JP7138210B2 - Collaborative work system - Google Patents

Description

The present invention relates to a cooperative work system.

The route generation system generates a planned work route within a work target area such as a field, and causes a traveling work vehicle to autonomously work along the generated planned work route to perform work within the work target area. (See Patent Document 1, for example).

JP-A-9-128045

In the work target area, there is a case where it is desired to increase the number of work vehicles while the work is being performed by the traveling work vehicles. For example, when there is a traveling work vehicle that has completed work in another work target area, it is desired to add that traveling work vehicle to increase the number of traveling work vehicles.

However, the system described in Patent Document 1 only generates a planned work route within the work target area. Therefore, when changing the number of work vehicles, the planned work route must be generated from the beginning. Otherwise, the generation work becomes inefficient and complicated.

In view of this situation, the main object of the present invention is to provide a cooperative work system that can continue work efficiently even when the number of work vehicles is changed during work.

A cooperative work system according to an aspect of the present invention includes a work mode setting unit that sets a work mode in a specific work area by at least one work vehicle; and a work vehicle number change reception unit that receives a change in the number of work vehicles, and when the work vehicle number change reception unit receives a change in the number of work vehicles, the work mode setting unit responds to the number of work vehicles after the change. to change the working mode.

side view of tractor Tractor control block diagram A diagram showing a planned work route when one tractor is operated autonomously Diagram showing planned work routes when two tractors work autonomously Diagram showing the point in time when an increase in the number of tractors is received on the planned work route Diagram showing a correction work route when increasing the number of tractors from one to two FIG. 11 is a diagram showing a corrected work route when increasing the ratio of the outer peripheral area in the field when increasing the number of tractors from one to two; FIG. 4 is a diagram showing the operation for avoiding collision when the number of tractors is increased from one to two; A diagram showing the point in time when a decrease in the number of tractors on the planned work route is received Diagram showing a correction work route when reducing the number of tractors from two to one FIG. 4 is a diagram showing the operation for avoiding collision when the number of tractors is reduced from two to one; A diagram showing a correction work route in another embodiment when the number of tractors is increased from one to two. A diagram showing a correction work route in another embodiment when the number of tractors is increased from one to two. FIG. 11 is a diagram showing a modified work route in another embodiment when the number of tractors is reduced from two to one;

An embodiment in which a cooperative work system (route generation system) according to the present invention is applied to an autonomous driving system will be described with reference to the drawings.
This autonomous traveling system is configured such that a planned work route is generated by a route generation system, and a tractor 1 as a work vehicle can autonomously travel along the generated planned work route.

First, the tractor 1 will be described based on FIG.
The tractor 1 has a vehicle body 2 to which a working machine 50 can be attached on the rear side. Supported. A bonnet 5 is arranged in the front part of the vehicle body part 2, and an engine 6 as a driving source is accommodated in the bonnet 5. - 特許庁On the rear side of the hood 5, a cabin 7 is provided for the driver to board, and the cabin 7 includes a steering handle 8 for steering operation by the driver, a driver's seat 9, and the like. It is

The engine 6 can be configured by, for example, a diesel engine, but is not limited to this, and may be configured by, for example, a gasoline engine. Also, an electric motor may be employed in addition to or instead of the engine 6 as a drive source.

In this embodiment, the tractor 1 will be described as an example of a work vehicle. Vehicles are also included.

A three-point link mechanism composed of a pair of left and right lower links 10 and an upper link 11 is provided on the rear side of the vehicle body 2, and a working machine 50 can be attached to the three-point link mechanism. Although not shown, an elevating device having a hydraulic device such as an elevating cylinder is provided on the rear side of the vehicle body 2, and the elevating device elevates the work machine 50 by elevating the three-point link mechanism. ing.

As for the working machine 50, FIG. 1 illustrates a case where a tilling device is attached, but it is not limited to the tilling device, and various working machines such as a plow and a fertilizing device can be applied.

As shown in FIG. 2, the tractor 1 includes a governor device 21 capable of adjusting the rotation speed of the engine 6, a transmission device 22 for transmitting rotational driving force from the engine 6 to the driving wheels, the governor device 21 and a transmission. A control unit 23 and the like capable of controlling the device 22 are provided. The transmission 22 is configured, for example, by combining a main transmission made up of a hydraulic continuously variable transmission and a sub-transmission made up of a gear type multi-stage transmission.

The tractor 1 can be driven not only by a driver in the cabin 7 but also by the control unit 23 based on instructions from the wireless communication terminal 30 even if the driver is not in the cabin 7. The tractor 1 as an autonomously traveling work vehicle is configured to be capable of autonomous work.

As shown in FIG. 2, the tractor 1 includes a steering device 24, a positioning antenna 25, a wireless communication antenna 26, etc., and acquires its own current position information (position information of the vehicle body 2). configured to work.

The steering device 24 is provided, for example, in the middle of the rotating shaft of the steering handle 8 and is configured to be able to adjust the rotation angle (steering angle) of the steering handle 8 . By controlling the steering device 24 with the control unit 23, not only straight traveling but also turning traveling with a desired turning radius can be performed by adjusting the rotation angle of the steering handle 8 to a desired rotation angle. The steering device 24 may adjust the steering angle of the front wheels 3 of the tractor 1 instead of adjusting the rotation angle of the steering handle 8. do not do.

The positioning antenna 25 is configured, as shown in FIG. 1, to receive signals from, for example, positioning satellites 63 that constitute a global positioning system (GNSS). The positioning antenna 25 is arranged on the upper surface of the roof 12 of the cabin 7 .

The wireless communication antenna 26 is configured to be able to transmit and receive various signals via a wireless communication network constructed with the wireless communication terminal 30 and the like. A wireless communication antenna 26 is arranged on the upper surface of the roof 12 of the cabin 7 . A signal received by the wireless communication antenna 26 can be input to the control unit 23 as shown in FIG. It is configured to be able to transmit to the device 31 or the like.

Here, as a positioning method using a satellite positioning system, a reference station 60 installed at a predetermined reference point is provided, and satellite positioning information of the tractor 1 (mobile station) is corrected by correction information from the reference station 60. , a positioning method for obtaining the current position of the tractor 1 can be applied. For example, various positioning methods such as DGPS (differential GPS positioning) and RTK positioning (real-time kinematic positioning) can be applied. Incidentally, as for the positioning method, independent positioning can also be used without having the reference station 60 .

