JP7036707B2 - Travel route generator - Google Patents

Description

The present invention relates to a travel route generation device that generates a target travel route for a work vehicle to automatically travel in a travel region.

The above-mentioned travel route generation device is used in an automatic travel system that acquires the current position of a work vehicle using a satellite positioning system and automatically travels the work vehicle along a target travel route generated by the travel route generator. (See, for example, Patent Document 1).

In the system described in Patent Document 1, first, the shape of the traveling region in which the work vehicle is automatically traveled is specified, and the traveling route generation device is specified so that the boundary portion of the traveling region and the work vehicle do not come into contact with each other. A target driving route is generated in the traveled area. When specifying the shape of the traveling area, the work vehicle is made to orbit around the boundary portion of the traveling area. The shape of the traveling area is specified by grasping the position of the boundary portion of the traveling area by using the position information, the movement locus information, and the like of the work vehicle acquired by this lap traveling.

Japanese Unexamined Patent Publication No. 2017-161987

In the system described in Patent Document 1, for example, it is assumed that the inner end of a step existing at the boundary between the field edge and the ridge and the inner end of an obstacle such as a utility pole are the boundary of the traveling area. The boundary is specified. However, if the step or obstacle is low, the work vehicle may not come into contact with the step or obstacle even if it moves to the outside of the inner end of the step or obstacle. Further, if the working height of the working device mounted on the working vehicle is high, it may not come into contact with a step or an obstacle.

Therefore, depending on the height of the step or obstacle and the working height of the work device, even if the work vehicle travels closer to the boundary of the traveling area, the work vehicle or work device and the step or obstacle can be separated from each other. Contact may be avoided. In this case, if the inner end of a step or an obstacle is set as the boundary of the traveling region as in the system described in Patent Document 1, the range in which the target traveling route can be generated becomes smaller than the actual range, and the work It will lead to a decrease in efficiency.

In view of this situation, a main problem of the present invention is to provide a travel route generation device capable of appropriately generating a target travel route within a range in which a work vehicle can automatically travel and improving work efficiency. ..

The first feature configuration of the present invention includes a work vehicle position information acquisition unit that acquires position information of a work vehicle using a satellite positioning system, and a work vehicle position information acquisition unit.
A height information acquisition unit that acquires height information at the boundary of the travel area when the work vehicle orbits the boundary of the travel area.
When the work vehicle is orbited on the boundary side of the traveling area, the position information acquired by the work vehicle position information acquisition unit and the height information acquired by the height information acquisition unit are associated with each other for traveling. Boundary information generator that generates boundary information including position information and height information about the boundary of the area,
The point is that a travel route generation unit that generates a target travel route is provided in the travel region based on the boundary portion information generated by the boundary portion information generation unit.

According to this configuration, when the work vehicle orbits the boundary portion side of the traveling region, the boundary portion information generation unit generates the boundary portion information including the position information and the height information regarding the boundary portion of the traveling region. ing. By using the generated boundary portion information, the travel route generation unit can grasp the position and height of the boundary portion of the travel region. Therefore, the traveling route generation unit can set a range in which the work vehicle can automatically travel in consideration of not only the position of the boundary portion of the traveling region but also the height of the boundary portion of the traveling region. As a result, the travel route generation unit can appropriately generate a target travel route within a range in which the work vehicle can automatically travel, and can improve work efficiency.

In the second characteristic configuration of the present invention, the height information acquisition unit is provided with a height detection unit for detecting the height of the object to be measured in the work vehicle, and the work vehicle is made to orbit around the boundary portion side of the traveling region. In this case, the height information of the boundary portion of the traveling region is acquired based on the detection information of the height detection unit.

According to this configuration, when the work vehicle orbits the boundary portion side of the traveling region, the height detection unit detects the height of the boundary portion with the boundary portion of the traveling region as the measurement target. , The height information acquisition unit can acquire accurate height information of the boundary portion. Therefore, the travel route generation unit can more appropriately set the range in which the work vehicle can automatically travel by using the height of the accurate boundary portion, and can more appropriately generate the target travel route. ..

The third feature configuration of the present invention is that the height information acquisition unit acquires the position information of the work vehicle by the work vehicle position information acquisition unit when the work vehicle orbits the boundary portion side of the traveling region. , And, based on the work height information of the work device connected to the work vehicle, the height information of the boundary portion of the traveling area is acquired.

Depending on the relative relationship between the working height of the working device and the height of the boundary portion of the traveling area, the distance of how close the work vehicle can be to the boundary portion of the traveling area differs. Therefore, according to this configuration, the height information acquisition unit determines the traveling area based on the position information of the working vehicle and the working height of the working device when the work vehicle orbits the boundary portion side of the traveling area. It is possible to appropriately acquire the height information of the boundary portion. Therefore, the height information of the boundary portion of the traveling region can be easily acquired only by connecting the working device to the working vehicle and traveling around the boundary portion side of the traveling region.

The fourth feature configuration of the present invention is provided with a work device information input unit for inputting work device information regarding the work device connected to the work vehicle.
The travel route generation unit is at the point of generating a target travel route according to the work device information input by the work device information input unit.

Depending on the working height of the working device, the distance that the working vehicle can approach the boundary portion of the traveling area differs. Therefore, according to this configuration, since the travel route generation unit generates a target travel route according to the work device information, the working height of the work device is the distance that the work vehicle can approach the boundary portion of the travel area. It is possible to generate a target travel route so that the distance corresponds to the distance. Therefore, it is possible to generate an appropriate target traveling route according to the working height of the working device that actually performs the work.

The fifth feature configuration of the present invention comprises a work device side communication unit provided on the work device side and capable of communicating work device information regarding the work device connected to the work vehicle.
A work equipment information acquisition unit that freely communicates with the work equipment side communication unit and acquires work equipment information is provided.
The travel route generation unit is in that it generates a target travel route according to the work device information acquired by the work device information acquisition unit.

