JP7397919B2 - route generation device - Google Patents

Description

The present invention relates to route generation in a work system in which work is performed by an unmanned work vehicle, when a work route on which the unmanned work vehicle performs work includes a work area that is less than the work width.

BACKGROUND ART Conventionally, a work vehicle coordination system has been known in which ground work is performed by a parent work vehicle and an unmanned slave work vehicle that follows the parent work vehicle (for example, see Patent Document 1). In this work vehicle coordination system, the parent work vehicle is manned by the driver, and has a main turning travel route in the turning areas at both ends of the field, and a parent work travel route in which it travels in a straight line while working on the ground between the turning areas at both ends. The travel route of the child work vehicle is created and consists of a child work travel route that follows the parent work vehicle while working on the ground between the turning areas at both ends, and a child turning travel route in the turning area. I was trying to run.

Japanese Patent Application Publication No. 2014-178759

In the above technology, when a parent work vehicle and a child work vehicle work cooperatively in a work area in a field, and an unmanned operating vehicle that becomes a small work vehicle is located on the final work route, the work width of that route is small. If the working width of the vehicle is shorter than the working width of the vehicle's working equipment, the unmanned operating vehicle may end up working outside the working area, causing automatic driving to stop and the work to be completed. In this case, unworked land will remain. In addition, if the final route passes through a diagonal work area, there is a risk of unworked areas if it is not clearly determined where the work should start or end. Ta.

The present invention has been made in view of the above-mentioned situation, and is applicable when a work area smaller than the working width of the working machine of an autonomous working vehicle (unmanned working vehicle) occurs when a working route is generated. , an attempt is made to provide a route generation device that can set how to process a work area that is less than the work width.

The route generation system according to one embodiment includes: a route generation setting unit that generates a work route on which work is performed by a work machine attached to the vehicle body within a travel region in which the vehicle body travels; an area setting unit configured to set a first area where a work route is generated and a second area which is a side part of the first area and where the work route is not generated; is generated, and if a narrow work route occurs in the work route that is narrower than the traveling work width based on at least one of the width of the vehicle body and the width of the work equipment, the work is performed on the narrow work route. Accept the choice of whether or not to do so.

The route generation system according to one embodiment includes: a route generation setting unit that generates a work route on which work is performed by a work machine attached to the vehicle body within a travel region in which the vehicle body travels; an area setting unit that sets a first area in which a work route is generated and a second area that is a side part of the first area and in which the work route is not generated; When the work route is generated in the first area by the generation setting unit, the work route includes a narrow work route that is narrower than a traveling work width based on at least one of the width of the vehicle body and the width of the work equipment. If this occurs, the width of the second region is adjusted to be narrower.

According to the present invention, when a narrow working route is created in the first region and there is a narrow working route that has a strip or a narrow portion narrower than a predetermined width of the traveling working width, the narrow working route and the side of the first region By creating a work route in the first area with a running work width that straddles the second area, which is the side free land set in , it is possible to set a work route that does not leave any uncultivated land.

A schematic side view of an autonomous working vehicle and a traveling working vehicle. Control block diagram. A diagram showing an initial screen. Diagram showing field settings. A diagram showing a field area. The figure which shows the field when the working route of the final row in a working area becomes a narrow working route. A diagram showing a field where the work area is trapezoidal. The figure which shows the field when a work area becomes step-like. The figure which shows the field when the initial working path length is short.

An autonomous working vehicle (hereinafter sometimes referred to as an unmanned vehicle) 1 that is capable of running autonomously, and a manned working vehicle that is steered by a worker (user) in cooperation with the autonomous working vehicle 1. An embodiment will be described in which 100 (hereinafter sometimes referred to as a manned vehicle) is a tractor, and the autonomous working vehicle 1 and the traveling working vehicle 100 are each equipped with a rotary tilling device as a working machine. However, the work vehicle is not limited to a tractor, but may be a combine harvester, etc., and the work machine is not limited to a rotary tiller, but may be a ridge erector, a mower, a rake, a seeding machine, a fertilizer applicator, etc. It's okay.

In this specification, "autonomous running" means that a control unit (ECU) included in the tractor controls the running configuration of the tractor so that the tractor runs along a predetermined route. The execution of agricultural work in a single field by unmanned vehicles and manned vehicles is sometimes referred to as cooperative work, follow-up work, accompanying work, etc. of agricultural work. In addition to ``performing agricultural work in a single field using unmanned vehicles and manned vehicles,'' cooperative work in agricultural work includes ``carrying out agricultural work in different fields, such as adjacent fields, at the same time using unmanned vehicles and manned vehicles.'' It may also include "to carry out."