In this embodiment, for example, RTK positioning is applied, and as shown in FIGS. A reference station 60 is provided. The reference station 60 is arranged at a position (reference point) that does not interfere with the travel of the tractor 1, such as around a field. The position information of the reference point, which is the installation position of the reference station 60, is set in advance. The reference station 60 includes a reference station wireless communication device 61 capable of wirelessly communicating various signals via a wireless communication network constructed by the wireless communication antenna 26 of the tractor 1, the wireless communication device 31 of the wireless communication terminal 30, and the like. , various information can be transmitted and received between the reference station 60 and the tractor 1 and between the reference station 60 and the wireless communication terminal 30 .

In RTK positioning, the carrier wave phase (satellite positioning information) from the positioning satellite 63 is measured by both the reference station 60 installed at the reference point and the positioning antenna 25 of the tractor 1 on the side of the mobile station whose position information is to be obtained. is doing. In the reference station 60, each time the satellite positioning information is measured from the positioning satellite 63 or each time a set period elapses, correction information including the measured satellite positioning information and reference point position information is generated, and the reference station wireless communication device 61 transmits the correction information to the wireless communication antenna 26 of the tractor 1 . The control unit 23 of the tractor 1 obtains the current position information of the tractor 1 by correcting the satellite positioning information measured by the positioning antenna 25 using the correction information transmitted from the reference station 60 . The control unit 23 obtains, for example, latitude information and longitude information as the current position information of the tractor 1 .

In the autonomous traveling system, in addition to the tractor 1 and the reference station 60, a radio communication terminal 30 capable of instructing the autonomous work of the tractor 1 to the control unit 23 of the tractor 1 is provided. The wireless communication terminal 30 is composed of, for example, a tablet-type personal computer having a touch panel, and can display various information on the touch panel, and can input various information by operating the touch panel.

As shown in FIG. 2, the radio communication terminal 30 includes a radio communication device 31 capable of radio communication with the radio communication antenna 26 of the tractor 1 and the reference station radio communication device 61 of the reference station 60, and a route generator 32 for generating planned work routes K1, K2, K3 (see FIGS. 3 and 4). In order to generate the planned work paths K1, K2, and K3 in the route generation unit 32, the wireless communication terminal 30 also has a work area R1 for the tractor 1 (for example, the central side of the field H in FIGS. 3 and 4). (rectangular area)) is provided.

Incidentally, FIG. 3 shows an example of the planned work route K1 generated by the route generation unit 32 in the case of independent work in which one tractor 1 performs autonomous work alone. FIG. 4 shows an example of the planned work paths K2 and K3 generated by the path generation unit 32 in the case of cooperative work in which two tractors 1, ie, the tractor 1a and the tractor 1b cooperate to perform autonomous work. FIG. 4 shows accompanying work in which the tractor 1a and the tractor 1b work on different work paths Ka in a form in which the tractor 1a starts the work first and the tractor 1b starts the work later as the cooperative work. K2 indicates a planned work route (route indicated by a solid line in the drawing) corresponding to the tractor 1a, and K3 indicates a planned work route (route indicated by a dotted line in the drawing) corresponding to the tractor 1b. there is 3 and 4 are only examples, and it is possible to appropriately change what kind of route the route generating unit 32 generates as the planned work route.

The work mode setting unit 33 is configured to be able to set tractor information (working vehicle information), field information, and work information as work modes. The tractor information includes information indicating, for example, the model of the tractor 1, the size (length and width) of the tractor 1, the type and size (width) of the work implement 50, the target vehicle speed and target engine rotation speed for autonomous work, and the like. is. The field information includes, for example, the shape of the field, the work start position (the position indicated by S1 in FIG. 3, the positions indicated by S2 and S3 in FIG. 4), the work end position (the position indicated by G1 in FIG. position indicated by G2 and G3 in ), working direction (direction indicated by arrows in FIGS. 3 and 4), information indicating the presence or absence of obstacles and the position of obstacles. The work information includes presence/absence of cooperative work indicating whether the work is performed by one tractor 1 alone or coordinated work is performed by a plurality of tractors 1, and the work area (Fig. 3 and 4) (region indicated by R1 in FIG. 4)), and information indicating the width of an outer peripheral region (for example, a headland region indicated by R2 in FIGS. 3 and 4).

When setting the tractor information, for example, items that can be set as the tractor information, such as the model and size of the tractor 1, are displayed on the display unit of the wireless communication terminal 30. FIG. The items can be displayed one by one, or a plurality of items can be displayed at the same time. By displaying the items in this manner, the operator or the like can operate the touch panel to input various information for each of the plurality of items. Similarly, when setting field information and work information, items that can be set are displayed on the display unit of the wireless communication terminal 30, and the operator or the like operates the touch panel to display various items for each of the plurality of items. information can be entered.

The work mode setting unit 33 sets tractor information, field information, and work information based on the input information. As shown in FIGS. 2 to 4, the work mode setting unit 33 is provided with a region setting unit 34 capable of setting a work region R1 and an outer peripheral region R2 set around the work region R1 in the field H. there is The area setting unit 34 sets the work area R1 and the outer area R2 when information such as the width of the outer area R2 is input as work information.

As shown in FIG. 2, the wireless communication terminal 30 is provided with a storage unit 35 for storing various kinds of information. Remember. The storage unit 35 stores, for example, tractor-specific information in which the tractor 1 and the tractor information set for the tractor 1 are associated with each other. remembers information. Thus, when setting the tractor information and the field information, the individual tractor information and the field individual information stored in the storage unit 35 are read out and displayed on the display unit of the wireless communication terminal 30 so that the operator can set the individual tractor information. Information and individual field information can be selected.

As shown in FIGS. 3 and 4, the route generation unit 32 determines the tractor based on the work mode set by the work mode setting unit 33 and the work area R1 and the outer peripheral area R2 set by the area setting unit 34. 1 is configured to generate scheduled work paths K1, K2, and K3 for autonomous work. For example, in the example shown in FIGS. 3 and 4 , the route generation unit 32 moves back and forth in the work area R1 in the field H, and from the work start positions S1, S2, and S3 set by the work mode setting unit 33. Routes to work end positions G1, G2, and G3 are generated as planned work routes K1, K2, and K3.