According to this configuration, since the travel route generation unit generates a target travel route according to the work device information, it corresponds to the work height of the work device that actually performs the work, as in the fourth feature configuration. It is possible to generate an appropriate target travel route. Further, in this configuration, since the work device information acquisition unit acquires the work device information by communicating with the work device side communication unit, for example, the input work of the user or the like is not required, and the work load of the user or the like is reduced. Can be planned.

The figure which shows the schematic structure of the automatic driving system Block diagram showing the schematic configuration of the autonomous driving system Diagram showing the target driving route A diagram showing the height relationship between the boundary of the traveling area and the tractor. A diagram showing the height relationship between the boundary of the traveling area and the tractor. The figure which shows the height relation between the boundary part of a traveling area and a work apparatus. The figure which shows the height relation between the boundary part of a traveling area and a work apparatus. The figure which shows the state which makes a tractor orbit around the boundary side of a traveling area. The figure which shows the state which detects the height of the boundary part of the traveling area by the height detection sensor during orbiting. Diagram showing the orbital route in the target travel route Diagram showing the orbital route in the target travel route A flow chart showing the operation when generating a target travel route

An embodiment of an automatic traveling system using the traveling route generation device according to the present invention will be described with reference to the drawings.
[First Embodiment]
As shown in FIG. 1, this automatic traveling system applies the tractor 1 as a work vehicle, but other than the tractor, a passenger work vehicle such as a passenger rice transplanter, a combine, a passenger grass mowing machine, a wheel loader, and a snowplow, It can also be applied to unmanned work vehicles such as unmanned mowers.

As shown in FIGS. 1 and 2, this automatic traveling system includes an automatic traveling unit 2 mounted on the tractor 1 and a mobile communication terminal 3 set to communicate with the automatic traveling unit 2. As the mobile communication terminal 3, a tablet-type personal computer, a smartphone, or the like having a touch-sensitive touch panel type display unit 51 (for example, a liquid crystal panel) or the like can be adopted.

The tractor 1 includes left and right front wheels 5 that function as driveable steering wheels, and a traveling machine body 7 that has left and right rear wheels that can be driven. A bonnet 8 is arranged on the front side of the traveling machine body 7, and an electronically controlled diesel engine (hereinafter referred to as an engine) 9 equipped with a common rail system is provided in the bonnet 8. A cabin 10 forming a boarding-type driving unit is provided on the rear side of the bonnet 8 of the traveling machine body 7.

A rotary tillage device, which is an example of the working device 12, can be connected to the rear portion of the traveling machine body 7 via a three-point link mechanism 11 so as to be able to move up and down and roll. In place of the rotary tilling device, various working devices 12 such as a mower, a plow, a sowing device, and a spraying device can be connected to the rear part of the tractor 1.

As shown in FIG. 2, the tractor 1 includes an electronically controlled transmission 13 that shifts the power from the engine 9, a fully hydraulic power steering mechanism 14 that steers the left and right front wheels 5, and left and right rear wheels 6. Left and right side brakes for braking (not shown), electronically controlled brake operation mechanism 15 that enables hydraulic operation of the left and right side brakes, work clutch that interrupts transmission to work devices 12 such as rotary tillers (Fig.) (Not shown), an electronically controlled clutch operating mechanism 16 that enables hydraulic operation of the work clutch, an electrohydraulic control type elevating drive mechanism 17 that elevates and drives the work device 12 such as a rotary tiller, automatic running of the tractor 1, etc. The vehicle-mounted electronic control unit 18 having various control programs related to the above, the vehicle speed sensor 19 for detecting the vehicle speed of the tractor 1, the steering angle sensor 20 for detecting the steering angle of the front wheels 5, and the current position and the current orientation of the tractor 1 are measured. The positioning unit 21 and the like are provided.

An electronically controlled gasoline engine equipped with an electronic governor may be adopted as the engine 9. As the transmission 13, a hydraulic mechanical continuously variable transmission (HMT), a hydrostatic continuously variable transmission (HST), a belt type continuously variable transmission, or the like can be adopted. As the power steering mechanism 14, an electric power steering mechanism 14 or the like provided with an electric motor may be adopted.

Inside the cabin 10, as shown in FIG. 1, a steering wheel 38 that enables manual steering of the left and right front wheels 5 via a power steering mechanism 14 (see FIG. 2), a driver's seat 39 for passengers, and a touch panel It is equipped with an expression display unit and various operating tools.

As shown in FIG. 2, the in-vehicle electronic control unit 18 is a work device 12 such as a shift control unit 181 that controls the operation of the transmission device 13, a braking control unit 182 that controls the operation of the left and right side brakes, and a rotary tiller. The work device control unit 183 that controls the operation, the steering angle setting unit 184 that sets the target steering angles of the left and right front wheels 5 during automatic driving and outputs them to the power steering mechanism 14, and the target driving for automatic driving generated in advance. It has a non-volatile vehicle-mounted storage unit 185 and the like for storing the route P (see, for example, FIG. 3) and the like.

As shown in FIG. 2, the positioning unit 21 is a satellite that measures the current position and current orientation of the tractor 1 by using GPS (Global Positioning System), which is an example of a satellite positioning system (NSS: Navigation Satellite System). It is equipped with a navigation device 22, an inertial measurement unit (IMU) 23 and the like having a three-axis gyroscope, a three-way acceleration sensor, and the like to measure the posture and orientation of the tractor 1. Positioning methods using GPS include DGPS (Differential GPS: relative positioning method) and RTK-GPS (Real Time Kinematic GPS: interference positioning method). In this embodiment, RTK-GPS suitable for positioning of a moving body is adopted. Therefore, as shown in FIGS. 1 and 2, a reference station 4 that enables positioning by RTK-GPS is installed at a known position around the field.