FIG. 1 is a side view showing a schematic configuration of an autonomous working vehicle and a traveling working vehicle, and FIG. 2 is a control block diagram showing their control configuration. 1 and 2, the overall configuration of a tractor serving as an autonomous working vehicle 1 will be described. In the body of the tractor, an engine 3 is disposed within a hood 2, a dashboard 14 is disposed within a cabin 11 at the rear of the bonnet 2, and a steering handle 4 serving as a steering operation means is disposed on the dashboard 14. It is being By rotating the steering handle 4, the directions of the front wheels 9 are rotated via the steering device. A steering actuator 40 that operates the steering device is connected to a steering controller 301 that constitutes the control section 30. The steering direction of the autonomous working vehicle 1 is detected by the steering sensor 20 . The steering sensor 20 is composed of an angle sensor such as a rotary encoder, and is arranged at the rotation base of the front wheel 9. However, the detection configuration of the steering sensor 20 is not limited to any one as long as it can recognize the steering direction, and may detect the rotation of the steering wheel 4 or the amount of operation of the power steering. The detected value obtained by the steering sensor 20 is input to the steering controller 301 of the control section 30.

The control unit 30 includes a steering controller 301, an engine controller 302, a transmission control controller 303, a horizontal control controller 304, a work control controller 305, a positioning control unit 306, an autonomous driving control controller 307, and the like, each of which has a CPU (central processing unit). It is equipped with a storage device such as a RAM, a ROM, an interface, etc., and the storage device stores programs, data, etc. for operation, and can communicate with each other so that information, data, etc. can be sent and received through CAN communication.

A driver's seat 5 is arranged behind the steering handle 4, and a transmission case 6 is arranged below the driver's seat 5. Rear axle cases 8, 8 are connected to the left and right sides of the transmission case 6, and rear wheels 10, 10 are supported by the rear axle cases 8, 8 via an axle. The power from the engine 3 is changed in speed by a transmission (main transmission or auxiliary transmission) in the transmission case 6, so that the rear wheels 10 can be driven. The transmission device is, for example, a hydraulic continuously variable transmission device, in which a movable swash plate of a variable displacement hydraulic pump is operated by a speed change means 44 such as a motor to enable speed changes. The speed change means 44 is connected to the speed change control controller 303 of the control section 30. The rotational speed of the rear wheels 10 is detected by the vehicle speed sensor 27 and inputted to the speed change controller 303 as the traveling speed. However, the method of detecting the vehicle speed and the location of the vehicle speed sensor 27 are not limited.

A PTO clutch and a PTO transmission are housed in the mission case 6. The PTO clutch is turned on and off by a PTO on/off means 45, and the PTO on/off means 45 communicates with the autonomous running control controller 307 of the control unit 30 via the display means 49. It is possible to control the connection and disconnection of power to the PTO shaft. In addition, when a seeding machine, a ridge coating machine, etc. is installed as a work machine, a work machine controller 308 is provided so that the work machine can be independently controlled, and the work machine controller 308 is connected via an information communication wiring (so-called ISOBUS). and is connected to the work control controller 305.

A front axle case 7 is supported on the front frame 13 that supports the engine 3, and front wheels 9, 9 are supported on both sides of the front axle case 7, so that power from the mission case 6 can be transmitted to the front wheels 9, 9. It is composed of The front wheels 9, 9 are steering wheels, which can be rotated by rotating the steering handle 4, and can be steered from side to side by a steering actuator 40 consisting of a power steering cylinder, which serves as a driving means of the steering device. It is rotatable. The steering actuator 40 is connected to and controlled by a steering controller 301 of the control unit 30.

An engine rotation speed sensor 61, a water temperature sensor, an oil pressure sensor, etc. are connected to an engine controller 302 serving as an engine rotation control means, so that the state of the engine can be detected. The engine controller 302 detects the load from the set rotation speed and the actual rotation speed, controls the engine 3 to prevent overload, and transmits the status of the engine 3 to a remote control device 112 (described later) so that it can be displayed on the display device 113. ing.

Further, a level sensor 29 for detecting the fuel level is arranged in the fuel tank 15 arranged below the step and connected to a display means 49, and the display means 49 is provided on the dashboard of the autonomous working vehicle 1, Display the remaining amount. Then, the remaining amount of fuel is calculated by the autonomous driving controller 307 for the workable time, and the information is transmitted to the remote control device 112 via the communication device 110, and the remaining fuel amount and work time are displayed on the display device 113 of the remote control device 112. The available time can be displayed. Note that the display means for displaying the tachometer, fuel gauge, oil pressure, and abnormality and the display means capable of displaying the current position and the like may be configured separately.

Disposed on the dashboard 14 is a display means 49 for displaying an engine tachometer, fuel gauge, oil pressure, etc., a monitor indicating an abnormality, set values, and the like. The display means 49 is a touch panel type similar to the remote control device 112, and allows data input and selection, switch operation, button operation, etc.