The planned work routes K1, K2, and K3 are configured as routes including a work route Ka for performing work such as tillage while autonomously traveling and a connection route Kb for autonomously traveling from the work route Ka to the next work route Ka. The work route Ka is generated for the work region R1, and the connection route Kb is generated for the outer peripheral region R2 (headland). The work path Ka is a linear path for autonomous work from one end to the other end in the work area R1 in the field H, and this linear path extends across the entire work area R1. A plurality of them are generated so as to be lined up adjacent to each other in the direction. The connection path Kb is generated as a circular path that connects the ends of the two work paths Ka aligned in the width direction of the field H. As shown in FIG.

The wireless communication terminal 30 transmits various kinds of information for causing the tractor 1 to work autonomously, such as the scheduled work paths K1, K2, and K3 generated by the route generation unit 32 and the autonomous work start command, via the wireless communication network. It is configured to be able to transmit to the control unit 23 of the tractor 1 . The control unit 23 of the tractor 1 is configured to start the autonomous work of the tractor 1 when it receives information such as the scheduled work routes K1, K2, and K3 from the wireless communication terminal 30 and receives an autonomous work start command. ing. Then, the control unit 23 of the tractor 1 acquires the tractor information from the reception signal of the positioning antenna 25 so that the tractor 1 performs autonomous work along the planned work routes K1, K2, and K3 generated by the route generation unit 32. It is configured to control the governor device 21, the transmission device 22, the steering device 24, and the like based on one piece of current position information.

When the autonomous work of the tractors 1 is performed in the work area R1 in the field H, it may be desired to change the number of the tractors 1 during the work. For example, if there is a tractor 1 that can be added, such as when there is a tractor 1 that has finished autonomous work in another field, the tractor 1 can be added to increase the number of tractors 1 . Conversely, if there is a tractor 1 that should be used to perform autonomous work in another field among the tractors 1 that are performing autonomous work, or if there is a tractor 1 whose fuel is running low, the tractor 1 is detached. 1 can also be reduced.

Therefore, when the number of tractors 1 is changed, a configuration is provided for performing autonomous work with the changed number of tractors 1. This point will be described below.

As shown in FIG. 2, the wireless communication terminal 30 is provided with a work vehicle number change reception unit 36 that receives a change in the number of tractors 1 that perform autonomous work within the work area R1. For example, an operation unit for receiving a change in the number of tractors 1 is displayed on the display unit of the wireless communication terminal 30, and a worker or the like operates the operation unit, so that the work vehicle number change reception unit 36 changes the number of tractors 1. can accept changes in the number of

For example, as shown in FIGS. 3 and 4, the route generation unit 32 has already generated the planned work routes K1, K2, and K3, but the work vehicle number change reception unit 36 changes the number of tractors 1. Upon receipt, the work path Ka, which is not yet performing autonomous work, among the scheduled work paths K1, K2, and K3 is modified according to the work mode after the change and the number of tractors 1 after the change, and the corrected work path P (Fig. 6 and FIG. 10).

Then, the wireless communication terminal 30 receives information indicating that the change in the number of tractors 1 has been received by the work vehicle number change reception unit 36, the corrected work route P replaced by the route generation unit 32, and the autonomous work start command. Various information for causing the tractor 1 to work autonomously after the change in number is transmitted to the control unit 23 of the tractor 1 that performs autonomous work after the change in number via the wireless communication network. The control unit 23 of the tractor 1, which performs autonomous work after the change in the number of units, performs positioning so that the tractor 1 performs autonomous work along the corrected work route P (see FIGS. 6 and 10) replaced by the route generation unit 32. The governor device 21 , the transmission device 22 , the steering device 24 and the like are controlled based on the current position information of the tractor 1 obtained from the signal received by the antenna 25 .

(Increase in the number of tractors 1)
A case where the number of tractors 1 is increased from one to two will be described with reference to FIGS. 3, 5 and 6. FIG. In FIGS. 5 and 6, the tractor 1a is the first tractor already performing autonomous work, and the tractor 1b is the second tractor to be added. Both the first tractor 1a and the second tractor 1b have the same configuration as the tractor 1 described above with reference to FIGS.

FIG. 3 shows a planned work route K1 already generated by the route generation unit 32 when autonomous work is performed with one tractor 1 before the number of tractors is changed. FIG. 5 shows at what point in time a change in the number of tractors 1 was received by the work vehicle number change reception unit 36 on the already generated scheduled work route K1. In the example shown in FIG. 5, autonomous work is being carried out on the second work route Ka from the left in the planned work route K1. FIG. 6 shows a modified work path P that is replaced by the path generator 32 when two tractors 1 after the change in the number of tractors perform autonomous work.

When increasing the number of tractors 1 from one to two, first, the operator or the like operates the operation unit for changing the number displayed on the display unit of the wireless communication terminal 30, thereby increasing the number of tractors 1. order additions. The work vehicle number change reception unit 36 receives an increase in the number of tractors 1 from one to two by this additional command. Incidentally, in place of the additional command, for example, after the operator or the like confirms that wireless communication has been established by the wireless communication network between the wireless communication terminal 30 and the tractor 1b to be added, the display of the wireless communication terminal 30 The addition of the tractor 1 can be permitted by the operator or the like operating the operation unit for changing the number of tractors displayed in the section. With this permission for addition, the work vehicle number change reception unit 36 can also receive an increase in the number of tractors 1 from one to two.

When the work vehicle number change reception unit 36 receives an increase in the number of tractors 1, the wireless communication terminal 30 transmits information indicating that the work vehicle number change reception unit 36 has received an increase in the number of tractors 1 by wireless communication. It is transmitted to the control section 23 of the tractor 1a via the network. The control unit 23 of the tractor 1a recognizes that the increase in the number of tractors 1 has been accepted while continuing the autonomous work along the planned work route K1. Incidentally, when the control unit 23 of the tractor 1a receives the information indicating that the number of work vehicles change reception unit 36 has received an increase in the number of tractors 1, it not only continues the autonomous work along the planned work route K1 but also , the tractor 1 can also be stopped at the received position.