As shown in FIG. 2, the tractor 1 and the reference station 4 are connected to the positioning antennas 24 and 61 that receive radio waves transmitted from the positioning satellite 71 (see FIG. 1), and between the tractor 1 and the reference station 4. The communication modules 25, 62 and the like that enable wireless communication of various information including the positioning information in the above are provided. As a result, in the satellite navigation device 22, the positioning antenna 24 on the tractor side receives the radio waves from the positioning satellite 71 and the positioning information is obtained, and the positioning antenna 61 on the base station side receives the radio waves from the positioning satellite 71. Based on the obtained positioning information, the current position and current orientation of the tractor 1 can be measured with high accuracy. Further, the positioning unit 21 is provided with the satellite navigation device 22 and the inertial measurement unit 23 to measure the current position, the current direction, and the attitude angle (yaw angle, roll angle, pitch angle) of the tractor 1 with high accuracy. Can be done.

As shown in FIG. 1, the positioning antenna 24, the communication module 25, and the inertial measurement unit 23 provided in the tractor 1 are housed in the antenna unit 80. The antenna unit 80 is arranged at an upper position on the front side of the cabin 10.

As shown in FIG. 2, the mobile communication terminal 3 has positioning information between the terminal electronic control unit 52 having various control programs for controlling the operation of the display unit 51 and the like, and the communication module 25 on the tractor side. A communication module 53 or the like that enables wireless communication of various information including the above is provided. The terminal electronic control unit 52 includes a travel route generation unit 54 that generates a target travel route P (for example, see FIG. 3) for automatically traveling the tractor 1, and various input information and travel route generation units input by the user. It has a non-volatile terminal storage unit 55 or the like that stores the target travel path P or the like generated by the 54.

The travel route generation unit 54 generates a target travel route P (for example, see FIG. 3) in the travel region S, and a method of generating the target travel route P will be described later.

The target travel route P generated by the travel route generation unit 54 can be displayed on the display unit 51, and is stored in the terminal storage unit 55 as route information associated with vehicle body information, boundary portion information, and the like. The route information includes the azimuth angle of the target travel route P, the set engine rotation speed and the target travel speed set according to the travel mode of the tractor 1 on the target travel route P, and the like.

In this way, when the travel route generation unit 54 generates the target travel route P, the terminal electronic control unit 52 transfers the route information from the mobile communication terminal 3 to the tractor 1, so that the vehicle-mounted electronic control unit 18 of the tractor 1 is used. However, the route information can be acquired. The in-vehicle electronic control unit 18 automatically travels the tractor 1 along the target travel route P while acquiring its own current position (current position of the tractor 1) by the positioning unit 21 based on the acquired route information. Can be done. The current position of the tractor 1 acquired by the positioning unit 21 is transmitted from the tractor 1 to the mobile communication terminal 3 in real time (for example, in a cycle of several milliseconds), and the current position of the tractor 1 is transmitted by the mobile communication terminal 3. I know.

Regarding the transfer of route information, the entire route information can be transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18 at once before the tractor 1 starts automatic traveling. Further, for example, the route information including the target travel route P can be divided into a plurality of route portions for each predetermined distance with a small amount of information. In this case, in the stage before the tractor 1 starts automatic traveling, only the initial route portion of the route information is transferred from the terminal electronic control unit 52 to the vehicle-mounted electronic control unit 18. After the start of automatic driving, every time the tractor 1 reaches a route acquisition point set according to the amount of information or the like, the route information of only the subsequent route portion corresponding to that point is electronically controlled by the terminal electronic control unit 52. It may be transferred to the unit 18.

When starting the automatic traveling of the tractor 1, for example, when the user or the like moves the tractor 1 to the starting point and various automatic traveling start conditions are satisfied, the user displays the display unit 51 on the mobile communication terminal 3. By instructing the start of automatic traveling, the mobile communication terminal 3 transmits the instruction to start automatic traveling to the tractor 1. As a result, in the tractor 1, the in-vehicle electronic control unit 18 receives an instruction to start automatic driving, and while the positioning unit 21 acquires its own current position (current position of the tractor 1), the vehicle-mounted electronic control unit 18 sets the target travel path P. Automatic running control for automatically running the tractor 1 along the line is started. The in-vehicle electronic control unit 18 automatically drives the tractor 1 along the target travel path P in the travel region S based on the positioning information of the tractor 1 acquired by the positioning unit 21 (corresponding to the satellite positioning system). It is configured as an automatic driving control unit that performs driving control.

The automatic driving control includes automatic shift control that automatically controls the operation of the transmission, automatic braking control that automatically controls the operation of the brake operation mechanism 15, automatic steering control that automatically steers the left and right front wheels 5, and a rotary tillage device. The automatic control for work, etc., which automatically controls the operation of the work device 12 such as the above, is included.

In the automatic shift control, the shift control unit 181 determines the tractor 1 on the target travel path P based on the route information of the target travel path P including the target travel speed, the output of the positioning unit 21, and the output of the vehicle speed sensor 19. The operation of the transmission 13 is automatically controlled so that the target traveling speed set according to the traveling mode or the like can be obtained as the vehicle speed of the tractor 1.

In the automatic braking control, the braking control unit 182 places the left and right side brakes on the left and right rear in the braking region included in the route information of the target travel route P based on the target travel route P and the output of the positioning unit 21. The operation of the brake operation mechanism 15 is automatically controlled so as to properly brake the wheel 6.