Further, a rotary tilling device 24 as a working machine is installed at the rear of the vehicle body of the tractor via a working machine mounting device 23 so as to be movable up and down. An elevating cylinder 26 is provided on the mission case 6, and by expanding and contracting the elevating cylinder 26, the elevating arm constituting the working machine mounting device 23 is rotated, and the rotary tilling device 24 can be raised and lowered. The lifting cylinder 26 is expanded and contracted by the operation of the lifting actuator 25, and the lifting actuator 25 is connected to the horizontal control controller 304 of the control unit 30. Further, a tilting cylinder is provided on the lift link on one of the left and right sides of the working machine mounting device 23, and a tilting actuator 47 for operating the tilting cylinder is connected to the horizontal control controller 304.

A mobile GPS antenna (positioning antenna) 34 and a data receiving antenna 38 are connected to the positioning control unit 306 serving as a position detecting section, and the mobile GPS antenna 34 and the data receiving antenna 38 are connected to the cabin 11. provided above. The positioning control unit 306 is equipped with a position calculation means to calculate latitude and longitude so that the current position can be displayed on the display means 49 or the display device 113 of the remote control device 112. In addition to GPS (United States), highly accurate positioning can be achieved by using satellite positioning systems (GNSS) such as Quasi-Zenith Satellite (Japan) and Glonass Satellite (Russia), but in this embodiment, GPS is used. explain.

The autonomous working vehicle 1 includes a gyro sensor 31 to obtain information on changes in the posture of the vehicle body, and an azimuth angle detection section 32 to detect the direction of travel, and is connected to a control section 30. However, since the traveling direction can be calculated from GPS position measurement, the azimuth angle detection section 32 can be omitted. The gyro sensor 31 detects the angular velocity of the tilt (pitch) of the vehicle body in the longitudinal direction, the angular velocity of the tilt (roll) of the vehicle body in the left-right direction, and the angular velocity of the turn (yaw) of the autonomous working vehicle 1. By integrally calculating the three angular velocities, it is possible to determine the inclination angle and turning angle of the vehicle body of the autonomous working vehicle 1 in the longitudinal direction and the left-right direction. Specific examples of the gyro sensor 31 include a mechanical gyro sensor, an optical gyro sensor, a fluid gyro sensor, a vibration gyro sensor, and the like. The gyro sensor 31 is connected to the control section 30 and inputs information related to the three angular velocities to the control section 30.

The azimuth detection unit 32 detects the orientation (progressing direction) of the autonomous working vehicle 1. A specific example of the azimuth detecting section 32 is a magnetic azimuth sensor. Information is input to the azimuth angle detection unit 32 to the autonomous running controller 307 via CAN communication means.

In this way, the autonomous running control controller 307 calculates the signals acquired from the gyro sensor 31 and the azimuth angle detection unit 32 using the attitude/azimuth calculation means, and calculates the attitude (direction, front and rear direction of the vehicle body, left and right direction of the vehicle body (inclination of direction, direction of turning).

Next, position information of the autonomous working vehicle 1 is acquired using GPS (Global Positioning System), which is one of the satellite positioning systems. Positioning methods using GPS include various methods such as independent positioning, relative positioning, DGPS (differential GPS) positioning, and RTK-GPS (real-time kinematic-GPS) positioning, and any of these methods can be used. However, in this embodiment, the RTK-GPS positioning method with high measurement accuracy is adopted.

In RTK-GPS positioning, GPS observation is performed simultaneously by a reference station whose location is known and a mobile station whose location is to be determined, and the data observed by the reference station is transmitted in real time to the mobile station via wireless or other methods. This method determines the location of a mobile station in real time based on the location results of

In this embodiment, a positioning control unit 306 serving as a mobile station, a mobile GPS antenna 34, and a data receiving antenna 38 are arranged in the autonomous working vehicle 1, and a fixed communication device 35 serving as a reference station, a fixed GPS antenna 36, and a data transmitting antenna are arranged. 39 is disposed at a predetermined position. In the RTK-GPS positioning of this embodiment, phase measurement (relative positioning) is performed at both the reference station and the mobile station, and the data measured by the fixed communication device 35 of the reference station is transmitted from the data transmission antenna 39 to the data reception antenna 38. .

A mobile GPS antenna 34 placed on the autonomous working vehicle 1 receives signals from GPS satellites 37, 37, . . . . This signal is transmitted to the positioning control unit 306 for positioning. At the same time, the fixed GPS antenna 36 serving as a reference station receives signals from GPS satellites 37, 37, etc., the fixed communication device 35 measures the position, transmits it to the positioning control unit 306, analyzes the observed data, and moves. Determine station location.