As for the tractor 1b to be added, the worker or the like inputs tractor information and work information to the wireless communication terminal 30, and the work mode setting unit 33 determines the tractor for the tractor 1b to be added based on the input information. Set information and work information. Incidentally, since the field information is the same field, it is possible to use the already set field information as it is.

When the tractor information and work information of the tractor 1 to be added are set by the work mode setting unit 33, the route generation unit 32, as shown in FIG. As shown in FIG. 6, the work path K5 other than the work path K4 on which the tractor 1 works autonomously is changed according to the work mode after the change and the number of tractors 1 after the change. Replace with one or more modified work paths P including P1.

As shown in FIG. 5, when the work vehicle number change receiving unit 36 receives an increase in the number of tractors 1, the tractor 1a is autonomously working on the second work route Ka from the left in the figure. is. Therefore, as shown in FIG. 3, the path generation unit 32 divides the first work path Ka and the second work path Ka into a work path K4 (one-dot chain line ), and the third work path Ka and subsequent work paths Ka are specified as other work paths K5 (work paths Ka surrounded by two-dot chain lines in the figure). there is

In replacing the other work path K5 with the modified work path P, the path generation unit 32 replaces the other work path K5 (see FIG. 3) with the tractor 1a before the increase as shown in FIG. 1 modified work path P1 (work path Ka indicated by a solid line in the figure) is replaced with a second modified work path P2 (work path Ka indicated by a dotted line in the figure) on which the tractor 1b related to the increase performs autonomous work. It is In this case, the route along which the first tractor 1a performs the autonomous work is replaced as the first corrected work route P1, and the route along which the second tractor 1b performs the autonomous work is replaced as the second corrected work route P2. .

When the other work path K5 is replaced with the first correction work path P1 and the second correction work path P2, the path generation unit 32 creates a first correction work path connecting the first correction work path P1 to the next first correction work path P1. A connection path Q1 is generated, and a second correction connection path Q2 connecting from the second correction work path P2 to the next second correction work path P2 is generated.

When replacing the other work path K5 with the corrected work path P, the path generation unit 32 maintains the work direction that has already been set by the work mode setting unit 33 .

In replacing the other work path K5 with the corrected work path P, the path generation unit 32, as shown in FIG. part) and the second end (lower end in the figure) where the work end position G1 of the planned work path K1 is located. Then, as shown in FIG. 6, the path generation unit 32 sets the work start position S4 on the first correction work path P1 to the first end (lower end in the drawing), and sets the work start position S4 on the first correction work path P1. The end position G4 is set at the second end (lower end in the drawing).

In the one shown in FIG. 6, the path generation unit 32 sets the work start position S5 not only on the first correction work path P1 but also on the second correction work path P2 at the first end (lower end in the figure), The work end position G5 in the second correction work path P2 is set at the second end (lower end in the drawing).

In this way, the work start positions S1, S4, and S5 of the planned work path K1, the first corrected work path P1, and the second corrected work path P2 are set at the same end in the width direction of the field H. In addition, the work end positions G1, G4, and G5 on each of the planned work path K1, the first corrected work path P1, and the second corrected work path P2 are also at the same end in the width direction of the field H. Can be set to part.

Here, in the tractor information of the tractor 1b to be added, if the size (width) of the working machine 50 is larger than that of the already set first tractor 1a, the connection route in the outer peripheral region R2 (headland) The turning radius when autonomously traveling Kb is larger than that of the first tractor 1a. Therefore, when the additional tractor 1b autonomously travels along the connection route Kb, it is necessary to make the width of the outer peripheral region R2 larger than that of the first tractor 1a.

Therefore, when an increase in the number of tractors 1 is received by the work vehicle number change reception unit 36, the region setting unit 34 sets the ratio of the outer peripheral region R2 in the field H according to the working width of the tractors 1 related to the increase. It is configured so that it can be increased. When the region setting unit 34 increases the ratio of the outer peripheral region R2 in the field H, the wireless communication terminal 30 notifies the worker or the like that the ratio of the outer peripheral region R2 in the field H is to be increased. is displayed and an alarm is issued.

As shown in FIG. 7, when setting the tractor information of the first tractor 1a, the area setting unit 34 sets the outer peripheral area according to the working width of the first tractor 1a (horizontal width of the working machine 50). The width W1 of R2 is set. At this time, in the tractor information of the second tractor 1b to be added, if the working width of the tractor 1 (the lateral width of the working machine 50) is larger than that of the first tractor 1a, the area setting unit 34 The width W2 (>width W1) of the outer peripheral region R2 is changed according to the working width of the tractor 1b (the lateral width of the working machine 50).

In this way, when the area setting unit 34 increases the ratio of the outer peripheral area R2 in the field H according to the increased working width of the tractor 1, the route generating unit 32 sets the outer peripheral area R2 as shown in FIG. is increased (the width of the outer peripheral region R2 is changed to W2), the other work path K5 is replaced with the first correction work path P1 and the second correction work path P2.

When the route generation unit 32 replaces the other work route K5 with the corrected work route P, the wireless communication terminal 30 receives the corrected work route P replaced by the route generation unit 32, the autonomous work start command, etc., the tractor 1a and the tractor. Various kinds of information for causing the tractor 1b to work autonomously are transmitted to the controllers 23 of the tractors 1a and 1b via a wireless communication network. The control unit 23 of the tractor 1a acquires the current position of the tractor 1a from the signal received by the positioning antenna 25 so that the tractor 1a performs autonomous work along the first correction work route P1 replaced by the route generation unit 32. It is configured to control the governor device 21, the transmission device 22, the steering device 24, etc. based on the information. Also in the tractor 1b, the control unit 23 controls the tractor 1b obtained from the reception signal of the positioning antenna 25 so that the tractor 1b performs autonomous work along the second correction work route P2 replaced by the route generation unit 32. It is configured to control the governor device 21, the transmission device 22, the steering device 24 and the like based on the current position information of 1b.