In the automatic steering control, the steering angle setting unit 184 sets the target of the left and right front wheels 5 based on the route information of the target travel route P and the output of the positioning unit 21 so that the tractor 1 automatically travels on the target travel route P. The steering angle is obtained and set, and the set target steering angle is output to the power steering mechanism 14. The power steering mechanism 14 automatically steers the left and right front wheels 5 based on the target steering angle and the output of the steering angle sensor 20 so that the target steering angle is obtained as the steering angle of the left and right front wheels 5.

In the automatic work control, the work device control unit 183 performs work such as the start of the work path P1 (see, for example, FIG. 3) by the tractor 1 based on the route information of the target travel path P and the output of the positioning unit 21. A predetermined work (for example, tilling work) by the work apparatus 12 is started as the start point is reached, and the tractor 1 reaches the work end point such as the end of the work path P1 (for example, see FIG. 3). Along with this, the operation of the clutch operation mechanism 16 and the elevating drive mechanism 17 is automatically controlled so that the predetermined work by the work device 12 is stopped.

In this way, in the tractor 1, the transmission 13, the power steering mechanism 14, the brake operation mechanism 15, the clutch operation mechanism 16, the elevating drive mechanism 17, the in-vehicle electronic control unit 18, the vehicle speed sensor 19, the steering angle sensor 20, and the positioning. The automatic traveling unit 2 is composed of the unit 21, the communication module 25, and the like.

In this embodiment, it is possible not only to automatically drive the tractor 1 without the user or the like boarding the cabin 10, but also to automatically drive the tractor 1 with the user or the like boarding the cabin 10. Therefore, not only can the tractor 1 be automatically driven along the target traveling path P by the automatic traveling control by the in-vehicle electronic control unit 18 without the user or the like boarding in the cabin 10, but also the user or the like can be boarded in the cabin 10. Even in this case, the tractor 1 can be automatically driven along the target traveling path P by the automatic traveling control by the vehicle-mounted electronic control unit 18.

When a user or the like is on board the cabin 10, the vehicle-mounted electronic control unit 18 switches between an automatic driving state in which the tractor 1 is automatically driven and a manual driving state in which the tractor 1 is driven based on the driving of the user and the like. be able to. Therefore, it is possible to switch from the automatic driving state to the manual driving state while the target traveling route P is automatically traveling in the automatic driving state, and conversely, the manual driving is performed while the vehicle is traveling in the manual driving state. It is possible to switch from the state to the automatic driving state. Regarding switching between the manual driving state and the automatic driving state, for example, a switching operation unit for switching between the automatic driving state and the manual driving state can be provided in the vicinity of the driver's seat 39, and the switching operation unit is carried. It can also be displayed on the display unit 51 of the communication terminal 3. Further, when the user operates the steering wheel 38 during the automatic driving control by the vehicle-mounted electronic control unit 18, the automatic driving state can be switched to the manual driving state.

As shown in FIGS. 1 and 2, the tractor 1 is provided with an obstacle detection system 100 for detecting an obstacle around the tractor 1 (traveling machine 7) and avoiding a collision with the obstacle. ing. The obstacle detection system 100 includes a plurality of lidar sensors 101 and 102 capable of measuring the distance to the object to be measured in three dimensions using a laser, and a plurality of lidar sensors 101 and 102 capable of measuring the distance to the object to be measured using ultrasonic waves. The sonar units 103 and 104 having sonar, an obstacle detection unit 110, and a collision avoidance control unit 111 are provided.

The measurement target to be measured by the rider sensors 101, 102 and the sonar units 103, 104 is an object, a person, or the like. The rider sensors 101 and 102 include a front rider sensor 101 whose measurement target is the front side of the tractor 1 and a rear rider sensor 102 whose measurement target is the rear side of the tractor 1. The sonar units 103 and 104 include a right-side sonar unit 103 whose measurement target is the right side of the tractor 1 and a left-side sonar unit 104 whose measurement target is the left side of the tractor 1.

The obstacle detection unit 110 performs obstacle detection processing for detecting an object to be measured such as an object or a person within a predetermined distance as an obstacle based on the measurement information of the rider sensors 101, 102 and the sonar units 103, 104. It is configured in. The collision avoidance control unit 111 is configured to perform collision avoidance control for decelerating the tractor 1 or stopping the traveling of the tractor 1 when the obstacle detection unit 110 detects an obstacle. In the collision avoidance control, the collision avoidance control unit 111 not only decelerates the tractor 1 or stops the tractor 1 from traveling, but also activates a notification device 26 such as a notification buzzer and a notification lamp to indicate that an obstacle exists. I am informing you. In the collision avoidance control, the collision avoidance control unit 111 communicates with the mobile communication terminal 3 from the tractor 1 by using the communication modules 25 and 53 to display the presence of the obstacle on the display unit 51, so that the obstacle exists. It is possible to notify what to do.

The obstacle detection unit 110 repeatedly performs obstacle detection processing based on the measurement information of the rider sensors 101, 102 and the sonar units 103, 104 in real time, and appropriately detects obstacles such as objects and people. The collision avoidance control unit 111 performs collision avoidance control for avoiding a collision with an obstacle detected in real time.

The obstacle detection unit 110 and the collision avoidance control unit 111 are provided in the vehicle-mounted electronic control unit 18. The in-vehicle electronic control unit 18 is communicably connected to the electronic control unit for the engine, the rider sensors 101, 102, the sonar units 103, 104, etc. included in the common rail system via CAN (Controller Area Network). There is.

Hereinafter, the generation of the target travel path P by the travel route generation unit 54 will be described.
Since the target travel path P is generated in the travel region S, the position of the boundary portion S1 (outer peripheral portion, see FIG. 3) of the travel region S is grasped, and the boundary portion S1 of the travel region S is specified. There is a need. Therefore, as shown in FIG. 2, the mobile communication terminal 3 is provided with a boundary portion information generation unit 56 that generates boundary portion information regarding the boundary portion S1 of the traveling region S.