In this way, the autonomous traveling controller 307 is provided as an autonomous traveling means for causing the autonomous traveling work vehicle 1 to travel autonomously. In other words, the various information acquisition units connected to the autonomous running controller 307 acquire the running state of the autonomous running work vehicle 1 as various information, and the various control units connected to the autonomous running controller 307 acquire the driving state of the autonomous running work vehicle 1 as various information. Control autonomous driving. Specifically, the positioning control unit 306 receives radio waves transmitted from the GPS satellites 37, 37, . The steering actuator 40 and the speed change are operated so that the vehicle body section travels along a preset route R (driving route and work route) based on the position information, displacement information, and orientation information. It controls the means 44, the lifting actuator 25, the PTO on/off means 45, the engine controller 302, etc., so that it can run autonomously and perform work automatically.

Further, an obstacle sensor 41 is arranged in the autonomous working vehicle 1 and connected to the control unit 30 to prevent the vehicle from colliding with an obstacle. For example, the obstacle sensor 41 is composed of a laser sensor, an ultrasonic sensor, or a camera, and is arranged at the front, side, or rear of the vehicle body and connected to the control unit 30. The system detects whether there is an obstacle in the direction or behind the vehicle, and stops the vehicle when the obstacle approaches within a set distance.

Furthermore, the autonomous working vehicle 1 is equipped with a camera 42F for photographing the front, and a camera 42R for photographing the rear working machine and the field state after work, and is connected to the control unit 30. Although the cameras 42F and 42R are arranged on the front and rear parts of the roof of the cabin 11 in this embodiment, the arrangement positions are not limited, and the cameras 42F and 42R are arranged on the front and rear parts of the cabin 11, or on one camera. 42 may be arranged at the center of the vehicle body and rotated around a vertical axis to photograph the surroundings, or a plurality of cameras 42 may be arranged at the four corners of the vehicle body to photograph the surroundings of the vehicle body. Furthermore, when the emblem of the manufacturer of the autonomous working vehicle 1 is attached to the cabin 11, hood 2, etc., the cameras 42F and 42R may be arranged on the back side of the emblem. In that case, a through hole or a predetermined gap is set within the emblem, and the lenses of the cameras 42F and 42R correspond to the position of the through hole or gap, so that photographing is not hindered. Images taken by the cameras 42F and 42R are displayed on the display device 113 of the remote control device 112 provided in the traveling work vehicle 100.

The remote control device 112 sets a route R, which will be described later, of the autonomous working vehicle 1, remotely controls the autonomous working vehicle 1, and monitors the running state of the autonomous working vehicle 1 and the operating state of the work equipment. , and stores work data, and includes a control unit (CPU and memory) 130 on the operating side, a communication device 111, a display device 113, a storage unit 114, and the like.

A worker rides and operates the traveling work vehicle 100, which is a manned vehicle, and a remote control device 112 is mounted on the traveling work vehicle 100 so that the autonomous traveling work vehicle 1 can be operated. The basic configuration of the traveling work vehicle 100 is substantially the same as that of the autonomous traveling work vehicle 1, so a detailed explanation will be omitted. Note that it is also possible to configure the traveling work vehicle 100 (or the remote control device 112) to include a GPS control unit.

The remote control device 112 is removable from a mounting part (not shown, for example, an arm member to which the remote control device 112 can be attached and fixed) provided on the dashboard or pillar of the cabin 11 of the traveling work vehicle 100 and the autonomous work vehicle 1. It is said that The remote control device 112 can be operated while attached to the mounting portion of the autonomous traveling work vehicle 100, taken out of the traveling work vehicle 100 and carried around, or operated while attached to the mounting portion of the autonomous traveling work vehicle 1. It is also possible to manipulate. The remote control device 112 can be configured with a wireless communication terminal such as a notebook or tablet personal computer. In this embodiment, a tablet computer is used.

Further, the remote control device 112 and the autonomous working vehicle 1 are configured to be able to communicate with each other wirelessly, and the autonomous working vehicle 1 and the remote controlling device 112 are respectively provided with communication devices 110 and 111 for communication. ing. The communication device 111 is integrally configured with the remote control device 112. The communication means is configured to be able to communicate with each other via a wireless LAN such as WiFi, for example. The remote control device 112 has a display device 113 as a touch panel type operation screen that can be operated by touching the screen on the surface of the housing, and includes a communication device 111, a control unit 130, a storage unit 114, a battery, etc. inside the housing. The storage unit 114 stores the specifications of the autonomous working vehicle 1, the moving working vehicle 100, and the working equipment (various lengths such as the overall length, width, and height of the main body and working equipment, the type and horsepower of the engine, the gear ratio, the work capacity, etc.), setting values related to route setting, and the route after setting, etc., which will be described later, are stored. Note that after the route generation setting is transferred to the control unit 30 of the autonomous traveling work vehicle 1, it is also stored in the storage unit provided in the control unit 30.