When the two tractors 1a and 1b perform autonomous work along the correction work path P, the tractor 1a performs the autonomous work first along the first correction work path P1, and the tractor 1b is the tractor. After 1a passes the work start position S4 of the first correction work path P1, autonomous work is performed along the second correction work path P2.

For example, as shown in FIG. 5, when an increase in the number of tractors 1 is received, the work route Ka in the planned work route K1 is in the middle of the work route Ka, but the tractor 1a continues along the planned work route K1 along the work route Ka. By continuing the autonomous work up to the end, the tractor 1a reaches the work start position S4 on the first correction work path P1 as shown in FIG. Then, the control unit 23 of the tractor 1a continues the autonomous work along the first correction work path P1, so that the autonomous work is performed along the first correction work path P1 from the work start position S4. At this time, regarding the tractor 1b, after the tractor 1a reaches the work start position S4 on the first correction work path P1, the operator or the like moves the tractor 1b to the work start position S5 on the second correction work path P2, By issuing an autonomous work start command or the like from the wireless communication terminal 30, the control unit 23 of the tractor 1b performs autonomous work along the second correction work path P2. Thus, autonomous work can be performed without the tractor 1a and the tractor 1b colliding.

(Decrease in number of tractors 1)
Next, a case where the number of tractors 1 is reduced from two to one will be described with reference to FIGS. 4, 9 and 10. FIG. 4, 9 and 10, of the tractor 1a and the tractor 1b, the tractor 1 to be separated is referred to as the tractor 1b.

FIG. 4 shows the planned work paths K2 and K3 already generated by the path generation unit 32 when two tractors 1 before the change in the number of tractors perform autonomous work. The planned work route K2 corresponds to the tractor 1a, and the planned work route K3 corresponds to the tractor 1b. FIG. 9 shows at what point in time a change in the number of tractors 1 was received by the work vehicle number change receiving unit 36 on the already generated scheduled work routes K2 and K3. In the example shown in FIG. 9, the tractor 1a is autonomously working along the planned work route K2 along the first work route Ka from the left in the figure, and the tractor 1b is engaged in the planned work route K3, second from the left in the drawing. Autonomous work is being carried out in the middle of the first work path Ka. FIG. 10 shows a modified work path P that is replaced by the path generator 32 when autonomous work is performed by one tractor 1 after the number of tractors is changed.

When reducing the number of tractors 1 from two to one, first, the operator or the like operates the operation unit for changing the number displayed on the display unit of the wireless communication terminal 30, thereby reducing the number of tractors 1. order to leave. The work vehicle number change reception unit 36 receives the request to reduce the number of tractors 1 from two to one by this detachment command. Incidentally, in place of the command to leave as described above, for example, after confirming that the wireless communication by the wireless communication network between the wireless communication terminal 30 and the tractor 1b to leave has been interrupted, When the operator or the like operates the operation unit for changing the number of tractors displayed on the display unit of the communication terminal 30, the tractor 1 can be permitted to leave. With this permission to leave, the work vehicle number change reception unit 36 can also receive a reduction in the number of tractors 1 from two to one.

When the work vehicle number change receiving unit 36 receives the decrease in the number of tractors 1, the wireless communication terminal 30 transmits information indicating that the work vehicle number change receiving unit 36 has received the decrease in the number of tractors 1 by wireless communication. It is transmitted to the control unit 23 of the tractor 1a and the tractor 1b via the network. The control unit 23 of the tractor 1a recognizes that the number of tractors 1 has been reduced while continuing the autonomous work along the scheduled work route K2. We are aware that we have received a reduction in the number of tractors 1 while continuing autonomous work along the road.

As shown in FIG. 4, the path generation unit 32, among the planned work paths K2 and K3, creates a work path K5 other than the work path K4 in which the work is performed according to the work mode before the change and the work mode after the change. According to the number of tractors 1 after the change, as shown in FIG. 10, one or more modified work paths P including a first modified work path P1 on which the autonomous working vehicle performs autonomous work are replaced.

As shown in FIG. 9, when the work vehicle number change reception unit 36 receives a decrease in the number of tractors 1, the tractor 1a is autonomously working in the middle of the first work route Ka from the left in the figure. Moreover, this is the time when the tractor 1b is autonomously working in the middle of the second working path Ka from the left in the figure. Therefore, as shown in FIG. 4, the path generation unit 32 selects the first to fourth work paths Ka as work paths K4 (surrounded by a dashed line in the figure) on which work is performed in the work mode before the change. The fifth work path Ka and subsequent work paths Ka are specified as another work path K5 (work path Ka surrounded by a chain double-dashed line in the figure).

In replacing the other work path K5 with the modified work path P, the path generation unit 32 converts the other work path K5 (see FIG. 4) to a first modification work path in which the tractor 1a performs autonomous work, as shown in FIG. It is configured to replace the route P1. After replacing the other work path K5 with the first corrected work path P1, the path generation unit 32 generates a first corrected connection path Q1 that connects the first corrected work path P1 to the next first corrected work path P1. there is

When replacing the other work path K5 with the first corrected work path P1, the path generation unit 32 maintains the work direction that has already been set by the work mode setting unit 33.

Further, in replacing the other work path K5 with the corrected work path P, the path generation unit 32 generates a first end of the planned work path K2 at which the work start position S2 is located in the work area R1, as shown in FIG. (lower end in the drawing) and the second end (lower end in the drawing) where the work end position G2 of the planned work route K2 is located. Then, as shown in FIG. 10, the path generation unit 32 sets the work start position S4 on the first correction work path P1 to the first end (lower end in the drawing), and sets the work start position S4 on the first correction work path P1. The end position G4 is set at the second end (lower end in the drawing).

In this way, the work start positions S2 and S4 on the planned work path K2 and the first corrected work path P1 can be set at the same end in the width direction of the field H, and the planned work path The work end positions G2 and G4 on K2 and the first correction work path P1 can also be set at the same end in the width direction of the field H.

Here, in the tractor information of the tractor 1a that does not leave, if the size (lateral width) of the working machine 50 is smaller than that of the tractor 1b that leaves, the connection route Kb in the outer peripheral region R2 (headland) is automatically traveled. The turning radius of the tractor 1a that does not leave is smaller than that of the tractor 1b that leaves. Therefore, after the tractor 1b leaves, the width of the outer peripheral region R2 can be reduced.