In generating the boundary portion information, if the position information regarding the boundary portion S1 of the traveling region S can be acquired, it is possible to grasp how close the tractor 1 can approach without contacting the boundary portion S1 of the traveling region S with reference to the position. be able to. However, the distance that the tractor 1 can approach the boundary portion S1 of the traveling region S without contacting differs depending on the height of the boundary portion S1 of the traveling region S and the working height of the working device 12. Therefore, the boundary portion information generation unit 56 generates boundary portion information including not only the position information regarding the boundary portion S1 of the traveling region S but also the height information regarding the boundary portion S1 of the traveling region S.

The point that the distance that the tractor 1 can approach the boundary portion S1 of the traveling region S without contacting the boundary portion S1 of the traveling region S differs depending on the height of the boundary portion S1 of the traveling region S and the working height of the working device 12.
For example, when the traveling region S is a field or the like, as shown in FIGS. 4 to 7, ridges are present at the boundary portion S1, and the boundary portion S1 is one step higher than the inside of the traveling region S due to the ridges. It is a position. Further, even when a partition body such as a wall is provided at the boundary portion S1, the boundary portion S1 is at a position higher than the traveling region S.

The height of the boundary portion S1 (ridges, compartments, etc.) of the traveling region S is not constant, and there are a high boundary portion S1a and a low height boundary portion S1b. In the high boundary portion S1a, as shown in FIG. 4, a predetermined distance is separated between the front surface portion of the bonnet 8 and the boundary portion S1a so that the front surface portion of the bonnet 8 does not contact the boundary portion S1a. Is needed. On the other hand, in the boundary portion S1b having a low height, as shown in FIG. 5, the height of the boundary portion S1b is located at a position lower than the lower end portion of the bonnet 8, so that the front surface portion of the bonnet 8 and the boundary portion S1b are located. Does not contact. Therefore, the tractor 1 can approach the boundary portion S1b until the distance between the front surface portion of the front wheel 5 and the boundary portion S1a becomes a predetermined distance.

Further, the working height of the working device 12 connected to the tractor 1 (height of the lower end portion of the working device 12) is not constant and varies depending on the type of the working device 12 and the like. For example, the working height of the working device 12 may be higher than the ground plane of the field by a predetermined height. In this case, in the high boundary portion S1a, as shown in FIG. 6, between the side surface portion of the work device 12 and the boundary portion S1a so that the side surface portion of the work device 12 and the like do not come into contact with the boundary portion S1a. It is necessary to separate them by a predetermined distance. On the other hand, in the boundary portion S1b having a low height, as shown in FIG. 7, since the height of the boundary portion S1b is located at a position lower than the working height of the working device 12, it is bordered with the side surface portion of the working device 12. It does not come into contact with the portion S1b. Therefore, the tractor 1 can approach the boundary portion S1b until the distance between the side surface portions of the front wheels 5 and the rear wheels 6 and the boundary portion S1a becomes a predetermined distance. In FIGS. 6 and 7, the working device 12 is shown in a rectangular shape, and the working device 12 is schematically shown.

As shown in FIG. 2, a positioning unit (corresponding to a work vehicle position information acquisition unit) that acquires position information of a tractor 1 using a satellite measurement system in order for the boundary information generation unit 56 to generate boundary information. The movement locus acquisition unit 57 that acquires the movement locus of the tractor 1 based on the position information of the tractor 1 acquired by the positioning unit 21 and the height detection sensor 105 that detects the height of the object to be measured (21). A height information acquisition unit 58 that acquires height information of the boundary portion S1 of the traveling region S based on the detection information of the height detection sensor 105 is provided. The positioning unit 21 and the height detection sensor 105 are provided in the tractor 1, and the movement locus acquisition unit 57 and the height information acquisition unit 58 are provided in the terminal electronic control unit 52 of the mobile communication terminal 3.

As shown in FIG. 8, a user or the like drives the tractor 1 in order to acquire the position information and the height information regarding the boundary portion S1 of the traveling region S, and the boundary portion S1 side of the traveling region S is set by the tractor 1. Run around. When the position information of the tractor 1 is acquired in real time by the positioning unit 21 during this orbiting, and the movement locus acquisition unit 57 orbits the tractor 1 based on the position information of the positioning unit 21. The movement locus M1 of is acquired. FIG. 8 illustrates the boundary portion S1 of the traveling region S and the moving locus M1 when the tractor 1 is orbited.

During the orbiting, not only the movement locus M1 is acquired, but also the boundary portion S1 of the traveling region S is used as a measurement target, and the height of the boundary portion S1 is measured by the height detection sensor 105 as shown in FIG. The height information acquisition unit 58 acquires the height information of the boundary portion S1 of the traveling region S in real time based on the detection information of the height detection sensor 105. The height detection sensor 105 includes, for example, a plurality of light-emitting type sensors 105a arranged at predetermined intervals in the vertical direction, and depending on whether or not the plurality of sensors 105a detect an object to be measured. The height of the boundary portion S1 is detected.

The boundary portion information generation unit 56 associates the position information of the tractor 1 acquired in real time with the height information of the boundary portion S1 of the traveling region S, and obtains the position information and the height information regarding the boundary portion S1 of the traveling region S. Boundary information including is generated. The boundary portion information generated by the boundary portion information generation unit 56 is stored in the terminal storage unit 55. The boundary portion information is information that can grasp the position of the boundary portion S1 of the traveling region S and the height of the boundary portion S1. By the way, in a plan view, the distance between the position where the position information of the tractor 1 is acquired by the positioning unit 21 (the position where the positioning antenna 24 is arranged) and the left-right end of the tractor 1 is a specified value, and the tractor 1 Since there is a distance of at least a predetermined distance between the side surface portion and the boundary portion S1, the boundary portion information generation unit 56 uses these distances to be larger than the position of the tractor 1 (the position of the movement locus M1). The position of the boundary portion S1 of the traveling region S is obtained on the outside.