Next, a procedure for setting route R using the remote control device 112 will be explained. FIG. 3 shows an initial screen displayed on the display device of the remote control device. However, it is also possible to enable the route R to be set by the control unit 30 included in the autonomous working vehicle 1. The display device 113 of the remote control device 112 is a touch panel type, and when the power is turned on and the remote control device 112 is activated, an initial screen appears. On the initial screen, as shown in FIG. 3, a tractor setting button 201, a field setting button 202, a route generation setting button 203, a data transfer button 204, a work start button 205, and an end button 206 are displayed.

First, the tractor settings will be explained. When the tractor setting button 201 is touched, if a tractor has been used for work using the remote control device 112 in the past, that is, if there is a tractor set in the past, the name (model) of the tractor will be displayed. By touching and selecting the name of the tractor to be used this time from among the displayed plurality of tractor names, it is possible to proceed to the field setting described later or return to the initial screen. When configuring a new tractor, specify the tractor model. In this case, enter the model name directly. Alternatively, a list of a plurality of tractor models is displayed on the display device 113 so that a desired model can be selected.

Once the tractor model is set, a screen appears for setting the size, shape, and position of the work equipment attached to the tractor. The location of the work equipment can be selected, for example, at the front, between the front and rear wheels, at the rear, or offset. When the settings for the work equipment are completed, a setting screen appears for the vehicle speed during work, engine speed during work, vehicle speed when turning, and engine speed when turning. It is also possible to set the vehicle speed during work to different vehicle speeds on the outbound and return trips. When the vehicle speed and engine speed settings are completed, it is possible to proceed to the field setting described later or return to the initial screen.

Next, field settings will be explained. FIG. 4 shows how a user rides an autonomous work vehicle and travels around the perimeter when setting up a field. FIG. 5 shows areas set within the field, such as a work area and a headland area. When the field setting button 202 is touched, the name of the set field is displayed if the remote control device 112 has been used to work with a tractor in the past, that is, if there is a field set in the past. By touching and selecting the name of the field on which work is to be performed from among the displayed plurality of field names, it is possible to proceed to route generation settings, which will be described later, or to return to the initial screen. Note that it is also possible to edit the set field or to set a new field.

If there is no registered field, a new field will be set. When a new field setting is selected, as shown in FIG. 4, the tractor (autonomous working vehicle 1) is positioned at one of the four corners A of the field H, and the "start measurement" button is touched. Thereafter, the tractor is driven along the outer periphery of the field H to register the field shape. Next, the operator specifies the field shape by registering corner positions A, B, C, and D and inflection points from the registered field shape.

Once the field H is specified, a work start position S, a work start direction F, and a work end position G are set, as shown in FIG. If an obstacle exists in the field H, move the tractor to the location of the obstacle, touch the "Obstacle Setting" button, drive around the obstacle, and set the obstacle. Note that it is possible to display a map image of the field on the display device 113, and when the identified field shape is displayed superimposed on the map image, the area around the obstacle can be specified on the display device 113. By doing so, it may be possible to set obstacles. When the above-mentioned work is completed, or when a previously registered field is selected, a confirmation screen appears, and an OK (confirmation) button and an "edit/add" button are displayed. If there are any changes to the fields registered in the past, touch the "Edit/Add" button.

When the OK button is touched in the field setting, route generation setting is performed. Route generation settings can also be made by touching the route generation setting button 203 on the initial screen. In the route generation setting, a selection screen for selecting a position where the traveling work vehicle 100 will travel with respect to the autonomous traveling work vehicle 1 is displayed. That is, the positional relationship between the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is set. Specifically, (1) the traveling work vehicle 100 is located at the rear left of the autonomous traveling work vehicle 1 . (2) The traveling work vehicle 100 is located on the right rear side of the autonomous traveling work vehicle 1. (3) The traveling work vehicle 100 is located directly behind the autonomous traveling work vehicle 1. (4) The traveling work vehicle 100 is not accompanied (work is performed only by the autonomous traveling work vehicle 1). Four types are displayed and can be selected by touching.

Next, the width of the work implement of the traveling work vehicle 100 is set. In other words, enter the width of the work equipment in numbers. Next, set the number of skips. In other words, the number of routes to be skipped is set when the autonomous working vehicle 1 reaches the outer edge of the field (headland) and moves from the first route to the second route. Specifically, (1) do not skip. (2) Skip one column. (3) Skip 2 columns. Choose one. Next, set the overlap. In other words, the amount of overlapping work width between a work route and an adjacent work route is set. Specifically, (1) there is no overlap. (2) Overlap. Select. Note that if you select "Overlap", a numerical value input screen will be displayed, and you will not be able to proceed to the next step unless you enter the numerical value.