However, the region setting unit 34 maintains the proportion of the outer peripheral region R2 in the field H when the work vehicle number change receiving unit 36 receives a decrease in the number of tractors 1 . As a result, when the work vehicle number change receiving unit 36 receives a decrease in the number of tractors 1, the width W3 of the outer peripheral region R2 is not changed before and after the tractor 1b leaves, as shown in FIGS. . Then, the path generation unit 32 replaces the other work path K5 with the first corrected work path P1 while maintaining the ratio of the outer peripheral area R2 (while maintaining the width of the outer peripheral area R2 at W3). .

When the path generation unit 32 replaces the other work path K5 with the first corrected work path P1, the wireless communication terminal 30 receives the first corrected work path P1 replaced by the path generation unit 32, the autonomous work start command, etc. Various kinds of information for causing the reduced number of tractors 1a to work autonomously are transmitted to the control units 23 of the tractors 1a and 1b via the wireless communication network. After completing the autonomous work in the work area R1, the leaving tractor 1b moves to a predetermined position V (see FIG. 11) in the outer peripheral area R2. Autonomous work is performed along the correction work path P1.

For example, as shown in FIG. 9, the time when the decrease in the number of vehicles is received is in the middle of the work route Ka in the planned work route K2. The control unit 23 continues the autonomous work up to the end of the work route Ka in the planned work route K3 (the end on the side where the work start position S3 is located). For example, as shown in FIG. 11, the control unit 23 of the tractor 1b to leave continues the autonomous work up to the second work path Ka and the third work path Ka from the left in the figure, and in the outer peripheral area R2 The end of the planned work route K3 on the side where the work start position S3 is located is reached. After that, the control unit 23 of the tractor 1b causes the tractor 1b to travel autonomously to a predetermined position V, which is a set distance away from the work start position S3 in the outer peripheral region R2 (opposite to the direction in which the tractor 1a that does not depart autonomously travels). , the tractor 1 is stopped at a predetermined position V. The control unit 23 of the tractor 1b transmits information indicating that the tractor 1b has stopped at the predetermined position V to the wireless communication terminal 30 via the wireless communication network. Information indicating that the tractor 1a has stopped is transmitted to the control unit 23 of the tractor 1a that does not leave via the wireless communication network.

On the other hand, the control unit 23 of the tractor 1a that does not leave continues the autonomous work along the planned work path K1 and moves to the work start position S4 on the first corrected work path P1. When the control unit 23 of the tractor 1a determines that the tractor 1b is not stopped at the predetermined position V based on the information transmitted from the wireless communication terminal 30, the control unit 23 stops the tractor 1a at the work start position S4, and performs the first correction work. Waiting for the start of the autonomous work on the route P1. Then, when the control unit 23 of the tractor 1a determines that the tractor 1b has stopped at the predetermined position V based on the information transmitted from the wireless communication terminal 30, autonomous work is started along the first correction work path P1. Thus, autonomous work can be performed without the tractor 1a and the tractor 1b colliding.

Incidentally, when the tractor 1a reaches the work start position S4 on the first corrected work path P1 before the tractor 1b finishes the autonomous work along the planned work path K2, the control unit 23 of the tractor 1a When the work start position S4 of the correction work path P1 is reached, the autonomous work can be continued along the first correction work path P1.

[Another embodiment]
(1) In the above embodiment, when the number of tractors 1 is increased from one to two, the path generator 32 replaces the other work path K5 (see FIG. 3) with the corrected work path P shown in FIG. However, for example, it can be replaced with the correction work path P shown in FIG.

In FIG. 12(a), the corrected work path P is formed from a first corrected work path P1 (work path Ka) on which the tractor 1a autonomously works and a second corrected work path P2 (work path Ka) on which the tractor 1b autonomously works. Thus, the first correction work path P1 and the second correction work path P2 are arranged adjacently and alternately.

In FIG. 12(b), the corrected work path P is formed from a first corrected work path P1 (work path Ka) on which the tractor 1a autonomously works and a second corrected work path P2 (work path Ka) on which the tractor 1b autonomously works. Become. Then, the work end position G4 of the first corrected work path P1 is set at the center of the field H in the direction orthogonal to the work path Ka, and the work end position G5 of the second corrected work path P2 is set in the direction orthogonal to the work path Ka. By setting at the edge of the field H, the tractor 1a finishes the autonomous work in the center of the field H in the direction perpendicular to the work path Ka, and the tractor 1b moves the field H in the direction perpendicular to the work path Ka. Autonomous work is performed up to the end.

For example, when the tractor 1a is low in fuel, it is effective to replace it with the modified work path P shown in FIG. 12(b). Incidentally, in FIG. 12(b), the first correction work path P1 is set to two work paths Ka, but the first correction work path P1 is set to several work paths Ka according to the amount of remaining fuel. You can change whether

In FIG. 12(c), the corrected work path P is formed from a first corrected work path P1 (work path Ka) on which the tractor 1a autonomously works and a second corrected work path P2 (work path Ka) on which the tractor 1b autonomously works. Thus, another work path K5 (see FIG. 3) is divided into two areas, and the divided areas are divided into the first correction work path P1 and the second correction work path P2. In FIG. 12(c), another work path K5 (see FIG. 3) is divided into a left area and a right area in the figure, and the work path Ka in the left area is the first corrected work path P1. The work path Ka in the right area is replaced with the second corrected work path P2.

(2) In the above embodiment, the case where the route generation unit 32 generates the planned work route K1 shown in FIG. 3 has been described. It is also possible to change what kind of planned work path K1 is to be generated.

In FIG. 13(a), the planned work route K1 with the number of skips=1 is generated. The number of skips indicates how many other work paths Ka are arranged between the work path Ka and the next work path Ka on which work is performed next to the work path Ka. In this case, the tractor 1 performs autonomous work sequentially in the form of skipping one work path Ka (work path Ka indicated by a solid line in the drawing), and the tractor 1 performs the autonomous work in a direction perpendicular to the work path Ka, on the side where the work end position G1 is located. When reaching the end of the field H, it returns to the end of the field H on the side where the work start position S1 is located in the direction orthogonal to the work path Ka. Then, the tractor 1 performs autonomous work sequentially on the remaining work paths Ka (work paths Ka indicated by dotted lines in the figure) skipped one by one.