When the travel route generation unit 54 generates the target travel route P, the user or the like follows the input guidance for setting the target travel route displayed on the display unit 51 of the mobile communication terminal 3, and the user or the like performs the type and model of the work vehicle (tractor 1). The vehicle body information including the vehicle information such as the above and the work device information such as the type, work height, and width of the work device 12 is input. As shown in FIG. 2, the terminal electronic control unit 52 of the mobile communication terminal 3 is provided with a vehicle body information input unit 59 (corresponding to a work device information input unit), and the vehicle body input to the vehicle body information input unit 59. Information is stored in the terminal storage unit 55.

Depending on the work device 12, as shown by the dotted line in FIG. 2, there is also a work device 12 provided with a communication module 121 (corresponding to a communication unit on the work device side) capable of communicating work device information. In this case, by connecting the work device 12 to the tractor 1, the vehicle-mounted electronic control unit 18 communicates with the communication module 121 of the work device 12 and the communication module 25 of the tractor 1 (corresponding to the work device information acquisition unit). Is getting the work equipment information. The terminal electronic control unit 52 acquires the work device information by the communication between the communication module 25 of the tractor 1 and the communication module 53 of the mobile communication terminal 3, and stores the work device information in the terminal storage unit 55.

As shown in FIG. 3, the travel route generation unit 54 generates a target travel route P in the travel region S based on the boundary portion information, the vehicle body information, and the like stored in the terminal storage unit 55. In the one shown in FIG. 3, the travel path generation unit 54 divides and sets the inside of the travel region S into a central region R1 and an outer peripheral region R2. The central region R1 is set in the central portion of the traveling region S, and is a reciprocating work region in which the tractor 1 is automatically traveled in the reciprocating direction in advance to perform a predetermined work. The outer peripheral region R2 is set around the central region R1 and is an orbiting work region in which the tractor 1 is automatically driven in the circumferential direction following the central region R1 to perform a predetermined work. The travel path generation unit 54 is, for example, a space for turning travel required for turning the tractor 1 at the ridge of the field, etc., based on the turning radius, the front-rear width, the left-right width, etc. of the tractor 1 included in the vehicle body information. Seeking. The travel route generation unit 54 divides the travel region S into a central region R1 and an outer peripheral region R2 so as to secure a space or the like obtained on the outer periphery of the central region R1.

As shown in FIG. 3, the travel route generation unit 54 generates the target travel route P by using the vehicle body information including the work device information regarding the work device 12, the boundary portion information, and the like. For example, the target travel path P has a plurality of work paths P1 having the same straight-ahead distance in the central region R1 and arranged in parallel with a certain distance corresponding to the work width (corresponding to the lateral width of the work device 12). It also has a connecting path P2 that connects the start and end of the adjacent work path P1 and a circular path P3 (indicated by a dotted line in the figure) that orbits in the outer peripheral region R2.

The plurality of work routes P1 are routes for performing predetermined work while traveling the tractor 1 in a straight line. The connection path P2 is a U-turn path for changing the traveling direction of the tractor 1 by 180 degrees without performing a predetermined operation, and connects the end of the work path P1 and the start end of the next adjacent work path P1. ing. The orbital path P3 is a path for performing a predetermined operation while orbiting the tractor 1 in the outer peripheral region R2. The circuit path P3 switches the traveling direction of the tractor 1 by 90 degrees by switching the tractor 1 between forward traveling and reverse traveling at positions corresponding to the four corners of the traveling region S. Incidentally, the target travel route P shown in FIG. 3 is merely an example, and the target travel route to be set can be appropriately changed.

When the travel route generation unit 54 generates the target travel route P, the travel route generation unit 54 generates the circuit path P3 of the target travel route P according to the work device information regarding the work device 12 included in the vehicle body information. There is. The travel path generation unit 54 generates the circuit path P3 based on the work height of the work device 12, the work width of the work device 12, and the height information of the boundary portion S1 of the travel area S. For example, as shown in FIG. 6, when the working height of the working device 12 is lower than the height of the boundary portion S1a of the traveling area S, the traveling path generation unit 54 causes the working device 12 as shown in FIG. A circuit path P3 is generated so that the side surface portion of the working device 12 is located inside the boundary portion S1a of the traveling region S with a predetermined distance between the side surface portion of the traveling region S and the boundary portion S1a of the traveling region S. There is. On the other hand, as shown in FIG. 7, when the working height of the working device 12 is higher than the height of the boundary portion S1b of the traveling region S, the traveling route generation unit 54 has the front wheels as shown in FIG. Circumferential path so that the side surface portion of the work device 12 is located outside the boundary portion S1b of the traveling region S with a predetermined distance between the side surface portion of the rear wheel 5 or the rear wheel 6 and the boundary portion S1b of the traveling region S. It is generating P3.

As described above, the traveling route generation unit 54 goes around in consideration of the height information of the boundary portion S1 of the traveling region S in addition to the working device information related to the working device 12 such as the working height and the working width of the working device 12. Since the path P3 is generated, the circuit path P3 can be generated at a position closer to the boundary portion S1 of the traveling region S. Therefore, the work can be performed by the automatic traveling of the tractor 1 to a position closer to the boundary portion S1 of the traveling region S, and the work efficiency can be improved. Regarding the circuit path P3, FIG. 3 shows a path that orbits the traveling area S once, but as described above, the tractor 1 is automatically driven to a position closer to the boundary portion S1 of the traveling area S. Therefore, for example, a route that orbits the traveling region S a plurality of times can be generated as an orbital route P3.