Next, the outer circumference setting is performed. That is, as shown in FIG. 5, an area outside the work area HA in which the autonomous traveling work vehicle 1 and the traveling work vehicle 100 or the autonomous traveling work vehicle 1 performs work is set. In other words, a headland HB that turns in a non-working state at the edge of the field, and a side free area HC that is a non-working area that touches the outer periphery of the field on both left and right sides between the headland HB and the headland HB are set. . Therefore, the farm field H=work area HA+headland HB+headland HB+side free space HC+side free space HC. Normally, the width Wb of the headland HB and the width Wc of the side clearance HC are set to be less than twice the width of the work equipment mounted on the traveling work vehicle 100, and After the accompanying work is completed, the worker gets on the traveling work vehicle 100 and manually runs around the outer circumference twice to finish the work. However, if the shape of the outer periphery of the field is not complicated, it is also possible to work the outer periphery with the autonomous working vehicle 1. In addition, in the outer circumference setting, the width Wb of the headland HB and the width Wc of the side free space HC are automatically calculated to predetermined widths according to the width of the work equipment, but the calculated width of the headland HB The width Wb and the width Wc of the side free space HC can be changed to any desired width, and the user changes the width to the desired width, and then changes the changed width Wb and width Wc to the width of the headland HB and the side width, respectively. It can be set as the width of the free space HC. However, if it is possible to change the width to any desired width, it cannot be set to less than the minimum set width calculated in consideration of driving, work, and safety in the field. For example, when the autonomous working vehicle 1 travels or turns in the headland HB or the side clearance area HC, a width that ensures that the work implement does not jump out of the field is calculated as the minimum setting width.

When the input of the various settings described above is completed, a confirmation screen appears, and when the confirmation button is touched, route R is automatically generated. The route R consists of a work route Ra and a travel route Rb. The work route Ra is a route generated within the work area HA, is a route that is traveled while performing work, and is a straight route. However, if the work area HA is not rectangular, it may protrude into areas outside the work area HA (headland HB and side margin HC). The traveling route Rb is a route generated in an area outside the work area HA, is a route to be traveled without performing any work, and is a route that is a combination of straight lines and curved lines. The vehicle will mainly be turning around the headland HB.

The route R for the autonomous traveling work vehicle 1 and the traveling work vehicle 100 is generated. If the user wants to view the work route after the work route has been generated, by touching the route generation setting button 203, a simulation image is displayed and can be confirmed. Note that the route R is generated even if the route generation setting button 203 is not touched. When each item of the route generation setting is set, the route generation setting is displayed, and at the bottom of the screen, ``route setting button'', ``transfer data'', and ``return to home'' are selectably displayed.

When transferring information regarding the route (route R) generated in the route generation settings, the information can be transferred by touching the data transfer button 204 provided on the initial screen. Since this transfer is performed by the remote control device 112, it is necessary to transfer the set information to the control device of the autonomous traveling work vehicle 1. There are two methods for this transfer: (1) a method of transferring using a terminal, and (2) a method of transferring wirelessly. In this embodiment, when using a terminal, a USB cable is used to communicate with the remote control device 112 autonomously. Either directly connect the control device of the traveling work vehicle 1, or temporarily store it in a USB memory, and then connect it to the USB terminal of the autonomous traveling work vehicle 1 and transfer it. In addition, when transferring wirelessly, the transfer is performed using WiFi (wireless LAN).

Next, in the route generation setting, processing when there is a strip or a narrow portion narrower than a predetermined width in the work route Ra of the autonomous working vehicle 1 will be described. The width of the working area on the working route Ra is defined as the working area width Wr, and the predetermined width is the working width (hereinafter referred to as traveling work) of the working machine (rotary tilling device 24) mounted on the autonomous traveling work vehicle 1 or the traveling work vehicle 100. Width W1) or, if the working machine is narrower than the width of the main body (tractor), the width of the main body. In this embodiment, the width of the working machine is longer than the width of the main body, the same working machine is attached to the autonomous working vehicle 1 and the traveling working vehicle 100, and the description will be made assuming that the overlap is 0. Further, a strip path having a portion (work area) less than a predetermined width is referred to as a narrow work path Rc.

In the route generation setting, if there is a narrow work route Rc in which the work route Ra has a strip or a narrow part narrower than a predetermined width (traveling work width W1 in the present embodiment below), the route R is displayed and the work is performed. You can choose whether to do it or not. In other words, if the autonomous traveling work vehicle 1 does not set in advance whether or not to work on the narrow work route Rc, when the autonomous travel work vehicle 1 reaches the front of the narrow work route Rc, the work This is because the route Ra is less than the traveling working width W1, so there is a risk that the machine will judge that the work is impossible, and stop and interrupt the work before entering the narrow working route Rc. Furthermore, if the work is completed without performing the work along the narrow work route Rc, uncultivated land will remain. Therefore, in the route generation setting, if a narrow work route Rc exists, it is possible to select in advance whether to perform the work or not. Note that if a narrow work route Rc exists in the work route Ra of the manned traveling work vehicle 100, the narrow work route Rc is determined by the worker and the selection screen is not displayed. However, it may be possible to select it.