At this time, for example, as indicated by the dotted line in FIG. When the number change reception unit 36 receives an increase in the number of tractors 1 from one to two, the route generation unit 32 changes the work route for which the autonomous work has not yet been completed, as shown in FIG. 13(b). Ka can be replaced by the first modified work path P1 and the second modified work path P2.

In FIG. 13(b), during the autonomous work along the work route Ka indicated by the fourth solid line from the left in the figure, the work vehicle number change reception unit 36 changes the number of tractors 1 from one to two. has been received, the path generation unit 32 allows the first to fourth work paths Ka from the left of the work paths Ka indicated by the solid lines in the figure to be carried out according to the work mode before the change. Among the work paths Ka indicated by the solid lines in the figure, the fifth and sixth work paths Ka from the left and the work paths Ka indicated by the dotted lines in the figure are specified as other work paths. . Then, the path generating unit 32 replaces the fifth and sixth task paths Ka from the left among the task paths Ka indicated by the solid lines in the figure with the first corrected task paths P1, and replaces the task paths Ka indicated by the dotted lines in the figure. The path Ka is replaced with the second correction work path P2.

(3) In the above embodiment, when the number of tractors 1 is reduced from two to one, the path generator 32 replaces the other work path K5 (see FIG. 3) with the corrected work path P shown in FIG. However, for example, it can be replaced with a correction work path P shown in FIG.

FIG. 10 shows the correction work path P (first correction work path P1) with the number of skips=0, and FIG. 14 shows the correction work path P (first correction work path P1) with the number of skips=1. showing. As described above, the number of skips indicates how many other work paths Ka are arranged between the work path Ka and the next work path Ka on which work is performed next to the work path Ka. .

In FIG. 14, the tractor 1a, which does not leave, performs autonomous work in sequence from the work start position S4 of the first correction work path P1, skipping one work path Ka, and moves to the work end position G1 in the direction perpendicular to the work path Ka. When reaching the end of the field H on the side where is located, as indicated by the arrow in the figure, the work on the planned work route K2 among the remaining work routes Ka skipped in the direction perpendicular to the work route Ka is started. Return to the work path Ka closest to the position S2. Then, the tractor 1a is adapted to perform the autonomous work sequentially on the remaining work paths Ka skipped by one.

(4) In the above embodiment, the case of increasing the number of tractors 1 from one to two has been described. The number of tractors 1 can be increased, and the number of tractors 1 to be increased can be changed as appropriate.

Also, when the number of tractors 1 is reduced, it is not limited to reducing from two to one. For example, it is possible to reduce from three to one or three to two. The number of tractors 1 to be reduced can be changed as appropriate. When the number of tractors 1 is to be reduced, the tractor 1 to be detached can be selected according to the amount of fuel, for example, by detaching the tractor 1 in descending order of fuel.

(5) In the above embodiment, an example in which only the tractor 1 as the autonomously traveling working vehicle is provided as the working vehicle is shown. It is also possible to have a manned tractor 1 driven by, etc., and it is also possible to mix unmanned work vehicles and manned work vehicles.

(6) In the above embodiment, when a change in the number of tractors 1 is accepted, the information indicating that the increase or decrease in the number of tractors 1 has been accepted is sent to the controller 23 of the tractor 1a via the wireless communication network. However, the information may not be transmitted to the control unit 23 of the tractor 1a. That is, the tractor 1a controls the autonomous work of the tractor 1a along its own work path, and the control unit 23 of the tractor 1a does not operate until it acquires the first corrected work path P1 from the wireless communication terminal 30. , continue the autonomous work along the planned work path K1, acquire the first corrected work path P1 from the wireless communication terminal 30, and then execute the autonomous work along the first corrected work path P1. In this case, it is possible to continue the autonomous work without recognizing the existence of the tractors 1 related to the increase or the existence of the tractors 1 related to the decrease.

<Additional remarks of the invention>
A route generation system according to a first aspect includes a work mode setting unit that sets a work mode in a specific work area by a work vehicle including at least one autonomous traveling work vehicle;
a route generation unit that generates a planned work route along which the autonomous working vehicle performs autonomous work according to the work mode set by the work mode setting unit;
a work vehicle number change reception unit that receives a change in the number of work vehicles that perform work within the specific work area,
The work mode setting unit changes the work mode according to the number of work vehicles received by the work vehicle number change reception unit,
The route generation unit generates, among the scheduled work routes, the work routes other than the work route on which the work is performed according to the work mode before the change, according to the work mode after the change and the number of work vehicles after the change. is replaced with one or more correction work paths including a first correction work path on which the autonomous traveling work vehicle performs autonomous work.

According to this configuration, when the number of work vehicles is changed during work, the work vehicle number change reception section receives the change in the number of work vehicles, and the work mode setting section receives the change in the number of work vehicles by the work vehicle number change reception section. The work mode is changed according to the accepted number of work vehicles. Then, the route generation unit does not generate the planned work route from the beginning according to the work mode after the change and the number of work vehicles after the change, but excludes the work route where the work is performed according to the work mode before the change. Replace other work paths with modified work paths. As a result, the route generation unit only needs to replace the other work route with the corrected work route, and can efficiently and easily generate a route for causing the autonomously traveling work vehicle to work autonomously.

In the path generation system according to the second aspect, the path generation unit includes, in the work area, a first end where the work start position of the planned work path is located and a first end where the work end position of the planned work path is located. It is preferable to identify two ends, set the work start position in the first correction work path to the first end, and set the work end position in the first correction work path to the second end.

According to this configuration, when replacing another work route in the planned work route with the corrected work route, the route generation unit sets the work start position of the planned work route and the work start position of the first corrected work route to be the same. The work end position of the planned work path and the work end position of the first corrected work path can be set to the same second end. As a result, it is possible to easily replace another work route with the corrected work route, and to more efficiently generate a route for causing the autonomously traveling work vehicle to work autonomously.