As described above, since the target travel route P (circular route P3) is generated so as to automatically travel the tractor 1 to a position closer to the boundary portion S1 of the travel region S, the automatic travel is actually performed. In this case, the reference position on the tractor 1 side when the obstacle system 100 detects the boundary portion S1 of the traveling region S as an obstacle by the obstacle detection unit 110 is set to the height of the boundary portion S1 or the work of the work device 12. It is changed and adjusted according to the height.

For example, as shown in FIG. 4, when the height of the boundary portion S1a is higher than the lower end portion of the bonnet 8, the first reference position C1 at the lower end portion of the bonnet 8 is set as the reference position, and the obstacle detection unit 110 sets the reference position. Based on the detection information of the rider sensors 101, 102 and the sonar units 103, 104, the boundary portion S1a is detected as an obstacle according to the distance from the first reference position C1. As shown in FIG. 5, when the height of the boundary portion S1b is lower than the lower end portion of the bonnet 8, the second reference portion of the front end portion of the front wheel 5 is added to the first reference position C1 of the lower end portion of the bonnet 8. The position C2 is set as a reference position, and the obstacle detection unit 110 detects the boundary portion S1b as an obstacle according to the distance from the second reference position C2.

Further, as shown in FIG. 6, when the height of the boundary portion S1a is higher than the working height of the working device 12, obstacle detection is performed with the third reference position C3 at the lower end of the side surface of the working device 12 as the reference position. Based on the detection information of the rider sensors 101 and 102 and the sonar units 103 and 104, the unit 110 detects the boundary portion S1a as an obstacle according to the distance from the third reference position C3. As shown in FIG. 7, when the height of the boundary portion S1b is lower than the working height of the working device 12, the side surface portion of the rear wheel 6 is added to the third reference position C3 at the lower end portion of the side surface of the working device 12. With the fourth reference position C4 as the reference position, the obstacle detection unit 110 determines the boundary portion S1b according to the distance from the fourth reference position C4 based on the detection information of the rider sensors 101, 102 and the sonar units 103, 104. Is detected as an obstacle.

By the way, the rider sensors 101, 102 and the sonar units 103, 104 are installed at desired positions, and the distances from the installation positions of the rider sensors 101, 102 and the sonar units 103, 104 to the first to fourth reference positions C1 to C4. Is the specified value.

In this way, when actually performing automatic driving, the reference position on the tractor 1 side when the obstacle detection unit 110 detects the boundary portion S1 of the traveling region S as an obstacle is set to the height of the boundary portion S1. By changing and adjusting according to the working height of the sheath work device 12, the tractor 1 is moved along the target travel path P (circular path P3) generated at a position closer to the boundary portion S1 of the travel region S. It can be driven automatically.

Based on the flowchart of FIG. 12, the flow of the operation when the travel route generation unit 54 generates the target travel route P will be described.
First, as shown in FIG. 12, a user or the like drives the tractor 1 to orbit the tractor 1 on the boundary portion S1 side of the traveling region S (step # 1). Through this orbital travel, the positioning unit 21 acquires the position information of the tractor 1, the movement locus acquisition unit 57 acquires the movement locus of the tractor 1, and the height information acquisition unit 58 acquires the boundary portion S1 of the travel region S. Get the height information of (step # 2).

The boundary portion information generation unit 56 associates the position information of the tractor 1 acquired in real time with the height information of the boundary portion S1 of the traveling region S by performing the orbiting traveling, and relates to the boundary portion S1 of the traveling region S. Boundary information including position information and height information is generated, and the generated boundary information is stored in the terminal storage unit 55 (step # 3).

When the user or the like inputs vehicle body information according to the input guide for generating the target travel route displayed on the display unit 51 of the mobile communication terminal 3, the vehicle body information input unit 59 accepts the input of the vehicle body information and stores it in the terminal storage unit 55. (Step # 4).

The travel route generation unit 54 generates a target travel route P in the travel region S based on the boundary portion information, the vehicle body information, and the like stored in the terminal storage unit 55 (step # 5). At this time, as described above, with respect to the circuit path P3, the travel path generation unit 54 relatives to the boundary portion S1 of the travel region S according to the work device information (work height) regarding the work device 12 included in the vehicle body information. The circuit path P3 is generated so that the tractor 1 automatically travels to a closer position.

[Second Embodiment]
This second embodiment is another embodiment of the configuration in which the height information acquisition unit 58 acquires the height information of the boundary portion S1 of the traveling region S, and the other configurations are the same as those of the first embodiment. Is. Hereinafter, the configuration in which the height information acquisition unit 58 acquires the height information of the boundary portion S1 of the traveling region S will be described, and the description of other configurations will be omitted.

In the first embodiment, when the height information acquisition unit 58 orbits the tractor 1 on the boundary portion S1 side of the traveling region S, the boundary of the traveling region S is based on the detection information of the height detection sensor 105. The height information of the part S1 is acquired. In the second embodiment, the position information of the tractor 1 acquired by the positioning unit 21 and the tractor when the height information acquisition unit 58 orbits the tractor 1 on the boundary portion S1 side of the traveling region S. Based on the work height information of the work device 12 connected to 1, the height information of the boundary portion S1 of the traveling region S is acquired.

With the work device 12 set to the working height, the user or the like drives the tractor 1 to orbit the tractor 1 on the boundary portion S1 side of the traveling area S. For example, as shown in FIG. 6, when the height of the boundary portion S1a of the traveling region S is higher than the working height of the working device 12, the space between the side surface portion of the working device 12 and the boundary portion S1a of the traveling region S The tractor 1 is circulated around the tractor 1 at a predetermined distance. Since the movement locus acquisition unit 57 acquires the movement locus of the tractor 1 based on the position information of the positioning unit 21, the height information acquisition unit 58 has the height of the boundary portion S1a as the work device. It is possible to acquire the movement locus of the tractor 1 when it is higher than the working height of 12.