When it is set to work on the narrow work route Rc, the work is performed protruding into the side clearance area HC (second area). When the narrow work route Rc is set not to be worked, the work area HA of the narrow work route Rc is carried out when working on the headland HB and the side clearance area HC after the work in the work area HA is completed. . Alternatively, the width of the left and right side clearance areas HC may be adjusted to widen the width so that the narrow working route Rc becomes the traveling working width W1, thereby eliminating the narrow working route Rc. When narrowing the width of the left and right side clearance areas HC and increasing the width so that the narrow work route Rc becomes the driving work width W1, the width of the side clearance areas HC after the change (after narrowing) is the driving work width. It is made so that the width does not become less than the limit width specified based on the width W1 and the travel working length L1. In other words, if the narrow working route Rc does not reach the travel working width W1 unless the width of the side free space HC is set below the limit width, the width of the left and right side free space HC is not adjusted.

Specifically, processing according to the shape of the field H will be explained. First, when route R is generated in a rectangular farm field, a reciprocating work route Ra with traveling work width W1 is generated in work area HA. As shown in FIG. 6, in the final work route Ra (last strip), the work area width Wr becomes shorter than the traveling work width W1 (predetermined width), and a narrow work route Rc occurs. In other words, since the width of the working area HA is almost never an integral multiple of the traveling working width W1, a narrow working path Rc is created in the final strip.

At the time of this route generation setting, the control unit 130 on the operating side displays a selection screen for whether or not to perform the work on the narrow work route Rc. When the worker selects "perform work," the narrow work route Rc is generated as the work route Ra so that the control unit 130 on the operating side protrudes into the side free space HC and performs the work. Note that when the narrow work route Rc is set not to be worked, unlike the work end position G (FIGS. 5 and 6) set for the field H, it is the end of the row one step before the work. A work end position Ga is set on the work route Ra.

Further, if the shape of the field H is a trapezoid or the like, and the side of the field end on the end side is oblique, a triangular work area that is less than the travel work width W1 is created, as shown in FIG. In this case as well, when setting the route generation, the control unit 130 on the operating side determines that the final strip is less than the traveling working width W1 (predetermined width) and sets the narrow working route Rc to the autonomous traveling work vehicle 1. When it is determined that the work is to be performed on the narrow work route Rc, a selection screen is displayed to select whether or not to perform the work on the narrow work route Rc. When the worker selects "perform work," the control unit 130 on the operating side generates a narrow work route Rc as the work route Ra so that the work is carried out protruding into the side free space HC.

Furthermore, when the shape of the work area HA is step-like as shown in FIG. 8, a narrow work path Rc that is less than the travel work width W1 is formed in the projecting convex region. In this case as well, when setting the route generation, the control unit 130 on the operating side determines that the work area width Wr is less than the travel work width W1 (predetermined width), sets the narrow work route Rc, and autonomously travels on this narrow work route Rc. When the work vehicle 1 is to work, a selection screen is displayed to select whether or not to work on the narrow work route Rc. When the worker selects "perform work," the narrow work route Rc is generated as the work route Ra so that the control unit 130 on the operating side protrudes into the side free space HC and performs the work.

In addition, if the shape of the field H is a trapezoid or the like, and the edge of the field on the starting side is diagonal, a triangular work area with a portion less than the traveling work width W1 is created as shown in Fig. 9, resulting in narrow work. This becomes route Rc. When the path length (length in the advancing direction) Lc of the narrow working route Rc is less than a predetermined times the traveling working length L1, the working route Ra is not generated on the narrow working route Rc. In other words, the traveling working length L1 is the length from the front end to the rear end when the work equipment is attached to the vehicle body, and is stored in the storage unit 114 of the remote control device 112, and the operating side control unit 130 , at the time of route generation setting, calculate how many times the route length Lc of the narrow working route Rc is of the traveling working length L1, and if it is less than the predetermined multiplication length, set the working route Ra to the narrow working route Rc. It is not generated. The predetermined multiple is, for example, twice. This is because, on such a short work route, the work can be done more efficiently if the worker drives the traveling work vehicle 100 to perform the work, then backs up and returns to the work start position to perform collaborative work. However, cases where a narrow working route Rc is formed as an extension of the working route Ra as shown in FIGS. 7 and 8 are excluded.

In this embodiment, it is possible to select whether or not to perform the work on the narrow work route Rc, but as mentioned above, the width of the work area HA is almost never a constant multiple of the traveling work width W1. In principle, the worker is allowed to work on the narrow work route Rc without having to make a selection, and under predetermined conditions, the work may not be performed on the narrow work route Rc. An example of the predetermined condition is a case where the length of the narrow working route Rc described above is less than a constant times the traveling working length L1.

