, and a speaker. The notification device 73 is used to notify the driver and the observer of caution information and warning information such as driving precautions and deviation from the target traveling route in automatic steering traveling. The communication processing unit 70 has a function of transmitting the data processed by the control unit 5 to the management computer 100 and receiving various data from the management computer 100. Further, the communication processing unit 70 also receives a remote control command from the remote control 84.

The input processing unit 8 is connected to the satellite positioning module 80, the traveling system detection sensor group 81, the working system detection sensor group 82, the automatic / manual switching operation tool 83, and the like. The traveling system detection sensor group 81 includes a sensor that detects a traveling state such as an engine speed and a shifting state. The work system detection sensor group 82 includes a sensor that detects the position and inclination of the work device 30, a sensor that detects a work load, and the like. The automatic / manual switching operation tool 83 is a switch for selecting either an automatic traveling mode in which the vehicle travels by automatic steering or a manual steering mode in which the vehicle travels by manual steering.

Further, the control unit 5 is provided with a travel control unit 50, a work control unit 54, a vehicle position calculation unit 53, a travel route setting unit 55, and a notification unit 56. The own vehicle position calculation unit 53 calculates the own vehicle position based on the positioning data sent from the satellite positioning module 80. The travel control unit 50 that controls the vehicle travel equipment group 71 is configured to allow the tractor to travel in both automatic travel (automatic steering) and manual travel (manual steering). A traveling control unit 52 is included. The manual driving control unit 51 controls the vehicle traveling device group 71 based on the operation by the driver. The automatic traveling control unit 52 calculates the directional deviation and the positional deviation between the traveling route set by the traveling route setting unit 55 and the position of the own vehicle, and generates an automatic steering command.
The generated automatic steering command is output to the steering motor 14 via the output processing unit 7. The automatic traveling control unit 52 stops the tractor based on the stop command from the remote controller 84, and starts the traveling of the tractor based on the start command from the remote controller 84. The work control unit 54 gives a control signal to the work device group 72 in order to control the movement of the work device 30. The notification unit 56 generates a notification signal (display data or voice data) for notifying the driver or the monitor of necessary information, and gives it to the notification device 73 incorporated in the instrument panel.

The travel route setting unit 55 receives the travel route generated by the route generation module 6 from the general-purpose terminal 4 via the communication processing unit 70, and sets it as the target travel route of the tractor.

[Another Embodiment]
(1) Each functional unit in the functional block diagram shown in FIG. 3 is mainly divided for explanatory purposes. In practice, each functional unit can be integrated with other functional units or divided into a plurality of functional units. For example, a configuration may be adopted in which the route generation module 6 is constructed on the management computer 100 and the travel route generated by the management computer 100 is downloaded to the control unit 5 of the work vehicle. Further, the route generation module 6 may be constructed in the control unit 5 of the work vehicle.
(2) In the above-described embodiment, the longest side of the field indicated by the polygon is used as the reference side, but the side of the field indicated by the polygon may be used as the reference side. Further, it is also possible to use a virtual side based on the side of the polygon (for example, the opposite side of the polygon or the side connecting adjacent sides) as the reference side.
(3) In the above-described embodiment, in the calculation of the central travel route, adjacent straight routes are connected by a U-turn route, but one straight route is connected to another straight route with one or more straight routes in between. It may be connected by a U-turn route.
(4) In the above-described embodiment, a tractor equipped with a rotary cultivator as a work device 30 is taken up as a work vehicle, but in addition to such a tractor, for example, a rice transplanter, a fertilizer applicator, and a combine harvester. It can also be applied to agricultural work vehicles such as.

The travel route generation device according to the present invention is applicable to a field work vehicle that works in a field along a set travel route.

1: Body 4: General-purpose terminal 5: Control unit 50: Travel control unit 51: Manual travel control unit 52: Automatic travel control unit 53: Own vehicle position calculation unit 54: Work control unit 55: Travel route setting unit 56: Notification unit 6: Route generation module 60: Touch panel 61: Field data input unit 621: Circular travel route calculation unit 622: Reference straight line calculation unit 623: Effective reference straight part calculation unit 624: Central travel route calculation unit 625: Transition travel route calculation unit 80 : Satellite positioning module 100: Management computer 101: Field information storage unit 102: Work plan management unit KS: Management center

Claims (6)

It is a travel route generation device that generates a travel route for a field work vehicle that automatically travels in a field.
A field data input unit for inputting external shape data of the field and
An orbital travel route calculation unit that calculates an orbital travel route for traveling around the outer peripheral region of the field for one or more laps.
A reference straight line calculation unit that extends parallel to the reference side of the field and calculates a reference straight line group that covers the central region located inside the outer peripheral region at predetermined intervals.
An effective reference straight line portion for calculating an effective reference straight line portion group by excluding a reference straight line portion intersecting the orbital traveling path on the outermost circumference from the reference straight line portion group consisting of a straight line portion corresponding to the central region in the reference straight line group. a calculation unit,
Each effective reference straight line portion of the effective reference straight line portion group is calculated as one straight path, and the center for traveling in the central region including the straight path and the U-turn path connecting the straight paths. A travel route generation device including a central travel route calculation unit that calculates a travel route. The traveling route generation device according to claim 1, wherein the effective reference straight line portion calculation unit calculates the reference straight line portion group by cutting the reference straight line group along the outer shape of the central region. The traveling route generation device according to claim 1 or 2, wherein the reference straight line calculation unit has the longest side of a polygon representing the outer shape of the central region as the reference side. If the blank area of the central region not covered by the effective reference straight line subgroup is equal to or greater than a predetermined ratio of the total area of the central region, the reference straight line calculation unit is not parallel to the longest side of the polygon. The traveling route generation device according to claim 3, wherein the side next to the longest side is the reference side. The travel route generation device according to any one of claims 1 to 4, further comprising a transition travel route calculation unit that calculates a transition travel route that connects the end of the central travel route and the circuit travel route. It is a travel route generation program that generates a travel route for a field work vehicle that automatically travels in the field.
A field data input function for inputting the outline data of the field and
An orbital travel route calculation function that calculates an orbital travel route for traveling around the outer peripheral region of the field for one or more laps, and
A reference straight line calculation function that extends parallel to the reference side of the field and calculates a reference straight line group that covers the central region located inside the outer peripheral region at predetermined intervals.
The effective reference straight line portion that determines the effective reference straight line portion group by excluding the reference straight line portion that intersects the orbital traveling path on the outermost circumference from the reference straight line portion group consisting of the straight line portion corresponding to the central region in the reference straight line group. and calculating function,
Each effective reference straight line portion of the effective reference straight line portion group is calculated as one straight path, and the center for traveling in the central region including the straight path and the U-turn path connecting the straight paths. A travel route generation program that allows a computer to realize a central travel route generation function that calculates a travel route.

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