Further, as shown in FIG. 7, when the height of the boundary portion S1b of the traveling region S is lower than the working height of the working device 12, the side surface portion of the working device 12 is between the boundary portion S1a of the traveling region S. The tractor 1 is circulated around the tractor 1 at a predetermined distance. Since the movement locus acquisition unit 57 acquires the movement locus of the tractor 1 even during this lap traveling, the height information acquisition unit 58 is used when the height of the boundary portion S1a is lower than the work height of the work device 12. The movement locus of the tractor 1 can be acquired.

In this way, the height information acquisition unit 58 does not directly acquire the height information of the boundary portion S1, but instead obtains the movement locus of the tractor 1 that changes according to the height of the boundary portion S1 to the height of the boundary portion S1. It is acquired as height-related information related to the boundary. By changing the work height of the work device 12 and performing the orbiting of the tractor 1 a plurality of times, the height information acquisition unit 58 relates a plurality of movement loci according to the work height of the work device 12 to the height. It can be obtained as information.

At this time, the boundary portion information generation unit 56 is a boundary including the position information and the movement locus regarding the boundary portion S1 of the traveling region S based on the position information of the tractor 1 acquired in real time when the tractor 1 is orbited. The part information is generated. Similar to the first embodiment, the travel route generation unit 54 is located in the travel region S based on the boundary portion information generated by the boundary portion information generation unit 56, the vehicle body information, and the like, as shown in FIG. The target travel route P is generated. Regarding the circuit path P3 of the target travel path P, the travel route generation unit 54 moves from the movement locus acquired by the height information acquisition unit 58 according to the work height of the work device 12 connected to the tractor 1. A locus is selected, and the selected movement locus is generated as an orbital path P3 (outermost orbital path P3) that is closest to the boundary portion S1 of the traveling region S.

[Another Embodiment]
Other embodiments of the present invention will be described.
It should be noted that the configurations of the respective embodiments described below are not limited to being applied independently, but can also be applied in combination with the configurations of other embodiments.

(1) The configuration of the work vehicle can be changed in various ways.
For example, the work vehicle may be configured to have a hybrid specification including an engine 9 and an electric motor for traveling, or may be configured to have an electric specification including an electric motor for traveling instead of the engine 9. ..
For example, the work vehicle may be configured as a semi-crawler specification in which left and right crawlers are provided instead of the left and right rear wheels 6 as a traveling portion.
For example, the work vehicle may be configured with rear wheel steering specifications in which the left and right rear wheels 6 function as steering wheels.

(2) In the above embodiment, as shown in FIG. 9, the tractor 1 is provided with a height detection sensor 105 for detecting the height of the boundary portion S1 of the traveling region S, but the height detection sensor 105 is provided. It is also possible to detect the height of the boundary portion S1 of the traveling region S by using a sensor already provided in the tractor 1, for example, a rider sensor 101, 102, a sonar unit 103, 104, or the like.

(3) In the above embodiment, the mobile communication terminal 3 is provided with a traveling route generation unit 54, a boundary unit information generation unit 56, a movement locus acquisition unit 55, a height information acquisition unit 58, a vehicle body information input unit 59, and the like. Although shown, for example, the traveling route generation unit 54, the boundary information generation unit 56, the movement locus acquisition unit 57, the height information acquisition unit 58, the vehicle body information input unit 59, etc. are managed on the work vehicle side of the tractor 1 or externally. It can also be provided for equipment and the like.

1 Tractor (working vehicle)
21 Positioning unit (working vehicle position information acquisition unit)
25 Communication module (working device information acquisition unit)
54 Travel route generation unit 56 Boundary unit information generation unit 57 Movement locus acquisition unit 58 Height information acquisition unit 59 Vehicle body information input unit 105 Height detection sensor (height detection unit)
121 Communication module (communication unit on the work equipment side)
P Target travel route P3 Circular route S Travel region S1 Boundary portion of travel region

Claims (5)

The work vehicle position information acquisition unit that acquires the position information of the work vehicle,
A height information acquisition unit that acquires height information as seen from the inside of the traveling area of the boundary portion, which is a position higher than the inside of the traveling region when the work vehicle is orbited on the boundary portion side of the traveling region.
When the work vehicle is orbited on the boundary side of the traveling area, the position information acquired by the work vehicle position information acquisition unit and the height information acquired by the height information acquisition unit are associated with each other for traveling. Boundary information generator that generates boundary information including position information and height information about the boundary of the area,
A travel route generation device including a travel route generation unit that generates a target travel route in a travel region based on the boundary information generated by the boundary information generation unit. The height information acquisition unit is provided with a height detection unit that detects the height of the object to be measured in the work vehicle, and when the work vehicle orbits the boundary portion side of the traveling region, the height detection unit The travel route generation device according to claim 1, wherein the height information of the boundary portion of the travel region is acquired based on the detection information. The height information acquisition unit is connected to the work vehicle position information acquired by the work vehicle position information acquisition unit and the work vehicle when the work vehicle is orbited around the boundary portion of the traveling area. The traveling route generation device according to claim 1, wherein the height information of the boundary portion of the traveling area is acquired based on the working height information of the working device. A work device information input unit for inputting work device information related to the work device connected to the work vehicle is provided.
The travel route generation device according to any one of claims 1 to 3, wherein the travel route generation unit generates a target travel route according to the work device information input by the work device information input unit. A work device side communication unit that is provided on the work device side and is capable of communicating work device information related to the work device connected to the work vehicle.
A work equipment information acquisition unit that freely communicates with the work equipment side communication unit and acquires work equipment information is provided.
The travel route generation device according to any one of claims 1 to 4, wherein the travel route generation unit generates a target travel route according to the work device information acquired by the work device information acquisition unit.

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