In addition, since the planned work route usually sets the work start position and work end position in consideration of the entrance and exit of the work vehicle to the work area, even if it is replaced with the corrected work route, the work vehicle's movement to the work area will not occur. It is possible to set the work start position and the work end position of the first corrected work path while considering the entrance/exit. Therefore, even after the number of work vehicles is changed, the work vehicles can easily enter and leave the work area.

A route generation system according to a third aspect includes an area setting unit that sets the work area and an outer peripheral area set around the work area in a field,
When an increase in the number of work vehicles is received by the number-of-work-vehicles change reception unit, the area setting unit determines a ratio of the outer peripheral area in the farm field according to the work width of other work vehicles related to the increase. While it is possible to increase the number of working vehicles, it is preferable to maintain the proportion of the outer peripheral area in the farm field when a decrease in the number of working vehicles is received by the number-of-working-vehicles change reception unit.

When increasing the number of work vehicles, if the work width of the other work vehicle related to the increase is larger than the work width of the work vehicle before the increase, for example, when turning the work vehicle in the outer peripheral area, the work vehicle It is necessary to secure a larger turning radius than before the increase in the number of vehicles. Therefore, when an increase in the number of work vehicles is received by the work vehicle number change reception unit, the area setting unit increases the ratio of the peripheral area in the field according to the work width of the other work vehicles related to the increase. making it possible. Therefore, the other work vehicles related to the increase can be appropriately turned in the outer peripheral area, and the other work vehicles related to the increase as well as the work vehicles before the increase can be appropriately caused to perform autonomous work.

Conversely, when the number of work vehicles is reduced, if the work width of other work vehicles involved in the reduction (departing work vehicles) is larger than the work width of work vehicles not related to the decrease (work vehicles not detaching), For example, when turning work vehicles in the outer peripheral area, it is sufficient to ensure a smaller turning radius than before the reduction in the number of work vehicles. However, the area setting unit maintains the proportion of the outer peripheral area in the farm field when the reduction in the number of work vehicles is received by the work vehicle number change reception unit. As a result, the width of the outer peripheral area does not change before and after the number of work vehicles is reduced. Area work can be done easily.

In the route generation system according to the fourth aspect, when an increase in the number of work vehicles is received by the work vehicle number change reception unit, the other work route is the first corrected work route and the other work vehicles related to the increase. is replaced by a second modified work path that works,
It is preferable that the other work vehicle is controlled to perform autonomous work on the second correction work path after the autonomous traveling work vehicle has passed the work start position on the first correction work path.

According to this configuration, when an increase in the number of work vehicles is received by the work vehicle number change reception unit, it is only necessary to replace the other work routes with the first corrected work route and the second corrected work route. It is possible to easily replace the work path with the corrected work path. Then, the other work vehicles related to the increase perform autonomous work on the second correction work route. In this case, after the autonomous traveling work vehicle passes the work start position on the first correction work route, Autonomous work on the second correction work path is started. As a result, the autonomous work vehicle performing autonomous work on the first correction work path and the autonomous work vehicle performing autonomous work on the second correction work path do not collide with each other, and the autonomous work can be performed appropriately.

In the route generation system according to the fifth aspect, when a decrease in the number of work vehicles is received by the work vehicle number change reception unit, the other work route is replaced with a first corrected work route,
After completing the work in the work area, the other work vehicle related to the reduction moves to a predetermined position in the outer peripheral area set around the work area in the field, and the autonomous traveling work vehicle It is preferable to be controlled to perform autonomous work on the first correction work path after reaching the predetermined position.

According to this configuration, when a decrease in the number of work vehicles is received by the work vehicle number change reception unit, it is only necessary to replace the other work route with the first corrected work route, and the other work route is corrected work route. can be easily replaced. Other work vehicles related to the decrease (work vehicles that leave) move to a predetermined position in the outer peripheral area after completing work in the work area, whereas work vehicles that do not relate to the decrease (work vehicles that do not leave) move to a predetermined position in the outer peripheral area. The first correction work path is autonomously worked. In this case, the autonomously traveling work vehicle starts the autonomous work along the first correction work path after the work vehicle that is leaving has reached a predetermined position, so that the work vehicle that is leaving and the work vehicle that is not leaving do not collide. Autonomous work can be performed appropriately with a work vehicle that does not work.

A route generation system according to a sixth aspect includes a work mode setting unit that sets a work mode in a specific work area by at least one work vehicle;
a route generation unit that generates a work route along which the work vehicle works according to the work mode set by the work mode setting unit;
a work vehicle number change reception unit that receives a change in the number of work vehicles that perform work within the specific work area,
The work mode setting unit changes the work mode according to the number of work vehicles received by the work vehicle number change reception unit,
The work vehicles include one work vehicle that performs work according to the work mode before the change and at least one other work vehicle newly added due to the change in the number of work vehicles,
The route generation unit is characterized in that, during the work of the one work vehicle, the work route of the other work vehicle is generated based on the changed work mode.

A route generation system according to a seventh aspect is characterized in that the one work vehicle is manned and the other work vehicle is unmanned.

A route generation system according to an eighth aspect is characterized in that the route generation unit generates a work route along which the one work vehicle is scheduled to travel.

1 tractor (work vehicle)
32 Route generation unit 33 Work mode setting unit 36 Work vehicle number change reception unit

Claims (4)

a work mode setting unit that sets a work mode in a specific work area by at least one work vehicle;
a work vehicle number change reception unit that receives a change in the number of work vehicles that perform work within the specific work area,
When the work vehicle number change reception unit receives a change in the number of work vehicles, the work mode setting unit changes the work mode according to the changed number of work vehicles.
collaborative work system. The work vehicle number change reception unit receives a change in the number of work vehicles during work by the work vehicles.
The cooperative work system according to claim 1. The work vehicle number change reception unit receives an increase in the number of work vehicles due to the addition of the work vehicle when communication with the work vehicle is established at a communication terminal capable of communicating with the work vehicle.
The cooperative work system according to claim 1 or 2. The work vehicle number change reception unit receives a decrease in the number of work vehicles due to the departure of the work vehicle when communication with the work vehicle is cut off at a communication terminal capable of communicating with the work vehicle.
A cooperative work system according to any one of claims 1 to 3.

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