As described above, using the satellite positioning system, the field H that is the driving area for the vehicle body of the autonomous working vehicle 1 that can travel along the set route R, the width of the vehicle body, and/or , a storage unit 114 capable of storing information on a traveling working width W1 that is the width of a working machine (rotary tilling device 24) mounted on the vehicle body, and a working route Ra by the working machine in the field H can be generated. an operation-side control unit 130, and the farmland H includes a work area HA that is a first area including the work route Ra, and a headland HB that is a second area set around the first area. and a side clearance area HC, and when a narrow work route Rc narrower than the travel work width W1 occurs when the work route Ra is generated in the first area, the control unit 130 on the operating side controls the narrow work route Rc to be narrower than the travel work width W1. Since it is possible to generate a work route Ra having a travel work width W1 spanning the second region as the work route Rc, even if a narrow work route Rc occurs in the first region, the work by the autonomous working vehicle 1 can be performed. The route Ra is set according to a predetermined principle, and the route generation setting is performed so that no uncultivated land remains.

Further, the storage unit 114 stores information on a travel working length L1 that is the length from the front end to the rear end when the work equipment is attached to the vehicle body, and the control unit 130 on the operating side If the route length Lc of the route Rc is less than the predetermined times the traveling work length L1, no work route will be generated on the narrow work route Rc, so a particularly short work route will not have to repeat U-turns or turnarounds. Work can be done in a different format to improve work efficiency.

Further, the control unit 130 on the operating side can generate the work route Ra based on the work start position S, work direction F, and work end position G set for the travel area (field H). When the work route Ra is not generated on the narrow work route Rc, the work end position G set for the travel area is different from the work end position of the work machine on the work route. Since the setting can be made to the position Ga, it is no longer necessary to finish the work at the work end position Ga and then move to the work end position G without performing work on the narrow work route Rc. Can prevent running. In addition, it is good also as making it run from the work end position Ga to the work end position G through the headland HB and the side clearance area HC. As a result, the autonomous working vehicle 1 will move to the work end position G set in the field settings, and if the field exit is near the work end position G, the worker will operate the autonomous work vehicle 1 himself. There is no need to move the vehicle 1 to the work end position G, and the labor of the worker can be saved.

<Additional notes to the invention>
That is, the route generation system according to one embodiment includes a memory capable of storing information on a travel area in which a vehicle body portion is to travel, a width of the vehicle body portion, a travel work width that is a width of a working machine attached to the vehicle body portion, and the like. a control unit capable of generating a work route to be worked by the work machine in the travel area; a first area in which the work route is generated; and a side part set on a side of the first area. a setting unit that sets a second area that is a free area, and the control unit is configured to control the control unit when there is a route that is narrower than a predetermined width of the traveling work width in the work route generated in the first area. , a route generation device that generates a work route having a travel work width using the second region as the first region.

In the route generation system according to one embodiment, when the width of the second region is equal to or less than the limit width specified based on the traveling work width, the control unit The width cannot be adjusted.

According to the above aspect, when a narrow working route is generated in the first region and there is a narrow working route in which there is a strip or a narrow portion narrower than the predetermined width of the travel working width, the narrow working route and the side of the first region are generated. By creating a work route in the first area with a running work width that straddles the second area, which is the side free land set in , it is possible to set a work route that does not leave any uncultivated land.

1 Autonomous work vehicle 30 Control unit 110/111 Communication device 112 Remote control device 114 Storage unit 130 Control unit on the operating side G/Ga Work end position H Field L1 Traveling work length R Route Ra Work route Rb Travel route Rc Narrow work route HA Working area W1 Traveling working width

Claims (5)

a route generation setting unit that generates a work route in which work is performed by a work machine attached to the vehicle body within a travel area in which the vehicle body travels;
an area setting unit that sets a first area in which the work route is generated, and a second area that is a side part of the first area and in which the work route is not generated, in the travel area;
When the work route is generated in the first region, if a narrow work route occurs in the work route that is narrower than a traveling work width based on at least one of the width of the vehicle body and the width of the work equipment, Accepts the choice of whether or not to work on a narrow work path.
Route generation system. If it is selected to perform work on the narrow work path,
The route generation setting unit generates the work route using a part of the second area as the first area.
The route generation system according to claim 1. If it is selected not to perform work on the narrow work path,
The route generation setting unit changes a work end position on the work route to a position closer to the work route.
The route generation system according to claim 1. further comprising a control unit that displays a selection screen for allowing the worker to select whether or not to work on the narrow work path;
The route generation system according to any one of claims 1 to 3. a route generation setting unit that generates a work route in which work is performed by a work machine attached to the vehicle body within a travel area in which the vehicle body travels;
an area setting unit that sets a first area in which the work route is generated, and a second area that is a side part of the first area and in which the work route is not generated, in the travel area;
When the route generation setting unit generates the work route in the first area, the area setting unit is configured to set a traveling work on the work route based on at least one of the width of the vehicle body and the width of the work equipment. If a narrow working path occurs that is narrower than the width, adjusting the width of the second region to be narrower;
Route generation system.